EP0818403A1 - Vorrichtung zum Ergreifen von Behältern - Google Patents

Vorrichtung zum Ergreifen von Behältern Download PDF

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Publication number
EP0818403A1
EP0818403A1 EP97111114A EP97111114A EP0818403A1 EP 0818403 A1 EP0818403 A1 EP 0818403A1 EP 97111114 A EP97111114 A EP 97111114A EP 97111114 A EP97111114 A EP 97111114A EP 0818403 A1 EP0818403 A1 EP 0818403A1
Authority
EP
European Patent Office
Prior art keywords
gripper
arms
gripping
gripper head
links
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.)
Ceased
Application number
EP97111114A
Other languages
German (de)
English (en)
French (fr)
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
Publication of EP0818403A1 publication Critical patent/EP0818403A1/de
Ceased 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
    • 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
    • B65F2003/023—Gripper arms for embracing the receptacle

Definitions

  • the invention relates to a device for gripping containers, in particular waste containers, with one on an emptying device arranged gripper head, on which one, a front and one rear linkage with four-bar guide and two swiveling gripper arms are arranged, which are attached to the handlebars by means of at least one Actuator are adjustable, and with at least one between the gripping arms arranged support element.
  • the emptying devices which are at the rear of the garbage trucks are arranged, at least one garbage collector, but usually two, the Bring waste containers parked on the side of the road to the emptying device and reset after emptying.
  • This staff can be saved if the emptying device is designed so that it Can pick up garbage bins directly from the roadside.
  • special Gripping devices developed that either work fully automatically or from Garbage truck drivers can be controlled.
  • US-A-3,841,508 describes an apparatus for gripping Garbage containers, which is arranged on the side of the garbage truck.
  • One by one vertical axis swiveling arm is a gripper head on a rocker arm arranged with a housing in which two gripper arms around a vertical Axis are pivotally supported by one between the gripper arms arranged pressure medium cylinders can be moved.
  • the gripper arms are adapted to the shape of the container to be emptied and are with the free End attached buffers on the container wall.
  • Also on the gripper head still two support elements in the form of buffers pivotally mounted, so that the container is detected at a total of four points.
  • buffer is limited.
  • the outer dimensions of the containers may not be significantly different from the Ideal shape deviate, because otherwise the support elements the container walls would be too heavy or the containers would not be gripped safely.
  • the gripper arms Due to the limited opening width of the gripper arms can be narrow containers standing next to each other can be detected, however, they must not be disorganized because the gripper head itself is not movable, so that it is aligned with the position of the container to be gripped can be.
  • DE 44 44 193 C1 describes a waste collection system in which the Aligning the waste containers in a certain angular position for emptying should be facilitated.
  • the gripper has two around a vertical joint pivotable and expandable arms that roll or roll on the inside Bear balls that can be driven if necessary, so that the container after the detection can be rotated and thus aligned.
  • This Gripping device can only be used for containers with a round peripheral wall, the gripper arms must be adapted to the container size. Due to the circular shape of the gripper arms must grasp the gripper arms the container can be spread very wide with the result that close together standing containers can not be detected.
  • the US 4,175,903 describes an emptying device that a Garbage truck arranged, extendable arm pivotable in two levels has, on which a gripping device with plate-shaped gripping arms is attached.
  • the gripper arms can be inclined about their longitudinal axis and are covered with an elastic material on the inside. Every plate is attached to at least two cylinder piston units that are perpendicular to the Longitudinal axis of the device are arranged and the gripping arms below Keep their parallel position apart or move together. Additional support elements are not provided, so that the container only is pinched between the gripper arms. Since, however, great The torques to be applied to the container should become effective Pressure should be low so that there is a risk of slipping.
  • a Another disadvantage is that when the container is detected due to the occurring leverage considerable lateral forces on the Act cylinder piston units that cause damage, in particular Leakage lead, so that the entire arrangement is extremely prone to failure.
  • a gripping device is known with which it is possible should be to take containers close together.
  • the rigidly attached to the emptying device two are strongly curved Gripping arms pivotally attached via a four-bar guide. Both of them Handlebars are of different lengths, with a handlebar being additionally curved got to.
  • the hinge points on the gripper head are arranged so that in Closed position of the gripping arms cross the handlebars and move away from the Extend the hook head forward.
  • the Handlebars are pivoted backwards by about 90 °, with the result that the Gripping arms leave their parallel orientation to each other and very far behind swivel outside so that a considerable space is required.
  • Another device in which belts are also provided, is from the WO 94/18098 known.
  • the gripper arms are formed in two parts and have an inwardly pivotable end section. Even with this device can not tight in the voluminous design of the gripper arms containers standing next to each other can be gripped.
  • It is an object of the invention to provide a device for gripping Provide garbage bins with the container standing close together and containers of different sizes can be reliably detected.
  • the invention provides that the four-bar guide a Parallelogram guidance is, with the handlebars in every swivel position form an acute angle with the associated swivel arm.
  • a Parallelogram guidance has the advantage that the gripper arms are parallel Keep alignment with each other when opening and opening the handlebars Closing the gripper arms can be pivoted. There is therefore the Possibility that the distance between the gripping arms is adjusted to the container width can be, without the gripping arms are pivoted against each other, what again the insertion of the swivel arms into the spaces between adjacent containers would make impossible.
  • the alignment the handlebar with respect to the associated swivel arms allows the front handlebars via their pivot point on the gripper head to the front extend so that in the area between the gripper arms at the free end the front link can be arranged a support element.
  • the front links on the gripper head advantageously have one common hinge point and thus form a scissor joint. If the Gripping arms continue to grasp a large waste container are moved apart, the support elements on the front handlebars from the area between the gripper arms moved the gripper head back so that a total of between the gripper arms more space is available to hold the waste container. If vice versa the gripper arms for gripping a small container the support elements move automatically forward into the area between the gripper arms, so that a small container with its outer wall not only on the gripping arms but also also abuts the support elements.
  • the one arranged at an acute angle Parallelogram linkage with the extended front handlebars offers the ability to capture different sized containers without Conversion work or even an exchange of gripper arms becomes necessary.
  • the rear links on the gripper head can be one have a common pivot point.
  • the common Articulation points of front and rear links on the axis of symmetry entire device can be one have a common pivot point.
  • the gripping arms are preferably straight and only on their free End bent inwards.
  • the gripping arms preferably have theirs A slightly curved contour on the inside. This configuration has the advantage that rectangular containers with the gripping arms essentially in the corner area grasped and so drawn in by the inwardly bent free ends be that with a container wall on the two support elements lie on. A four-point support is thus created that the container holds securely. Due to the curved inner contour, the adjustment of the entire device to containers of different sizes, because on this way the gripper arms always at two points on the container wall and press the container in the direction of the support elements.
  • the containers are not between the gripper arms when lifting slip through, these are on the inside with a vertical Towards the anti-slip surface.
  • this should The covering should not be anti-slip, so that it is not exactly to the gripping device aligned containers on the inside of the gripper arms when moving together the gripping arms can slide along and thus to the gripping device can align.
  • This process can be supported by the fact that Gripping arms on the inside in the longitudinal direction of the gripping arm wear moving straps. It can be a timing belt act on rollers and when aligning an inclined Trash container rolls over these roles. Such a belt is preferred Have longitudinal grooves so that it slips through the gripper arms can be avoided.
  • Adjustable buffers are also arranged on the inside of the gripper arms. This is particularly necessary when it comes to round containers small diameter, because this no longer from the inside curved ends of the gripping arms are detected.
  • the support elements on the handlebars preferably point in the Gripper arm level on a curved shape so that they always on the Container wall abut even if they are due to the pivoting of the handlebars take different positions with respect to the container.
  • the actuating device preferably acts on the rear handlebar, wherein to simplify the entire device advantageously one common actuating device is provided for both gripper arms.
  • the common actuating device can, according to one embodiment Be cylinder piston unit, which in the axis of symmetry of the device Gripper head is arranged. So that damage to the container by the The effect of excessive forces is avoided
  • Actuating device advantageously a force limiting device. in the In the case of a hydraulic device, e.g. a cylinder piston unit pressure relief valves are suitable for this.
  • the rear links are as Articulated arms formed.
  • the actuator intervenes in this Embodiment at the respective break point of the rear handlebar.
  • the rear handlebars can only be folded towards the front handlebars. By folding the rear handlebars the two are in the same position Gripper arms lifted and the two gripper arms opened even further. This is then an advantage if an inclined container is detected and initially must be aligned with the gripping device. For rectangular ones Containers, the gripper arms must be opened so that one Containers also seized at the diagonally opposite corner points can be.
  • the gripper head can be in one on the emptying device attached housing be pivotally mounted. Between gripper head and For this purpose, the housing is advantageously an adjusting device for Swiveling the gripper head arranged.
  • the vertical swivel axis of the The gripper head is preferably located in the joint joint point of the rear Handlebars, so that the gripper head and the entire gripping device is simplified and an overall compact arrangement is formed.
  • the gripping device can be controlled manually on the container to be emptied are what can preferably be done by the driver of the garbage truck. However, it is also possible to have a sensor device, preferably on To provide gripper head, the position detection of the to be emptied Container and the emptying device and the gripper arms controls accordingly.
  • FIG. 1 shows the top view of a gripping device which a medium-sized container 1a with the side walls 2a-d and the rim 3 detected.
  • the gripping device has a gripper head 40 which, as in FIG Figure 2 can be seen from two parallel plates 41 and 42, which as in the plan view shown in FIG has a triangular shape.
  • 23 and 24 handlebars pivotally mounted, the front handlebars 26a, 26b and rear Handlebars 32a, 32b can be distinguished.
  • the front links 26a, 26b grip on the gripper arms 10a and 10b in the articulation points 21a and 21b.
  • the rear handlebars 32a and 32b engage on the gripping arms 10a and 10b in the Pivot points 22a and 22b, with the front and rear links together form a parallelogram guide 20a, 20b.
  • the front and rear links are between their pivot points 23 and 21a and 21b or between the hinge point 24 and the hinge point 22a and 22b of equal length.
  • This arrangement of the links allows the front links 26a and 26b extend beyond their hinge point 23 forward so that the front portion 27a and 27b in the space between the gripper arms 10a and 10b protrudes. In this way, the front links 26a, 26b form together a scissor joint 30.
  • the Support elements 28a and 28b are arranged, which in plan view a curved, preferably have a circular arc shape and with a non-slip elastic covering are provided.
  • the gripping arms 10a and 10b have a essentially straight shape and are inward at their free end bent. These bent ends 12a and 12b are of shape, i.e. to the Adapted curves in the corner of the waste bin 1a.
  • the inner contour is together with the curved one Ends 12a and 12b designed so that the waste container 1a substantially in the corner area and only partially on the side walls 2a and 2c and at the same time also pressed in the direction of the gripper head 40 is so that the side wall 2d of the container 1a against the support elements 28a and 28b is pressed.
  • the gripper arms 10a and 10b can due to their parallel orientation and their elongated shape easily in the space between containers placed next to one another are introduced, as shown in FIG. 1 you can see.
  • the thickness of the gripper arms is based on the available ones Distance adjusted.
  • An actuating device 50 is used to actuate the gripping arms 10a, 10b provided that is attached to the gripper head 40.
  • this actuator 50 consists of a Cylinder-piston unit, the cylinder 52 on the gripper head 40 in the Axis of symmetry of the gripping device is arranged.
  • the piston 51, the protrudes rear end of the gripper head 40 is over the actuating lever 53a, b articulated on the rear links 32a and 32b. If the piston 51 is shifted, the angle ⁇ is increased or decreased, the Parallel position of the gripper arms 10a and 10b is maintained. In this manner and it is possible to set the distance between the gripping arms 10a and 10b to set different sized garbage bins, as in Connection with Figures 4 and 5 is explained.
  • the rear links 32a and 32b are designed as articulated arms, the Operating levers 53a and 53b in the respective break points 33a and 33b attack.
  • the kink position and the alignment of the articulated arm sections 34a, b, 35a, b will be explained in connection with FIGS. 6, 7a and 7b.
  • the gripper head 40 is arranged within a housing 60 which on the Emptying device 70 is fastened, which is a side view in FIG. 2 shown.
  • a first swivel arm engages on the top of the housing 60 71 and a first cylinder-piston unit 72 connected to a second Swivel arm 73 are articulated.
  • Other components of the emptying device 70 are the plate 75 and a second cylinder piston unit 74, which in turn on a telescopic arm 76 are attached, which is arranged on the garbage truck.
  • the Gripping device together with the waste bin 1a raised and into the Garbage truck (not shown) emptied.
  • Figure 2 is on the top of the housing 60, an adjusting device 61 is shown, which in Connection in connection with Figures 7a and 7b is explained.
  • FIG 3 shows a section along the line III-III through the in FIG shown representation to see.
  • the cylinder 51 of the actuator 50 is flanged to a connecting element 45 within the gripper head 40, in which the bolts 43 and 44 are mounted. These two bolts are located in the common hinge points 24 and 23, which are related to 1 have been described.
  • the support element 28b is arranged, which has transverse grooves is provided to prevent the container from slipping down.
  • the Gripping arm 10a is only partially shown, and it is also one Longitudinal corrugation of the covering 11a can be seen.
  • lugs 37a, 37b and the stops 36a, 36b are of this type coordinated with one another that when the rear link 32a and 32b, the two articulated arm sections 34a and 34b or 35a and 35b are aligned and cannot buckle. This is necessary so that the swivel arms 10a and 10b do not further one another beyond the parallel position to move.
  • the two gripping arms 10a and 10b moved together and the container 1c detected. Since the gripping arms 10a and 10b are equipped on the inside with a covering 11a and 11b, the one The container 1c slides in the longitudinal direction of the gripping arms 10a and 10b allows, the container is aligned so that it with its side wall 2d the support elements 28a and 28b come to rest.
  • FIGS. 7a and 7a 7b This pivotability of the gripper head 40 is shown in FIGS. 7a and 7a 7b.
  • the adjustment device 61 already shown in FIGS. 2 and 3 on the top of the housing 60, its piston engages the gripper head 40 and pivots the by extending and retracting the cylinder Gripper head in the desired direction. It is possible regardless of a movement of the emptying device with respect to the entire gripping device align the container to be detected. The position of gripper arms and Support elements remain unchanged during this swiveling process.
  • FIG. 8 shows a further embodiment in which a round Container 1d is detected.
  • the two gripping arms are 10a and 10b equipped with additional buffers 13a and 13b, which are used to adapt to the Diameter of the round container on the gripping arms 10a and 10b adjusted can be.
  • the contour of the buffers is chosen so that the buffers are attached create the round outer wall 4 of the container 1d.
  • the support elements 28a and 28b are also on the peripheral wall 4, so that the container is also recorded at four points.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Manipulator (AREA)
  • Commercial Cooking Devices (AREA)
  • Refuse Receptacles (AREA)
EP97111114A 1996-07-12 1997-07-03 Vorrichtung zum Ergreifen von Behältern Ceased EP0818403A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19628140A DE19628140C1 (de) 1996-07-12 1996-07-12 Vorrichtung zum Ergreifen von Behältern
DE19628140 1996-07-12

Publications (1)

Publication Number Publication Date
EP0818403A1 true EP0818403A1 (de) 1998-01-14

Family

ID=7799657

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97111114A Ceased EP0818403A1 (de) 1996-07-12 1997-07-03 Vorrichtung zum Ergreifen von Behältern

Country Status (13)

Country Link
EP (1) EP0818403A1 (sk)
JP (1) JPH10147403A (sk)
AU (1) AU2857397A (sk)
BR (1) BR9703962A (sk)
CZ (1) CZ209297A3 (sk)
DE (1) DE19628140C1 (sk)
HR (1) HRP970379A2 (sk)
HU (1) HUP9700999A1 (sk)
PL (1) PL321083A1 (sk)
SI (1) SI9700165A (sk)
SK (1) SK93397A3 (sk)
YU (1) YU29297A (sk)
ZA (1) ZA976165B (sk)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0963923A3 (de) * 1998-05-08 2000-05-10 Faun Umwelttechnik GmbH & Co. Müllsammelfahrzeug mit seitlich angebrachter Hubkippvorrichtung
NL1011031C2 (nl) * 1999-01-14 2000-07-17 Geesink Bv Afvalinzamelvoertuig met zijbeladingsinrichting.
NL1020540C2 (nl) * 2002-05-06 2003-11-10 Geesink Bv Inrichting voor het opnemen en vasthouden van afvalhouders.
CN102910401A (zh) * 2012-10-30 2013-02-06 青岛同辉汽车技术有限公司 液压抱桶装置
CN103350845A (zh) * 2013-06-14 2013-10-16 滕明明 垃圾自动收集车
CN103612973A (zh) * 2013-12-12 2014-03-05 王传新 带增力机构的自重式加气砖夹具
CN109607373A (zh) * 2018-12-06 2019-04-12 湖南五新隧道智能装备股份有限公司 一种吊装夹具、吊装装置及拱架台车
CN112996739A (zh) * 2018-09-12 2021-06-18 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 包装抓取器系统

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103803226A (zh) * 2014-03-18 2014-05-21 安徽理工大学 一种垃圾桶全自动倾倒装置
CN106629094A (zh) * 2017-02-24 2017-05-10 周万杰 夹取装置
CN111891735B (zh) * 2020-06-18 2021-09-10 宏辉磁电科技(安徽)有限公司 一种烧结下板产品收集工装
CN115924734B (zh) * 2022-12-26 2023-06-27 山东开元重型机械有限公司 一种门座式起重机用集装箱倾转吊具

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993025457A1 (en) * 1992-06-15 1993-12-23 Macdonald Johnston Engineering Company Pty. Ltd. Refuse bin grabbing apparatus

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US536310A (en) * 1895-03-26 Mail-bag catcher
US3841508A (en) * 1972-09-27 1974-10-15 F Ebeling Refuse vehicle with a semi-automated refuse container pick-up and unloading device
US4175903A (en) * 1976-12-20 1979-11-27 Carson William S Pick-up apparatus and containing assembly
DE69323439T2 (de) * 1993-02-05 1999-06-10 The Heil Co., Chattanooga, Tenn. Greifvorrichtung für verschiedenartige behälter
DE4444193C1 (de) * 1994-12-13 1996-05-15 Streuber Sulo Eisenwerk F Müllsammelsystem

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993025457A1 (en) * 1992-06-15 1993-12-23 Macdonald Johnston Engineering Company Pty. Ltd. Refuse bin grabbing apparatus

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0963923A3 (de) * 1998-05-08 2000-05-10 Faun Umwelttechnik GmbH & Co. Müllsammelfahrzeug mit seitlich angebrachter Hubkippvorrichtung
NL1011031C2 (nl) * 1999-01-14 2000-07-17 Geesink Bv Afvalinzamelvoertuig met zijbeladingsinrichting.
EP1020375A1 (en) * 1999-01-14 2000-07-19 Geesink B.V. Refuse collection vehicle with side loader.
NL1020540C2 (nl) * 2002-05-06 2003-11-10 Geesink Bv Inrichting voor het opnemen en vasthouden van afvalhouders.
CN102910401A (zh) * 2012-10-30 2013-02-06 青岛同辉汽车技术有限公司 液压抱桶装置
CN102910401B (zh) * 2012-10-30 2015-05-27 青岛同辉汽车技术有限公司 液压抱桶装置
CN103350845A (zh) * 2013-06-14 2013-10-16 滕明明 垃圾自动收集车
CN103350845B (zh) * 2013-06-14 2015-05-06 宁波大红鹰学院 垃圾自动收集车
CN103612973A (zh) * 2013-12-12 2014-03-05 王传新 带增力机构的自重式加气砖夹具
CN112996739A (zh) * 2018-09-12 2021-06-18 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 包装抓取器系统
CN109607373A (zh) * 2018-12-06 2019-04-12 湖南五新隧道智能装备股份有限公司 一种吊装夹具、吊装装置及拱架台车
CN109607373B (zh) * 2018-12-06 2023-10-13 湖南五新隧道智能装备股份有限公司 一种吊装夹具、吊装装置及拱架台车

Also Published As

Publication number Publication date
SK93397A3 (en) 1998-05-06
HRP970379A2 (en) 1998-04-30
DE19628140C1 (de) 1998-01-15
BR9703962A (pt) 2000-06-06
YU29297A (sh) 1999-07-28
AU2857397A (en) 1998-01-22
SI9700165A (sl) 1998-06-30
HUP9700999A1 (hu) 1998-12-28
CZ209297A3 (cs) 1998-05-13
ZA976165B (en) 1998-02-02
PL321083A1 (en) 1998-01-19
HU9700999D0 (en) 1997-07-28
JPH10147403A (ja) 1998-06-02

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