EP0173180B1 - Kipp- oder Hubkipp-Vorrichtung zum Entleeren von Behältern in Sammelbehälter, vorzugsweise Müllbehälter in den Sammelbehälter eines Müllfahrzeugs - Google Patents

Kipp- oder Hubkipp-Vorrichtung zum Entleeren von Behältern in Sammelbehälter, vorzugsweise Müllbehälter in den Sammelbehälter eines Müllfahrzeugs Download PDF

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Publication number
EP0173180B1
EP0173180B1 EP85110254A EP85110254A EP0173180B1 EP 0173180 B1 EP0173180 B1 EP 0173180B1 EP 85110254 A EP85110254 A EP 85110254A EP 85110254 A EP85110254 A EP 85110254A EP 0173180 B1 EP0173180 B1 EP 0173180B1
Authority
EP
European Patent Office
Prior art keywords
tipping
lifting
devices
gripping
container
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP85110254A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0173180A1 (de
Inventor
Renate Würtz geb. Oswald
Jakob Naab
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoeller Kipper GmbH
Original Assignee
Zoeller Kipper GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoeller Kipper GmbH filed Critical Zoeller Kipper GmbH
Priority to AT85110254T priority Critical patent/ATE30706T1/de
Publication of EP0173180A1 publication Critical patent/EP0173180A1/de
Application granted granted Critical
Publication of EP0173180B1 publication Critical patent/EP0173180B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/041—Pivoted arms or pivoted carriers
    • B65F3/043—Pivoted arms or pivoted carriers with additional means for keeping the receptacle substantially vertical during raising
    • B65F3/045—Four-bar linkages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0223—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising elements for holding the receptacle
    • B65F2003/024—Means for locking the rim
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0293—Means mounted on the vehicle for supporting the refuse receptacle in the tipping position
    • B65F2003/0296—Means mounted on the vehicle for supporting the refuse receptacle in the tipping position the supporting means mounted on the discharging means

Definitions

  • the invention relates to a lifting and tipping device for emptying containers into collecting containers, preferably garbage containers into the collecting container of a refuse vehicle, which device has a lifting and tipping or tilting frame which has attachment and setting devices with gripping and abutment devices for the devices which allow limited mobility container to be emptied is connected, wherein a lock for the gripping and abutment devices is provided in the normal position to the lifting and tipping frame.
  • the driver of a mobile collecting container usually has to leave the driver's cab after bumping into the container to be emptied in order to attach gripping devices of the emptying device to the container to be emptied.
  • An emptying device known from DE-A1-2 606 599 of this type which is defined in the preamble of claim 1, is already equipped with a pivotable mounting of a tilting frame part carrying the gripping and abutment devices on a tilting support.
  • This provides adjustability of the gripping and abutment devices with the container received with respect to the tilting frame.
  • This adjustability is intended to enable the gripping and abutment devices to be inclined in their initial position towards the container to be emptied, in order in this way to facilitate gripping and picking up the container.
  • the gripping and abutment devices with the container should be aligned in a position with respect to the tilting frame that is suitable for the emptying process.
  • a locking device which closes automatically when the gripping and abutment devices are tilted with the accommodated container is provided, which locks the accommodated container to the gripping and during the emptying process Abutment facilities holds.
  • this does not make it easier to pick up the container and does not align the received container into an emptying position with respect to the tilting frame.
  • DE-A1-3 106 333 discloses a lifting and tipping device for emptying containers, in particular refuse containers, in which additional abutment devices are moved towards the wall of the container to be emptied during the lifting and tipping process in order to protect the container wall during the emptying process.
  • These known devices also provide no possibility of making it easier to grasp and pick up a container to be emptied and, after taking up the container, to bring the gripping and abutment devices with the received container into a position with respect to the tilting frame or lifting / tilting frame which is suitable for the further emptying process.
  • the mounting and adjustment devices have a universal joint carrying the gripping and abutment devices and a side guide connecting the universal joint to the lift-and-tilt or tilting frame, which resiliently holds the universal joint in the central position.
  • the invention ensures that the gripping and abutment devices can resiliently nestle against the container to be emptied if this container is merged somewhat obliquely in one direction or the other or offset laterally with the gripping and abutment devices of the lifting and tipping or tilting device . Due to the mobility of the gripping and abutment devices with respect to the lift-and-tilt or tilting frame, there is a secure interlocking of the elements contained on the container and on the gripping devices of the lift-and-tilt or tilting device, even in the case of a slightly oblique or slightly laterally offset merging.
  • the container can be easily lifted from its stand, and it is then also due to the positive alignment of the gripping and abutment devices with respect to the lifting and tipping frame it is also possible to bring the container to be emptied into the normal position, desired or required for its emptying, with respect to the lifting and tipping frame.
  • the gripping and abutment devices can then be fixed or locked on the lift-and-tilt or tilting frame, which creates the same conditions for the sequence of the emptying process as when the container is placed and transferred with the greatest precision the lifting and tipping device.
  • the degrees of freedom made available with the device according to the invention for the limited relative mobility of the gripping and abutment devices can be optimally adapted to the respective special requirements and the special conditions caused by the containers to be emptied and the emptying device.
  • the gripping and abutment devices for the containers to be emptied are mounted on a container carrier which extends substantially vertically in the receiving position of the lifting / tilting or tilting frame, this container carrier by means of the attachment which permits the limited mobility of the gripping and counter bearing devices - And adjusters are connected to the lifting and tipping frame.
  • a container carrier With the container carrier, a unit that is adjustable in the sense of limited mobility in accordance with the desired degrees of freedom with respect to the lifting and tilting frame and is adjustable with respect to the container to be emptied is created.
  • the container carrier can be attached at its upper end region by means of an articulated connection to the lifting or tilting frame, while below this articulated connection an effective movement limiting device can be provided between the container carrier and the lifting and tilting or tilting frame.
  • the articulated connection can be designed in the manner of a universal joint in the form of a bearing bush arrangement and a receptacle fastened thereon, in which the container carrier is rotatably mounted about its longitudinal axis, the longitudinal axis of the container carrier being oriented essentially vertically in the receiving position of the lifting and tilting frame .
  • the devices to be used in such a device for aligning and fixing the container carrier with respect to the lifting and tilting frame can be designed, for example, in the manner of a pair of guide rails, between which a mandrel attached to the container carrier is guided.
  • the distance between the guide rails determines the degree of mobility of the container carrier with respect to the lifting and tipping frame.
  • Another possibility to create a limited mobility of the container carrier with respect to the lifting and tilting frame is that the container carrier develops at its upper end region by means of a restoring force that automatically moves out of its normal position and at the same time the devices for aligning the gripping and abutment devices forming articulated connection is attached to the lifting and tipping frame.
  • a particularly simple possibility of this design consists in designing the articulated connection as a rubber-metal arrangement which is limited in its movement.
  • This rubber-metal arrangement forms a universal joint in which the degree of mobility in various directions can be set up according to the respective requirements by means of special shaping.
  • the articulated connection can preferably be designed as a universal joint in the manner of a ball-shell joint with a rubber-metal element attached therein.
  • a locking device for fixing the container carrier in the normal position on the lifting and tipping frame.
  • Such a locking device can then, for example, have pivotally attached locking claws to the lifting and tipping frame and controllable locking claws in a closed position encompassing the container carrier.
  • the device according to the invention can be characterized by a lifting and tipping frame carrying the attachment devices for the gripping and abutment devices, which is attached by means of a four-bar guide to a swivel arm or a pair of swivel arms, the devices for aligning the gripping and abutment devices and the locking devices for fixing the gripping and abutment devices are attached to the swivel arm or the pair of swivel arms.
  • the lifting and tipping frame can be guided continuously in the manner of a lifting and tipping carriage along a swivel arm. It is also possible to provide a lifting and tipping device of the type in which the lifting and tipping frame carrying the attachment devices for the gripping and abutment devices can be attached to the free end of a cantilever arm of a lifting device provided on the collecting container and also the devices for aligning the gripping devices. and abutment devices and the locking device for fixing the gripping and abutment devices.
  • a refuse vehicle 101 carrying the collecting container 102 is equipped on one side with a boom device 103 which has two articulated arms, namely a lower arm 104 and an upper arm 105.
  • the lower arm 104 is pivotally attached to the vehicle frame about an axis parallel to the direction of travel of the garbage truck 101 and is connected to a cylinder-piston arrangement 106, by means of which the arm 104 can be pivoted upwards and downwards.
  • the upper arm 105 is attached to the free end of the lower arm 104 in an articulated manner about an axis parallel to the direction of travel of the garbage truck 101.
  • a cylinder-piston arrangement 107 is inserted, with which the two arms 104 and 105 can be angled or stretched relative to one another.
  • the upper arm 105 carries at its free end an approximately right-angled end piece 108, at its free, forked end a T-shaped tilting frame 109 in this example with its vertical T-leg 110 just below the horizontal T-leg 111 by one to the direction of travel of the garbage truck 101 parallel axis 112 is articulated.
  • a cylinder-piston arrangement 113 is inserted between the end piece 108 and the vertical T-leg 110 of the tilting frame 109.
  • the tilting frame 109 carries on the top of its horizontal T-leg 111 an attachment device 114, for gripping devices 115 and for abutment devices 116. Furthermore, the tilting frame 109 carries flap-shaped locking device on its horizontal T-leg lines 117, which are normally pivoted into the rearward position shown in FIG. 2 and, for the sake of clarity, actuating devices (not shown) in the sense of line 118 can be pivoted over the opening edge of a refuse container 100 which is gripped by the gripping devices 115 and is to be emptied.
  • the gripping devices 115 and the abutment devices 116 are rigidly connected to one another via a container support 119 which extends substantially vertically in the gripping position of the tilting frame 109.
  • the container carrier 119 is connected at its upper end by means of the attachment devices 114 to the horizontal T-leg 111 of the tilting frame 109.
  • these attachment devices 114 contain a rubber-metal element 120 designed in the manner of a ball-shell joint, in which the inner surface of the ball shell and the outer surface of the joint ball fastened to the container carrier 119 are connected via a rubber insert, this rubber insert being connected to the Inner surface of the spherical shell and the outer surface of the joint ball is vulcanized.
  • the rubber-metal element 120 has a normal position which is predetermined from the start. From this normal position, it can be pivoted in any direction by external force, but it is always endeavored to move back into its normal position. Naturally, the mobility of the rubber-metal element 120 is only limited.
  • the attachment devices 114 offer the possibility of a lateral displacement movement in the sense of the double arrow 121.
  • This lateral displacement movement is made possible by the rubber-metal element being attached to a rectangular profile rod 122, which is axially slidably mounted on both sides of the rubber-metal element 120 in guide bushes 123. Return springs are inserted into these guide bushings and hold the rectangular profile rod 122 with the rubber-metal element 120 in the central position shown in FIG. 2.
  • the gripping devices have a transversely extending support bar 124, which is fixedly attached to the container support 119 and on which gripping plates 125 are attached, which reach under the rim of the waste container.
  • the carrier strip 124 is provided in a bow-like manner with inclined, widening receiving guides 126. These receiving guides 126 are designed to grip the garbage plates 125 with their gripping plates 125 on the side walls of the garbage plates when the carrier strip 124 is brought up and, with the resilient adjustment of the rectangular profile bar 122, laterally adjust the carrier strip 124 with the grip plates 125 relative to the container to be picked up.
  • Attached to the vertical T-leg 110 of the tilting frame 109 are two pairs of pliers-like locking legs 127, which are normally in the open position shown in FIG. 2 and can be controlled in the closed position by means of a pressure device or electrically operated locking device 128, in which they hold the container carrier 119 grasp like pliers and lock against vertical T-leg 110 of tilting frame 109.
  • the tilting device is brought to a waste container 100 by appropriate control of the boom device 103.
  • the support bar 124 engages with its receiving guides 126 over the side walls of the waste container 100, so that the support bar 124 is set laterally opposite the waste container 100.
  • the gripping plates 125 of the gripping device 115 and the abutment surfaces 129 of the abutment bar 130 which is designed as a counter-bearing bar 130 extending transversely to the container support 119, come into contact with the wall of the waste container 100, the abutment surfaces and the surfaces of the gripping plates 125 move with resilient adjustment within the rubber -Metal element 120 on the wall surface of the waste container 100.
  • the tilting device is then raised by actuating the boom device.
  • the gripping plates 125 engage in the corresponding entrainment elements, for example a entrainment bar of the garbage container 100.
  • the support ledge 124 aligns itself with the resilient adjustment in the rubber-metal element 120 relative to the entrainment bar or the entrainment elements of the garbage container 100.
  • the return springs effective on the rectangular profile bar and the rubber-metal element 120 set the container carrier 119 into its normal position relative to the tilting frame 109.
  • the locking levers 127 are closed like pliers around the container carrier 119. Any remaining adjustment of the container support 119 relative to the tilting frame 109 that may still be present due to the container 100 to be emptied is inevitably eliminated in the process.
  • the flap-shaped locking devices 117 are pivoted over the opening edge of the container 100 by appropriate control of their actuating devices.
  • the delivery device 103 By further actuating the delivery device 103, the container 100 is then brought into the emptying position indicated by dashed lines in FIG. 1. After emptying, the operations described above are carried out in the reverse sequence and in the reverse order until the container 100 is put back in place.
  • a lifting and tipping device 10 which has a frame 12 at a loading opening 14 at the The rear wall or a side wall of a collecting container, for example the collecting container 102 of a refuse vehicle 101, is to be attached.
  • a drive shaft 16 is attached to the frame 12, to which two swivel arms 18 are fastened and pivoted together by rotating the drive shaft 16 by means of the cylinder-piston arrangement 13.
  • the lift-and-tilt frame 109 is attached to the swivel arms 18 by means of a pair of links 24 and a lower pair of links 26, so that four swivel axes parallel to one another and to the transverse direction A are formed at the articulation points 32, 34, 36 and 38.
  • the lifting and tilting frame 109 is formed by four bars, namely two side bars 50, 52, an upper bar 54 and a lower bar 56. The relative movement of the lifting and tilting frame to the swivel arms 18 in the four-bar guide takes place between the lower one Crossbar 56 of the lift-and-tilt frame 109 and a cylinder-piston arrangement 15 inserted between the crossbars 22 and the crossbar 22.
  • the gripping devices 115 and the abutment devices 116 are also fastened to a container carrier 119 in this example, which is movably connected at its upper end to the upper cross bar 54 of the lifting and tilting frame 109.
  • a container carrier 119 which is movably connected at its upper end to the upper cross bar 54 of the lifting and tilting frame 109.
  • two guide bushes 58 each containing a helical compression spring 70, are attached to the top of the upper cross bar 54.
  • a shaft 62 is arranged between the outer end walls of the bushes 58, the axis D of which lies parallel to the transverse direction A.
  • a bearing bush 60 is rotatably mounted on the shaft 62 between the compression springs 70.
  • a first sleeve 64 is fastened on this bearing bush 60 in the normal direction to the axis D.
  • a bolt or a sleeve 63 is rotatably mounted, which carries at its end facing the gripping device 115 a receptacle 66 in which the container carrier 119 is held rotatably.
  • the longitudinal axis F of the container carrier 119 is perpendicular to the longitudinal axes E of the sleeves 63, 64.
  • a receiving bar 124 is attached to the upper part of the container carrier 119, which in this example carries four gripping plates 125 and a receiving guide 126 at each end.
  • the container carrier 119 carries the abutment device 116, namely an abutment bar 130, on which abutment surfaces 129 and a central rounded area 131 are formed.
  • the abutment device 116 is formed with three electrical contact contacts, namely a central contact contact 132 in the area 131 and an external contact contact 133 and 134 in the abutment surfaces 129. Further system contacts 135 are provided on the middle gripping plates 125 of the gripping device 115.
  • the lifting and tilting frame 109 is provided with locking devices for the accommodated container, which can be designed in a similar or the same way as in the example of FIGS. 1 and 2, but are not shown for the sake of clarity.
  • a mandrel 28 is provided which is perpendicular to the longitudinal axis F thereof and extends with its longitudinal axis G at right angles into the lifting and tipping frame 109 and carries a spur 30 within the lifting and tipping frame 109, so that the lower cross bar 56 of the lift and tilt frame 109 lies between the lower end region of the container support 119 and the spur 30.
  • a lower cross bar 20 is also fixed between the two pivot arms 18, so that a rigid pivot frame is formed.
  • a guide 40 is attached, which consists of two wall-like profiles 41 and 42. These profiles are designed in the form of a circular arc and are held in their upper region in the drawing at a mutual constant distance 43 in planes which are normal to the longitudinal axis A of the drive shaft 16.
  • the two profiles 41 and 42 spread apart from one another, so that the constant distance 43 between the two profiles 41 and 42 in the lower region 44, 45 is wedge-like and away from the upper region enlarged.
  • the guide 40 is fastened to the lower cross bar 20 of the swivel arms 18 with two fastening rods 46, which are attached to the lower region 44 and 45 of each of the two profiles 41 and 42.
  • the guide is curved in such a way that with a lifting movement of the lifting and tipping frame 109, the dome 28 with its end facing away from the container carrier 119 is continuously between the two profiles 41 and 42.
  • the switching process triggered by the actuation of these contacts can consist in that the driver in the cab or a garbage worker working on the emptying device is given a signal that the actual emptying process can now be initiated. But it is also possible to simultaneously operate the three above. Contacts is used to automatically initiate the actual emptying process.
  • the oblique position of the container carrier 119 is limited by the contact of the mandrel 28 on the walls of the profiles 41 and 42 in the lower region 44, 45 of the receptacle 40.
  • the container carrier 119 can only rotate about its longitudinal axis F or oscillate about the axis E, as it allows the expansion of the profiles 41 and 42 in the lower region 44, 45 for the mandrel 28.
  • the container carrier 119 is limited in that either the spur 30 or the lower one Area of the container carrier 119 bears against the lower latch 56.
  • the container to be emptied is lifted off the floor and the mandrel 28 is moved upwards in the funnel-shaped opening of the lower region 44, 45 of the receptacle 40.
  • the container carrier 119 is increasingly centered from its twisted and oblique position until it is locked in the lifting position in which the mandrel 28 lies in the “upper region of the guide 40 at the distance 43 formed between the two wall-like profiles 41 and 42. In this position, the container carrier 119 is held against rotation as well as against pivoting.
  • the mandrel 28 When an emptied container is parked, the mandrel 28 returns to the expanded area 44, 45 of the guide 40, so that when the container is parked on a sloping surface, the container carrier 119 can move together with the container until it is securely in place.
  • the guide 40 could also be attached to the frame 12.
  • the mandrel 28 also slides in the upper part of the guide 40 during the pivoting movement of the pivot arms 18, while in the embodiment shown in the drawing it does not change its position in the guide 40 during the pivoting movement of the pivot arms 18. Accordingly, the two wall-like profiles 41 and 42 would have to be made much longer when attached to the frame 12.
  • contacts 133, 134 are attached in the same way to the abutment surfaces 129 and a contact 132 is located approximately in the middle of the bulged area 131 of the abutment strip 130.
  • Contacts 135 are also provided on the middle gripping plates 125. These contacts are designed such that, when the two contacts 135 and at least one of the contacts 132, 133, 134 are actuated simultaneously, a readiness signal is given to the driver of the vehicle operating the boom device in order to indicate that the container 100 to be emptied has been received correctly and the Support device 103 can now be actuated for the actual emptying process. However, it can also be provided in this case to start the automatic operating sequence for the actuation of the trailer device with the simultaneous actuation of the three contacts mentioned.
  • the container carrier 119 does not wobble uncontrollably in the lifting and tipping device as it approaches the container to be emptied. Additional locking devices can also be provided, which lock the container carrier 119 or the lift-tilt frame 109 or the tilt frame 109 while the garbage truck is traveling.
  • any other design is also possible. which is adapted to the containers to be emptied.
  • a design of the abutment devices 116 shown in the exemplary embodiments a design of the abutment devices that is adapted to the respective containers to be emptied must also be provided hen.
  • system contacts 132, 133, 134 on the abutment bar 130 and system contacts 135 on the gripping plates 125 or a number of gripping plates 125 can also be provided in this embodiment.
  • the mode of operation can be the same as in the example according to FIGS. 3 and 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
EP85110254A 1984-08-21 1985-08-16 Kipp- oder Hubkipp-Vorrichtung zum Entleeren von Behältern in Sammelbehälter, vorzugsweise Müllbehälter in den Sammelbehälter eines Müllfahrzeugs Expired EP0173180B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT85110254T ATE30706T1 (de) 1984-08-21 1985-08-16 Kipp- oder hubkipp-vorrichtung zum entleeren von behaeltern in sammelbehaelter, vorzugsweise muellbehaelter in den sammelbehaelter eines muellfahrzeugs.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE3430643 1984-08-21
DE3430643 1984-08-21
DE3527022 1985-07-27
DE19853527022 DE3527022A1 (de) 1984-08-21 1985-07-27 Kipp- oder hubkipp-vorrichtung zum entleeren von behaeltern in sammelbehaelter, vorzugsweise muellbehaelter in den sammelbehaelter eines muellfahrzeugs

Publications (2)

Publication Number Publication Date
EP0173180A1 EP0173180A1 (de) 1986-03-05
EP0173180B1 true EP0173180B1 (de) 1987-11-11

Family

ID=25824030

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85110254A Expired EP0173180B1 (de) 1984-08-21 1985-08-16 Kipp- oder Hubkipp-Vorrichtung zum Entleeren von Behältern in Sammelbehälter, vorzugsweise Müllbehälter in den Sammelbehälter eines Müllfahrzeugs

Country Status (6)

Country Link
US (2) US4722658A (da)
EP (1) EP0173180B1 (da)
JP (1) JPH0790881B2 (da)
AU (1) AU572684B2 (da)
DE (2) DE3527022A1 (da)
DK (1) DK161449C (da)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN108974730A (zh) * 2018-07-20 2018-12-11 湖南瑭桥科技发展有限公司 一种节省空间的垃圾桶自动夹持举升臂

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DK161449C (da) 1992-01-06
AU572684B2 (en) 1988-05-12
DK378285A (da) 1986-02-22
DK161449B (da) 1991-07-08
DE3560942D1 (en) 1987-12-17
DK378285D0 (da) 1985-08-20
US4889462A (en) 1989-12-26
JPS61124402A (ja) 1986-06-12
JPH0790881B2 (ja) 1995-10-04
EP0173180A1 (de) 1986-03-05
DE3527022A1 (de) 1986-03-06
US4722658A (en) 1988-02-02

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