EP2868599B1 - Dispositif pour manipuler et vider des récipients de collecte de déchets - Google Patents

Dispositif pour manipuler et vider des récipients de collecte de déchets Download PDF

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Publication number
EP2868599B1
EP2868599B1 EP13380051.6A EP13380051A EP2868599B1 EP 2868599 B1 EP2868599 B1 EP 2868599B1 EP 13380051 A EP13380051 A EP 13380051A EP 2868599 B1 EP2868599 B1 EP 2868599B1
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EP
European Patent Office
Prior art keywords
moving
jaws
holding
container
pair
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.)
Not-in-force
Application number
EP13380051.6A
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German (de)
English (en)
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EP2868599A1 (fr
Inventor
Albert Padullés Omedes
Carlos Domènech Mestres
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.)
Palvi SL
Original Assignee
Palvi SL
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Publication date
Application filed by Palvi SL filed Critical Palvi SL
Priority to EP13380051.6A priority Critical patent/EP2868599B1/fr
Priority to ES13380051.6T priority patent/ES2581566T3/es
Priority to PL13380051.6T priority patent/PL2868599T3/pl
Publication of EP2868599A1 publication Critical patent/EP2868599A1/fr
Application granted granted Critical
Publication of EP2868599B1 publication Critical patent/EP2868599B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/12—Refuse receptacles; Accessories therefor with devices facilitating emptying
    • B65F1/125—Features allowing the receptacle to be lifted and emptied by its bottom
    • 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
    • B65F3/0203—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto with crane-like mechanisms

Definitions

  • the present invention relates to the field of devices for handling and emptying waste collection containers, and more particularly to the field of devices for handling and emptying containers that are attached to a manipulator arm installed in a collection truck, and that are envisaged for being coupled to a handle of a waste container, to hold and lift up the container and to operate a gate operator element for opening and closing lower gates of the container while the container is hoisted up.
  • Waste collection containers are known to comprise a hollow body provided with a loading mouth, lower gates, a handle fixed on an outer surface of the hollow body for holding the container, and a gate operator element mechanically linked to said lower gates.
  • the handle comprises a fixed vertical rod ending in a perimetral flange, a ring or another gripping element than be held
  • the gate operator element comprises a moving vertical rod arranged adjacent and/or concentric to the handle and ending in a perimetral flange, a ring or another gripping element that can be held.
  • handle and the gate operator element when the handle and the gate operator element are arranged adjacent to one another, they both end in respective rings or other gripping elements that can be held, and when the handle and the gate operator element are arranged in a concentric or telescopic manner, they both end in respective perimetral flanges.
  • Document DE 29905551 U1 discloses a device for handling and emptying waste collection containers of the type described above, including a coupling head comprising a head structure bearing a first holding member suitable for being coupled to the handle of a container, a second holding member suitable for holding the gate operator element, which in this case is arranged concentric to the handle, and operating means suitable for linearly shifting by means of a moving carriage said second holding member when same is held to said gate operator element of the container, thus opening and closing the lower gates through said mechanical link of the gate operator element with the lower gates of the container.
  • first and second holding members are configured as forks provided with fixed branches positioned in a horizontal manner towards one side of the coupling head, and as a result for coupling the head to the handle and to the gate operator element of the container, said head must perform a series of relatively complex movements to first locate the coupling head on the side of the handle and of the gate operator element of the container at a specific height in relation to same, to then position the forks in relation to the handle and the gate operator element of the container, and finally to laterally couple the forks to the handle and to the gate operator element of the container.
  • This series of movements which must be carried out by means of the manipulator arm, are difficult to control manually, even with the help of machine vision means, and they are difficult to automate.
  • Document 94 18 696 U1 discloses a device for handling and emptying waste collection containers according to the preamble of claim 1.
  • the present invention contributes to mitigating the foregoing and other drawbacks by providing a device for handling and emptying waste collection containers according to claim 1.
  • It includes a coupling head comprising a head structure.
  • This head structure bears a first holding member suitable for being coupled to a handle fixed on an outer surface of a container for holding up said container, and a second holding member suitable for holding a gate operator element arranged in the container, adjacent and/or concentric to said handle and mechanically linked to lower gates of the container for opening and closing same.
  • This second holding member is installed in a moving carriage vertically movable along said head structure.
  • the head structure also bears operating means suitable for shifting said moving carriage between gate closing and opening positions, in which the gate operator element of the container, held by said second holding member, performs the closure and allows the opening of said lower gates of the container, respectively.
  • Said first holding member comprises one or more moving elements operated by a holding activation device for moving between holding and release positions which determine the holding and the release of said handle, respectively.
  • said second holding member comprises one or more moving elements operated by a holding activation device for moving between holding and release positions which determine the holding and the release of said gate operator element, respectively.
  • the head structure has retaining elements which contact with stops of the one or more moving elements of the second holding member preventing the movement thereof towards said release position when said one or more moving elements of the second holding member are in said holding position and said moving carriage is in said gate closing position or in any intermediate position between said gate opening position and the gate closing position.
  • the one or more moving elements of the second holding member can only move towards the release position when the moving carriage is in the gate closing position, in which said stops of the one or more moving elements of the second holding member are free of interference with said retaining elements.
  • the one or more moving elements of the first holding member comprise a first pair of moving jaws movable between said holding and release positions by means of at least one articulation, acting as a first clamp.
  • the jaws of this first pair of moving jaws of the first holding member have respective upper planar faces which, in said holding position and in a loading situation, contact with a lower surface of a perimetral flange of the handle of the container, receiving vertical loads from said flange, and lower planar faces which, in the holding position and in a loading situation, transmit said vertical loads to and rest on a complementary planar surface of said head structure. Therefore, the vertical load of the container is primarily borne by the head structure and does not substantially affect the jaws of the first pair of jaws or the articulation thereof.
  • the one or more moving elements of the second holding member comprise a second pair of moving jaws movable between said holding and release positions by means of at least one articulation, acting as a second clamp, and the mentioned stops are attached to the jaws of said second pair of moving jaws.
  • the jaws of the second pair of moving jaws of the second holding member have respective upper planar faces which, in said holding position and in a loading situation, contact with a lower surface of a perimetral flange of the gate operator element of the container, receiving vertical loads from said flange, and lower planar faces which, in the holding position and in said loading situation, transmit said vertical loads to and rest on a complementary planar surface of the moving carriage. Therefore, the vertical load of the gates of the container, which bear the load of the content of the container when they are in a closed position, is primarily borne by the moving carriage and does not substantially affect the jaws of the second pair of jaws or the articulation thereof.
  • moving pins, moving forks or other elements suitable for holding rings or other gripping elements that can be held are provided, fixed to the handle and to the gate operator element, both when they are arranged adjacent to another and when they are arranged in a concentric or telescopic manner.
  • the mentioned holding activation device operating the second holding member is preferably arranged outside the moving carriage such that it does not move together with same.
  • the first and second holding members are operated simultaneously by means of a single holding activation device shared by both members.
  • this single shared holding activation device comprises a first actuator moving a mechanism between jaw closing and opening positions. Said mechanism is kinematically connected to lever arms attached to the jaws of the first pair of moving jaws of the first holding member and to moving rams arranged in the head structure facing zones free of interference with said retaining elements corresponding to the gate opening position of the moving carriage which, in this embodiment, is the lower position of travel.
  • the mechanism of the holding activation device When the mechanism of the holding activation device is moved to the jaw closing position, the mechanism moves by means of respective levers the jaws of the first pair of jaws towards the holding position and at the same time moves the moving rams such that they push said stops of the jaws of the second pair of moving jaws of the second holding member when the moving carriage is in the gate opening position.
  • the stops of the jaws of the second pair of jaws lose contact with the moving rams but immediately begin interfering with the retaining elements, which keeps the jaws of the second pair of jaws in the holding position while the stops slide along the retaining elements and the jaws of the second pair of jaws drive the gate operator element of the container to the gate closing position, or upper position of travel.
  • the jaws of the second pair of moving jaws of the second holding member are permanently pushed towards the release position by an elastic element, such as a spring, installed in contact with both jaws. Therefore, when the moving carriage is moved from the gate closing position to the gate opening position again, which is located in said zone free of interference with the retaining elements, the stops no longer contact with the retaining elements and contact again with the rams of the holding activation device, and the jaws of the second pair of jaws remain in the holding position. Only when the mechanism of the holding activation device is moved to the jaw opening position will the moving rams be withdrawn and said elastic element be allowed to bring the jaws of the second pair of moving jaws back to the release position, releasing the gate operator element of the container.
  • an elastic element such as a spring
  • the operating means shifting the moving carriage comprise a second actuator, such as an electric motor or a hydraulic motor, causing the rotation of one or more vertical spindles coupled to one or more nut elements fixed to the moving carriage. Therefore, when this second actuator is activated, it causes the rotation of the one or more spindles in a first direction for raising the moving carriage towards the gate closing position and in a second direction for lowering the moving carriage towards the gate opening position.
  • a second actuator such as an electric motor or a hydraulic motor
  • the head of the device for handling and emptying containers of the present invention is envisaged to be attached to a manipulator arm installed in a collection truck, and a worker controls the operation of said manipulator arm by means of suitable controls for coupling the head to the handle of a waste container, to lift the container, hold it up, and operate the gate operator element for opening and closing lower gates of the container while the container is hoisted up.
  • an image capturing camera the line of sight of which is directed downwards between the jaws of the first pair of moving jaws of the first holding member when they are in the release position, between the jaws of said second pair of moving jaws of the second holding member when they are in the release position, and through an opening of the moving carriage and through a lower opening of the head structure.
  • Images provided by said image capturing camera are, for example, shown on a display and are used by the worker to position the head structure in relation to the handle of the container.
  • the head structure has at least one stop surface contacting with an upper surface of said perimetral flange of the handle of the container determining a limit position of insertion for the head structure.
  • said upper planar faces of the jaws of the first pair of moving jaws of the first holding member are located at a level lower than said lower surface of said perimetral flange of the handle of the container, and said upper planar faces of the second pair of moving jaws of the second holding member are located at a level lower than said lower surface of said perimetral flange of the gate operator element of the container.
  • This limit position of insertion is detected by a first detector element arranged in the head structure.
  • This first detector element is movable between a standby position and a detection position, and is pushed by an elastic element towards said standby position.
  • the first detector element is pushed to said detection position by the perimetral flange of the handle of the container and is detected in the detection position by a first sensor arranged in the head structure.
  • a second detector element movable between upper, intermediate and lower positions and an elastic element pushing said detector element towards said lower position, where it is kept as long as the gate operator element of the container is not inserted into the head.
  • the second detector element is pushed to said upper position by the gate operator element of the container when the head structure reaches the limit position of insertion and the moving carriage is in the gate opening position, i.e., the lower position of travel, and it is kept in said intermediate position by the gate operator element of the container when the moving carriage is moved towards the gate closing position, i.e., the upper position of travel.
  • a second sensor and a third sensor are arranged in the moving carriage. Said second sensor detects the second detector element when it is in any of the intermediate and upper positions, whereas the third sensor detects the second detector element only when it is in the upper position. None of the second and third sensors detect the second detector element when it is in the lower position.
  • Figure 1 shows a device for handling and emptying waste collection containers according to an embodiment of the present invention, which comprises a coupling head 70 attached to a free end of a manipulator arm 71 installed in a collection truck 72 provided with a cab 73 carrying a worker, and a collection body 74.
  • a coupling head 70 attached to a free end of a manipulator arm 71 installed in a collection truck 72 provided with a cab 73 carrying a worker, and a collection body 74.
  • the worker can control the necessary movements of the manipulator arm 71 to couple the coupling head 70 to a handle 1 fixed on an outer upper surface of a container 3 and to a gate operator element 2 arranged in the container 3 concentric to said handle 1 and mechanically linked to lower gates 4 of the container 3 for opening and closing the container.
  • Figure 2 shows a head structure 50 of the coupling head 70.
  • a first holding member 10 suitable for being coupled to the handle 1 of the container 3 and a second holding member 20 suitable for holding the gate operator element 2 of the container 3 are installed in said head structure 50.
  • This second holding member 20 is installed in a moving carriage 51 vertically movable along said head structure 50.
  • Operating means described in detail below shift said moving carriage 51 between a gate closing position, corresponding to the upper position of travel, in which the gate operator element 2 of the container 3, held by said second holding member 20, performs the closure of the lower gates 4 of the container 3, and a gate opening position, corresponding to the lower position of travel, in which the gate operator element 2 of the container 3, held by said second holding member 20, allows the opening of the lower gates 4 of the container 3 by gravity.
  • said first holding member 10 comprises a first pair of moving jaws 10a, 10b movable about a first articulation acting as a first clamp
  • the second holding member 20 comprises a second pair of moving jaws 20a, 20b movable about a second articulation acting as a second clamp
  • the handle 1 of the container 3 comprises a hollow rod having a square cross-section
  • the jaws of said first pair of moving jaws 10a, 10b have gripping surfaces configured such that they are externally coupled to said hollow rod having a square cross-section preventing the container 3 from rotating with respect to the head 70 when the handle 1 is gripped by the first holding member 10.
  • the jaws of the first pair of moving jaws 10a, 10b have lever arms 11 projecting from their rear portion, and the jaws of said second pair of moving jaws 20a, 20b have stops 21 projecting from their rear portion.
  • the second pair of moving jaws 20a and 20b installed in the moving carriage has an elastic element 24 (shown in Figure 5a , 5b and 5c ) permanently pushing the second holding member 20 towards the release position.
  • said elastic element 24 is a metal torsion spring, although alternatively there can be more than one elastic element 24 comprising one or more torsion or compression coil springs, or one or more bodies made of an elastomeric material, etc.
  • the retaining elements 52 consist of vertical walls guiding the vertical shift of the moving carriage 51, and as can be seen in Figure 4 , they have an opening at their lower end, coinciding with the position of the stops 21, the moving carriage 51 being in the release position for releasing the gate operator 2.
  • the opening and closure of the jaws are operated by means of a holding activation device 40, shown in Figures 3 and 4 , which simultaneously moves the first pair of moving jaws 10a and 10b about a first articulation between jaw closing and opening positions which determine the holding and the release of the handle 1 of the container 3 and the second pair of moving jaws 20a, 20b about a second articulation between jaw closing and opening positions which determine the holding and the release of the gate operator element 2 of the container 3.
  • a holding activation device 40 shown in Figures 3 and 4 , which simultaneously moves the first pair of moving jaws 10a and 10b about a first articulation between jaw closing and opening positions which determine the holding and the release of the handle 1 of the container 3 and the second pair of moving jaws 20a, 20b about a second articulation between jaw closing and opening positions which determine the holding and the release of the gate operator element 2 of the container 3.
  • said holding activation device 40 consists of an articulated quadrangle formed by a vertical bar 44 articulated with respect to the head structure 50 by means of connecting rods 45, and one of said connecting rods 45 having moving rams 42 arranged for pushing said stops 21 of the jaws of the second pair of moving jaws 20a, 20b when the moving carriage 51 is in the release position for releasing the gate operator 2, that being a zone which is free of interference with the retaining elements 52.
  • the upper end of the vertical bar 44 is attached to the first actuator 41 which in the present embodiment is a piston, and its lower end is kinematically connected to lever arms 11 of the jaws of the first pair of moving jaws 10a, 10b of the first holding member 10.
  • the activation of the first actuator 41 shifts the vertical bar 44, moving the lever arms 11 of the first pair of moving jaws 10a, 10b closer to or away from one another, causing the opening or closure of the first holding member 10, while at the same time pushing the moving rams 42 against or withdrawing them away from the stops 21 of the second pair of moving jaws 20a and 20b, causing the opening or closure of the second holding member 20.
  • Said kinematic attachment between the vertical bar 44 and the first pair of moving jaws 10a and 10b is by means of articulated arms 43 having spherical articulations at their two ends for converting a lateral vertical shift of the vertical bar 44 into a horizontal movement of the lever arms 11 of the first pair of moving jaws 10a and 10b.
  • Figures 5a and 6a show the second pair of moving jaws 20a and 20b in the release position for releasing the gate operator 2, the moving carriage 51 being in the gate opening position 4.
  • the holding activator 40 keeps the first pair of moving jaws 10a and 10b open, and the moving rams 42 withdrawn.
  • Figures 5b and 6b show the second pair of moving jaws 20a and 20b in the holding position for holding the gate operator 2, the moving carriage 51 being in the gate opening position 4.
  • the holding activator 40 keeps the first pair of moving jaws 10a and 10b closed, and the moving rams 42 in the pushing position.
  • Figures 5c and 6c show the second pair of moving jaws 20a and 20b in the holding position for holding the gate operator 2, the moving carriage 51 being in the gate closing position 4.
  • the holding activator 40 keeps the first pair of moving jaws 10a and 10b closed, and the moving rams 42 in the pushing position, and the retaining elements 52 keep said second pair of moving jaws 20a and 20b in the holding position for holding the gate operator 2.
  • Figures 5a to 7e show how the first pair of moving jaws 10a and 10b have an upper face 12 complementary to a lower surface of a perimetral flange 1a of the handle 1, and a lower face 13 complementary to a complementary planar surface 56 of the head structure 50.
  • the second pair of moving jaws 20a and 20b have an upper face 22 complementary to a lower surface of a perimetral flange 2a of the gate operator element 2, and a lower face 23 complementary to a complementary planar surface 57 of the moving carriage 51.
  • Figures 7a, 7b , 7c, 7d and 7e show steps of the process of collecting, lifting and emptying a waste container 3.
  • the first drawing shows how the coupling head 70 has been vertically aligned on the handle 1 with the help of an image capturing camera 58 ( Figure 2 ), the first and second holding members 10 and 20 being open.
  • Figure 7b shows how the coupling head 70 is lowered, inserting said handle 1 and gate operator 2 into a lower opening made on said head.
  • a first detector element 61 is operated by said contact, shifting it against an elastic element 63, and said shift being detected by a first sensor 31.
  • the gate operator 2 also contacts with a second detector element 62, shifting it against an elastic element 64, this movement being detected at two different points of travel by a second sensor 32 and by a third sensor 33.
  • the positive detection of the three mentioned sensors indicates that the handle 1 and the gate operator 2 have correctly reached the limit position of insertion inside the coupling head 70, and are in a position suitable for being held.
  • the first and second holding members 10 and 20 are closed, holding the handle 1 and the gate operator 2, respectively.
  • Figure 7c shows how, while the container is still on the ground, a second actuator 53 which causes the rotation of vertical spindles 54 is operated causing the vertical shift of a nut element 55 fixed to the moving carriage 51 ( Figure 2 ), causing the vertical drive thereof.
  • This movement of the moving carriage 51 drives the second holding member 20, and thereby the gate operator 2, thus assuring the closure of the gates 4 of the container 3 before lifting the container.
  • the gate operator 2 moves down until the lower surface of its perimetral flange 2a contacts with the upper face 22 of the second holding member 20 due to the existing clearance.
  • the second detector element 62 also moves down pushed by the elastic element 64, causing the third sensor 33 to no longer detect it, but the second sensor to continue detecting it, thus indicating the correct closure of the gates.
  • Figure 7d shows how, upon lifting the container 3 from the ground, the handle 1 moves down until the lower surface of a perimetral flange 1a of the handle 1 contacts with the upper face 12 of the first holding member 10 and transmits the vertical load. As it performs this downward movement, the first detector element 61 is shifted pushed by the elastic element 63, causing the first sensor 31 to no longer detect its presence. The correct lifting of the container is confirmed when only the second sensor 32 provides a positive reading.
  • Figure 7e shows how, with the container 3 being lifted, and therefore without having a positive reading from the first or from the third sensor 31 and 33 but with a positive reading from the second sensor 32, the second actuator 53 ( Figure 2 ) is operated to cause the rotation of the spindles 54, lowering the moving carriage 51, and thereby the second holding member 20, which drives the gate operator 2 and allows the opening of said gates 4 for emptying the container 3.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Claims (14)

  1. Un dispositif pour manier et vider des bennes à ordure, comportant une tête d'accouplement comportant une structure de tête (50) portant:
    - un premier élément de serrage (10) adapté pour être couplé à un manche (1) fixé sur une surface extérieure d'une benne (3) pour maintenir cette benne (3);
    - une deuxième élément de serrage (20) adapté pour serrer un élément opérateur de porte (2) agencé dans la benne (3), adjacent et/ou concentrique à ce manche (1) et relié mécaniquement aux portes inférieures (4) de la benne (3) pour l'ouvrir et la fermer, ce deuxième élément de serrage (20) étant installé sur un chariot mobile (51) pouvant se déplacer le long de cette structure de tête (50); et
    - des moyens opérateurs adaptés pour déplacer ce chariot mobile (51) entre les positions de fermeture et d'ouverture de porte, dans lesquelles l'élément opérateur de porte (2) de la benne (3), maintenu par ce deuxième élément de serrage (20), assure la fermeture et permet l'ouverture de ces portes inférieures (4) de la benne (3), respectivement;
    dans lequel
    - ce premier élément de serrage (10) comporte une première paire de mâchoires mobiles (10a, 10b) agissant comme premier étau actionné par un dispositif d'activation de serrage (40) pour déplacer cette première paire de mâchoires mobiles (10a, 10b) entre les positions de serrage et de desserrage déterminant le serrage et le desserrage de ce manche (1);
    - ce deuxième élément de serrage (20) comporte une deuxième paire de mâchoires mobile (20a, 20b) agissant comme un deuxième étau actionné par ce dispositif d'activation de serrage (40) pour déplacer cette deuxième paire de mâchoires mobiles (20a, 20b)
    entre les positions de serrage et desserrage déterminant le serrage et le desserrage de cet élément opérateur de porte (2); et
    - la structure de tête (50) comporte des éléments de rétention (52) qui entrent en contact avec des butées (21) de la deuxième paire de mâchoires mobiles (20a, 20b) empêchant leur mouvement vers cette position de desserrage, étant dans cette situation de serrage et ce chariot mobile (51) étant dans une position quelconque de déplacement excepté dans une position dans laquelle le chariot mobile (51) est dans sa position d'ouverture;
    caractérisé en ce que:
    - les mâchoires de cette première paire de mâchoires mobiles (10a, 10b) ont des surfaces supérieures planes (12) respectives qui, dans cette position de serrage et dans une situation de chargement, entrent en contact avec la surface inférieure d'une bride périmétrique (1 a) du manche (1) de la benne (3) recevant des charges verticales de cette bride, et des surfaces planes inférieures (13) qui, dans la position de serrage et dans une situation de chargement, transmettent ces charges verticales à et reposent sur une surface plane complémentaire (56) de cette structure de tête (50).
  2. Le dispositif conformément à la revendication 1, caractérisé en ce que les mâchoires de cette deuxième paire de mâchoires mobiles (20a, 20b) du deuxième élément de serrage (20) ont des surfaces planes supérieures respectives (22) qui, dans cette position de serrage et dans une situation de chargement entrent en contact avec une surface inférieure d'une bride périmétrique (2a) de l'élément opérateur de porte (2) de la benne (3) recevant des charges verticales de cette bride, et des surfaces planes inférieures (23) qui, dans la position de serrage et dans une situation de chargement transmettent ces charges verticales à et reposent sur une surface plane complémentaire (57) du chariot mobile (51).
  3. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que ce dispositif d'activation de serrage (40) actionnant le deuxième membre de serrage (20) est agencé à l'extérieur du chariot mobile (51) et ne se déplace pas avec lui.
  4. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que les premier et deuxième éléments de serrage (10, 20) sont actionnés simultanément au moyen d'un seul dispositif d'activation de serrage (40) partagé.
  5. Le dispositif conformément à la revendication (4) caractérisé en ce que les premier et deuxième éléments de serrage (10, 20) sont actionnés simultanément au moyen d'un seul dispositif d'activation de serrage (40) comportant un premier actionneur (41) déplaçant un mécanisme cinématiquement relié à des bras de levier (11) des mâchoires de la première paire de mâchoires mobiles (10a, 10b) du premier élément de serrage (10) et à des vérins mobiles (42) agencés dans des régions libre d'interférences avec ces éléments de rétention (52) pour pousser ces butées (21) des mâchoires de la deuxième paire de mâchoires mobiles (20a, 20b) du deuxième élément de serrage (20) lorsque le chariot mobile (51) est dans la position d'ouverture de porte.
  6. Le dispositif conformément à la revendication 5, caractérisé en ce que chacune des mâchoires de la deuxième paire de mâchoires mobiles (20a, 20b) du deuxième élément de serrage (20) sont poussées en permanence vers la position de desserrage par un élément élastique (24).
  7. Le dispositif conformément à une quelconque des revendications précédentes, caractérisé en ce que ces moyens actionneurs adaptés pour déplacer le chariot mobile (51) comportent un deuxième actionneur (53) assurant la rotation d'au moins un arbre vertical (54) couplé à au moins un élément d'écrou (55) fixé sur le chariot mobile (51).
  8. Le dispositif conformément à une quelconque des revendications précédentes caractérisé en ce que dans la structure de tête (50) est installée une caméra de capture d'images (58) dont la ligne de visée est dirigée vers le bas entre les mâchoires de cette première paire de mâchoires mobiles (10a, 10b) du premier élément de serrage (10) lorsqu'elles sont dans la position de desserrage, entre les mâchoires de cette deuxième paire de mâchoires mobiles (20a, 20b) du deuxième élément de serrage (20) lorsqu'elles sont dans la position de desserrage et à travers une ouverture (59) du chariot mobile (51), et cette caméra de capture d'images (58) offre des images qui sont utilisées pour positionner la structure de tête (50) par rapport au manche (1) de la benne (3).
  9. Le dispositif conformément à la revendication 2, caractérisé en ce que la structure de tête (50) a au moins une surface de butée (60) entrant en contact avec une surface supérieure de cette bride périmétrique (1a) du manche (1) de la benne (3) déterminant une position limite d'insertion de la structure de tête (50) dans laquelle ces surfaces planes supérieures (12) des mâchoires de la première paire de mâchoires mobiles (10a, 10b) du premier élément de serrage (10) sont situées à un niveau inférieur à celui de cette surface inférieure de cette bride périmétrique (1a) du manche (1) de la benne (3) et ces surfaces planes supérieures (22) de la deuxième paire de mâchoires mobiles (20a, 20b) du deuxième élément de serrage (20) sont situées à un niveau inférieur à celui de cette surface inférieure de cette bride périmétrique (2a) de l'élément opérateur de porte (2) de la benne (3).
  10. Le dispositif conformément à la revendication (9) caractérisé en ce que dans la structure de tête (50) est agencé un premier élément détecteur (61) mobile entre une position d'attente et une position de détection et un élément élastique (63) poussant ce premier élément détecteur (61) vers cette position d'attente, le premier élément détecteur (61) étant poussé à cette position de détection par la bride périmétrique (1a) du manche (1) de la benne (3) lorsque la structure de tête (50) est dans cette position limite d'insertion.
  11. Le dispositif conformément à la revendication 10, caractérisé en ce qu'un premier capteur (31) détectant le premier élément détecteur (61) lorsqu'il est dans la position de détection est agencé dans la structure de tête (50).
  12. Le dispositif conformément à la revendication 9, 10 ou 11, caractérisé en ce qu'est installé dans le chariot mobile (51) un deuxième élément détecteur (62) mobile entre les positions, supérieure, intermédiaire et inférieure et un élément élastique (64) pousse cet élément détecteur (61) vers cette position inférieure, le deuxième élément détecteur (62) étant poussé à ces positions supérieure et intermédiaire par l'élément opérateur de porte (2) de la benne (3) lorsque la structure de tête (50) est dans la position limite d'insertion et lorsque le chariot mobile est déplacé vers la position de porte fermée, respectivement.
  13. Le dispositif conformément à la revendication 12, caractérisé en qu'un deuxième capteur (32) ne détectant que le deuxième élément détecteur (62) lorsqu'il est dans une quelconque des positions intermédiaire et supérieure et un troisième capteur (33) ne détectant que le deuxième élément détecteur (62) lorsqu'il il est dans la position supérieure sont agencés dans le chariot mobile (51).
  14. Le dispositif conformément à la revendication 1, caractérisé en ce que les mâchoires de cette première paires de mâchoires mobiles (10a, 10b) du premier élément de serrage (10) ont des surfaces de préhension configurées pour être extérieurement couplées à une tige creuse ayant une coupe transversale carrée qui fait partie du manche (1) de la benne (3) empêchant la benne (3) de tourner par rapport à la tête lorsque le manche (1) est agrippé par le premier membre de serrage (10).
EP13380051.6A 2013-10-31 2013-10-31 Dispositif pour manipuler et vider des récipients de collecte de déchets Not-in-force EP2868599B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP13380051.6A EP2868599B1 (fr) 2013-10-31 2013-10-31 Dispositif pour manipuler et vider des récipients de collecte de déchets
ES13380051.6T ES2581566T3 (es) 2013-10-31 2013-10-31 Dispositivo para manipulado y vaciado de contenedores de recogida de desechos
PL13380051.6T PL2868599T3 (pl) 2013-10-31 2013-10-31 Urządzenie do przenoszenia i opróżniania pojemników do zbiórki odpadów

Applications Claiming Priority (1)

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EP13380051.6A EP2868599B1 (fr) 2013-10-31 2013-10-31 Dispositif pour manipuler et vider des récipients de collecte de déchets

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EP2868599A1 EP2868599A1 (fr) 2015-05-06
EP2868599B1 true EP2868599B1 (fr) 2016-04-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202100027368A1 (it) * 2021-10-25 2023-04-25 Ecologia Soluzione Ambiente S P A Contenitori per rifiuti e relativo sistema di apertura e chiusura.

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2659868T3 (es) * 2015-07-07 2018-03-19 Palvi, Sl Método y dispositivo para manipulado y vaciado de contenedores de recogida de desechos
CN108190301A (zh) * 2017-12-30 2018-06-22 郑州赫恩电子信息技术有限公司 一种转动倾倒式节能环保垃圾箱
EP4129861B1 (fr) * 2021-08-05 2024-01-17 Palvi, S.L. Procédé et dispositif de manutention de poubelles

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Publication number Priority date Publication date Assignee Title
DE4441551C1 (de) * 1994-11-02 1996-02-01 Kinshofer Greiftechnik Vorrichtung zum hängenden Anheben und Entleeren von Behältern, Containern od. dgl.
NL1007360C1 (nl) * 1997-10-24 1999-04-27 Gejo Technocenter B V Dubbele grijper voor container.
IT1304519B1 (it) 1998-03-27 2001-03-19 Sinterplast S P A Dispositivo per la movimentazione e lo svuotamento di contenitori perla raccolta di rifiuti in genere.
NL1032732C2 (nl) * 2006-10-24 2008-04-25 Harm Bakker Containergrijper met bedieningmiddelen voor een losmechanisme en daarin toe te passen telescopische zuiger/cilinder-combinatie.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202100027368A1 (it) * 2021-10-25 2023-04-25 Ecologia Soluzione Ambiente S P A Contenitori per rifiuti e relativo sistema di apertura e chiusura.

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EP2868599A1 (fr) 2015-05-06
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