EP3150513B1

EP3150513B1 - Vehicle with a device for collecting and lifting containers and emptying the content thereof

Info

Publication number: EP3150513B1
Application number: EP15800379.8A
Authority: EP
Inventors: José Francisco SÁNCHEZ ESPÍN; Miguel Angel Fernandez Cela
Original assignee: Explin Iris Sl
Current assignee: Explin Iris Sl
Priority date: 2014-05-29
Filing date: 2015-05-21
Publication date: 2020-03-18
Anticipated expiration: 2035-05-21
Also published as: EP3150513A4; ES2799428T3; WO2015181409A1; ES2553927A1; ES2553927B1; EP3150513A1

Description

Field of the Art

The present invention relates to a vehicle with a device for collecting and lifting containers and emptying the content thereof by means of an articulated arm actuated by means of a hydraulically, electrically or electronically controlled hydraulic actuating system, for example, said device being able to collect, lift and empty containers, as a result of a working cycle which includes at least retracted, extended, gripping, lifting and emptying positions, and said device being conceived for collecting containers located on either side of the vehicle.

State of the Art

Systems for collecting and emptying containers by means of a vehicle provided with a pick-up device formed by an articulated arm actuated by means of an actuating system are widely known.
Document WO9639347A2 , for example, describes an articulated arm provided with a rotating base with a vertical axis, on which there are arranged four segments articulated to one another by means of three articulations with a horizontal axis that are parallel to one another, one of said segments furthermore being telescopic. This configuration allows the arm to rotate on its rotating base, accessing both sides of the vehicle, and allows by means of the remaining articulations lifting and placing a container onto the vehicle. However, this solution is very hard to control and very complex mechanically speaking since there is a need to actuate 5 actuators (4 articulations and 1 telescopic segment), and to precisely control the position of the mentioned segments in order to successfully couple the end of said arm to a container.
Document EP0695702A1 describes a solution similar to the one above but with one less horizontal articulation and envisaged for being fixed to the chassis of the vehicle at its rear part and in a lower position.
Document WO8301407A1 describes an articulated arm provided with an articulation with a vertical axis and an articulation with a horizontal axis at its base, a telescopic segment, and an articulation with a vertical axis and an articulation with a horizontal axis at its distal end. This arm can rotate on its base on a horizontal plane, and can also rotate on a vertical plane, which gives it two different ways of accessing opposite sides of the base, but this device once again requires actuating and controlling 5 actuators (4 articulations and 1 telescopic segment) which makes its manufacture, use and maintenance more expensive and difficult.
Patent document EP1084069B1 describes an arm formed by two extendable segments, one horizontal and one vertical, which are perpendicular to one another and mounted on a rotating base with a vertical axis. This confers the arm with freedom to access opposite sides of the vehicle on which it is mounted as a result of the rotation of the base, and it only requires controlling 3 actuators for handling same. In this case, to allow the horizontal segment to move down to a lower position close to the base of the arm, the vertical segment is a telescopic arm on which there are arranged vertical guides on which the horizontal segment can move up or down. This solution adds technical complexity to the assembly.
All the solutions described up to this point have a rotating base with a vertical axis on which the rest of the arm is located and which allows said arm to reach any point located around it. When they lift said container and rotate said rotating base to place said container on the vehicle for emptying same, a translation and a rotation of said container occur, and not just a translation.
In contrast, document US2002071749A1 describes a solution for collecting, lifting and emptying containers into a vehicle, which only allows collecting from only one side of said vehicle, but does not have said articulated base with a vertical axis. This prior art has a segment articulated with respect to the vehicle by means of an articulation with a horizontal axis which allows lifting or lowering the distal end of said segment, making it possible to lift a gripped container for emptying same. This construction has a very simple concept but does not allow collecting containers arranged on opposite sides of the vehicle.
Document GB2102384A discloses a vehicle with a device for collecting bags, said vehicle defining a horizontal direction of advancement and two lateral sides and said device comprising an articulated arm including a vertical column fixed to the vehicle in a non-articulated manner, a first segment connected to said vertical column by means of a first articulation and arranged substantially perpendicular to the direction of advancement, the axis of rotation of said first articulation being parallel to the direction of advancement, allowing the movement of the first segment in a transverse plane substantially perpendicular to the direction of advancement, the first segment being rotatable around said first articulation from a vertical position to a lateral lowered position with a freedom of movement of at least ± 60°, a second segment arranged substantially parallel to the direction of advancement and connected to a distal end of the first segment, a gripping device directly or indirectly connected to the second segment in an approximately distal position, a second articulation the axis of which is parallel to the direction of advancement and arranged to rotate at least the gripping device, said articulated arm being actuated by hydraulically, electrically or electronically controlled actuating means.
Document US3786949A discloses a vehicle with a device for collecting and lifting containers and emptying the content thereof, said vehicle defining a horizontal direction of advancement and two lateral sides and said device comprising an articulated arm, a first segment connected by means of a first articulation and arranged substantially perpendicular to the direction of advancement, the axis of rotation of said first articulation being parallel to the direction of advancement, allowing the movement of the first segment in a transverse plane substantially perpendicular to the direction of advancement, the first segment being rotatable around said first articulation from a vertical position to a lateral lowered position with a freedom of movement of at least ± 60°, a second segment arranged substantially parallel to the direction of advancement and connected without articulation to a distal end of the first segment, a gripping device directly or indirectly connected to the second segment in an approximately distal position and configured for being coupled to a container to allow the lifting thereof, said articulated arm being actuated by hydraulically, electrically or electronically controlled actuating means resulting in a working cycle including at least a retracted position, an extended position, a lifting position, and an emptying position.

Brief Description of the Invention

The proposed invention relates to a vehicle with a device for collecting and lifting containers and emptying the content thereof into said vehicle. The vehicle defines a direction of advancement, which is the direction in which the vehicle advances when it does not make any turn, and two opposite sides.
Said device for lifting and emptying containers comprises an articulated arm including the following features:

a vertical column fixed to the vehicle in a non-articulated manner;
a first segment connected to said vertical column by means of a first articulation and arranged substantially perpendicular to the direction of advancement, the axis of rotation of said first articulation being parallel to the direction of advancement, allowing the movement of the first segment in a transverse plane substantially perpendicular to the direction of advancement;
a second segment is arranged substantially parallel to the direction of advancement and connected to a distal end of the first segment;
a gripping device directly or indirectly connected to the second segment in an approximately distal position and configured for being coupled to a container to allow the lifting thereof;
a second articulation, the axis of which is parallel to the direction of advancement, is arranged to rotate at least the gripping device.

Said articulated moving arm assembly is actuated by hydraulically, electrically or electronically controlled hydraulic or electric actuating means, for example, said device being able to collect, lift and empty containers located on either one of the opposite sides of the collection vehicle, as a result of a working cycle which includes at least the following positions:

retracted position, in which no part of said articulated arm projects from the gauge of the vehicle;
extended position, in which the articulated arm projects from the gauge of the vehicle and places the gripping device in a position coinciding vertically with a container and spaced away from same;
gripping position, in which the gripping device interferes with the container and is securely coupled thereto to allow the lifting thereof;
lifting position, in which the articulated arm lifts the container off the ground; and
emptying position, in which the container has been lifted, and its content can be emptied from the container into the collection receptacle of the vehicle.

The vertical column is furthermore connected to the vehicle in a central position, with respect to the plane of symmetry of the mentioned vehicle, connected thereto in a non-articulated manner.
The first articulation connecting the first segment to the vertical column is arranged at a distal end of said vertical column. Said first articulation allows placing the first segment in a vertical arrangement, in an emptying position, and allows said first segment to be lowered at least ± 60° towards one side or another with respect to said vertical, a freedom of movement of at least ± 90° being preferable, even being able to have a freedom greater than ± 120°. This feature allows the first segment to be oriented towards one side of the vehicle or another in order to access containers located on either one of said sides.
The second segment is arranged substantially parallel to the direction of advancement and is connected without articulation to a distal end of the first segment. The mentioned first and second segments will therefore form an L-shaped arm, both segments being perpendicular to one another, and lacking any articulation whatsoever which allows changing the angle that they form.
This second segment supported in a cantilevered manner allows, when the first segment is in a vertical arrangement in an emptying position, the distal end of the second segment to be located above a collection receptacle connected to the vehicle.
It will be understood that it is obvious for a skilled person that a single curved or bent segment will be equivalent to two segments perpendicular to one another.
The mentioned gripping device is envisaged for gripping containers located on either side of the vehicle.
The mentioned gripping device can consist of a lower opening, for example, in which a grip is introduced fixed to the upper face of the container, and a fastening mechanism for securely gripping said grip of the container. Other alternative gripping devices are envisaged, such as for example a system consisting of clamps that can be coupled to opposite sides of the container for gripping and lifting same, or a side gripping system for gripping the container, such as for example hooks which allow gripping the container by its side face adjacent to the collection vehicle. Many other embodiments are possible, as will be obvious to a skilled person.
The second articulation allows correcting the orientation of the gripping device with respect to the vertical to assure that the load connected to said gripping device is kept in constant orientation with respect to the vertical during lifting.
As a result of this configuration, the second segment can be placed on either side of the vehicle by means of the rotation of the first articulation, and the second articulation allows keeping the gripping device in an angular position with respect to the vertical suitable for gripping the containers at all times, regardless of the angular position of the first segment.
Said first articulation is actuated by a hydraulically, electrically or electronically controlled hydraulic actuating device, for example, such as a hydraulic geared motor, or a system consisting of hydraulic pistons or rods, or a motor or an electric servo motor, for example.
In a preferred embodiment, a first hydraulic piston and a second hydraulic piston symmetrical with respect to one another perform the functions of an actuating device. Both pistons have an end connected to the column, and an opposite end connected to the first segment, such that their extension or retraction causes the rotation of the first segment with respect to the column. Said first piston is displaced towards a first side with respect to the plane of symmetry and is responsible for actuating the angular displacement of the first segment between the vertical position and the maximum lowered position in which it is maximally lowered towards said first side. The second piston is displaced in a symmetrical manner to the second side and actuates the angular displacement of the first segment from the vertical position to the maximum lowered position in which it is maximally lowered towards the second side. The combination of both pistons therefore allows total freedom of angular movement of the first segment. When the first segment is on the side opposite the side controlled by a certain piston, the latter is deactivated or regulated to collaborate with the symmetrical piston.
Said second articulation can also be actuated by means of a hydraulically, electrically or electronically controlled hydraulic actuating device, for example. Preferably, this hydraulic, electrical or electronic control will reproduce the actuation of the first articulation but in the opposite direction, counteracting the angular rotation of the first articulation by means of the second articulation, thereby keeping the angular position of the gripping device with respect to the vertical constant.
Additionally or alternatively, the hydraulic, electrical or electronic control can also have sensors detecting the position/inclination of the gripping device, thereby controlling the actuating device for correcting any detected position/inclination deviation.
Another alternative embodiment for the second articulation leaves this articulation free, the gripping device thus being oriented by gravity, such that it is always vertical regardless of the position of the articulated arm. In this third embodiment, it is preferable to include a braking element which allows locking the position of the mentioned second articulation in a certain angular position at will, or which makes its rotation difficult, to prevent it from rocking due to vibrations, sudden movements or gusts of wind, but without preventing its angular correction as a result of gravity.
An additional alternative embodiment for the second articulation would have a hydraulic, electrical or electronic control which allows controlled rotation of the second articulation for turning the containers over at will above the vehicle waste collection receptacle.
The device described up until now has at most two articulations which allow accessing containers located on opposite sides of the vehicle, by means of an articulated arm having a very simple construction and control.
To improve the reach of the mentioned articulated arm, an alternative embodiment in which the first segment is extendable, for example by means of telescopic segments, is proposed, the reach of the articulated arm with respect to different distances from the vehicle that can be reached by extending said first segment to a greater or lesser extent is thereby increased. This movement of extending the first segment can be actuated by actuating means, such as hydraulic pistons, for example, and can be hydraulically, electrically or electronically controlled.
Said first segment will be subjected to strong torsional stress since the load will be located laterally away from the axis of said first segment. For the purpose of the extendable mechanism suitably opposing said torsional stress, the use of telescopic segments having a rectangular section which will prevent the segments from rotating with respect to one another is proposed as a first embodiment.
Another alternative embodiment proposes bending the first segment with two parallel telescopic arms connected to one another, the torsional stress is thus distributed, reducing the stress supported by each arm, and since both telescopic arms are connected to one another, rotation of the distal segments with respect to the proximal segments forming each telescopic arm are prevented. Cylindrical telescopic segments which are simpler, more cost-effective and reliable than segments having a rectangular section can be used with this embodiment.
Another embodiment proposed for improving the reach of the articulated arm is the possibility of varying the distance, in the direction of advancement, separating the gripping device from the distal end of the first segment. Said distance can be changed by displacing the gripping device longitudinally on the second segment, or changing the length of the second segment, or varying the position for connecting the second segment with respect to the first segment, in said direction of advancement.
This displacement will be controlled by hydraulically, electrically or electronically controlled actuating means.
This new movement of the articulated arm allows it to access two or more adjacent containers, in two or more consecutive pick-up cycles, without having to move the vehicle, or allows it to grip a container even if the vehicle has not stopped precisely in the optimal position for collecting said container.
In a first embodiment, the container reaches the emptying position when it is positioned above the collection receptacle of the vehicle. In said emptying position, an emptying actuator integrated in said gripping device can actuate the opening and closing of emptying hatches integrated in the lower part of the containers, emptying same.
In an alternative embodiment, the container reaches the emptying position when it is positioned in the upper side of the vehicle and, by means of the controlled rotation of the second articulation, turns the containers over at will above the vehicle waste collection receptacle.
It is also contemplated that emptying is achieved by turning the container over in order for its content to fall out through its upper opening.
These positions of the working cycle can be reproduced by the articulated arm on either side of the vehicle.
Additionally, the device can include a vertical displacement mechanism between the first articulation and the vehicle, which thereby allows changing the relative vertical position of said first articulation with respect to the vehicle. This alteration allows the movement of the gripping device between the extended position and the gripping position to be a vertical movement, and not a rotational movement, greatly simplifying the actuating and control operations required for correctly gripping said container.
Said vertical displacement mechanism can be of several types. By way of non-limiting example, it can be a telescopic mechanism installed in the vertical column, a rail installed along the column on which the first articulation runs driven, for example, by pistons, a scissor-type mechanism, etc.
The mentioned actuating means can be any one of the following or other equivalent means, as will be obvious for a person skilled in the art:

motor, servomotor, solenoid, electromagnet, linear motor, piston, etc.

Some of said actuating means can likewise be powered by electric, pneumatic or hydraulic power. It is understood that said actuating means require an external power source and can be electrically or electronically controlled, for example, by means of a system consisting of switches or remote controls, or by means of a printed circuit, a programmable logic controller, a computer, or another electronic device. The actuating means of the segments or the articulations can include sensors providing information for correct electrical or electronic control.
The mentioned hydraulic, electrical or electronic control can be, for example, the following or another equivalent solution, as will be obvious for a person skilled in the art:

a set of switches, commutators, levers, valves or another type of remote controls, which allow controlling the electric and/or hydraulic power provided to the actuators;
an electronic device, such as a printed circuit, a programmable logic controller, a computer, or the like, for example, provided with data inlets and outlets, a memory, and implementing computing operations, said device being able to be fed with data from sensors, angle and/or distance sensors, and these computing operations allowing providing control orders.

Said electrical or electronic control will include a power supply source, and can comprise data display means, such as a screen, to provide information to an operator. It can also comprise means which allow said operator to alter the configuration of the electronic control device, such as for example a keyboard, buttons, an option menu, etc. These devices can be local or remote devices.
The mentioned gripping means can be any one of the following or other equivalent means, as will be obvious for a person skilled in the art:

a configuration consisting of a fastener or clamp, a lug with retractable flanges, a screw, a retractable pin, a hairpin-type fastener, etc.

It will be understood that references to geometric positions, such as for example parallel, perpendicular, tangent, etc., allow deviations of up to ± 5° with respect to the theoretical position defined by said nomenclature.
Other features of the invention will become apparent in the following detailed description of an embodiment.

Brief Description of the Drawings

The foregoing and other advantages and features will be better understood based on the following detailed description of an embodiment in reference to the attached drawings which must be interpreted in an illustrative and non-limiting manner, in which:

Figure 1 shows an axonometric view of a waste collection vehicle, with the articulated arm arranged between the cab and the collection receptacle of the vehicle, the articulated arm being in an extended position according to a first embodiment;
Figure 2 shows an axonometric view of the articulated arm in the extended position according to the first embodiment;
Figure 3a is a section of the vehicle along the articulated arm, the arm being in the extended position, and showing with a dotted line how the articulated arm can be located in a vertical arrangement, or on the opposite side of the vehicle, according to the first embodiment;
Figure 3b is an alternative embodiment with respect to that shown in Figure 3a, in which a section of the vehicle along the articulated arm is shown, the arm being in the extended position, and showing with a dotted line how the articulated arm can be located in a vertical arrangement, or on the opposite side of the vehicle, and how a vertical displacement mechanism allows transitioning from the extended position to the gripping position without requiring rotation of the first segment;
Figure 4a shows a cross-section of the vehicle along the articulated arm, the arm being in the retracted position;
Figure 4b shows a cross-section of the vehicle along the articulated arm, the arm being in the extended position;
Figure 4c shows a cross-section of the vehicle along the articulated arm, the arm being in the gripping position;
Figure 4d shows a cross-section of the vehicle along the articulated arm, the arm being in the lifting position;
Figure 4e shows a cross-section of the vehicle along the articulated arm, the arm being in the upper emptying position.
Figure 5 shows an axonometric view of the articulated arm in the extended position, according to a second embodiment in which the first segment is formed by two parallel and superimposed cylindrical telescopic arms, and indicating with a discontinuous line a schematically illustrated alternative gripping device configured for being coupled to two lugs arranged on opposite sides of the container, and for emptying the container by turning it over;
Figure 6a shows a cross-section of the vehicle along the articulated arm, according to the second embodiment, the arm being in the retracted position;
Figure 6b shows the same view as Figure 6a, but with the arm in a raised position with respect to the vertical column;
Figure 6c shows the same view as Figure 6b, but with the arm in the extended position, showing with a thin line different angular positions of the arm, including the emptying position, in which the first segment is in a vertical arrangement;
Figure 7a shows a cross-section of the vehicle along the articulated arm, the arm being vertical in the upper emptying position, according to an alternative embodiment in which the actuating means of the first segment consist of a first hydraulic piston and a second hydraulic piston that are arranged in a symmetrical manner, each of them connecting a part of the column with a part of the first segment;
Figure 7b shows the same view as Figure 7a, the first segment being inclined towards a first side, as a result of the actuation of the first piston;
Figure 7c shows the same view as Figure 7a, the first segment being inclined towards a second side opposite the first side, as a result of the actuation of the second piston.

Detailed Description of An Embodiment

According to a preferred embodiment shown in Figure 1, a residue collection vehicle 3 defines a direction of advancement X and two sides. Said vehicle 3 has a collection receptacle intended for storing and transporting collected waste, and an articulated arm 1 intended for gripping, lifting waste containers, and emptying their content into the mentioned collection receptacle.
As shown in Figure 2, in a first embodiment the articulated arm 1 consists of a vertical column 10, fixed on the vehicle in its plane of symmetry. There is arranged at a distal end of said vertical column 10 a first articulation 30 with a horizontal axis of rotation in the direction of advancement of the vehicle, on which a first segment 20 of the articulated arm 1 is fixed.
Said first articulation can be actuated by actuating means 2, such as a hydraulic geared motor, for example, or by means of pistons and cams, or preferably, as shown in Figures 7a, 7b and 7c, by means of a first piston 2a and a second piston 2b arranged in a symmetrical manner, the first piston 2a being responsible for actuating the rotation of first segment 20 from the vertical position until it is maximally lowered towards a first side, and the second piston 2b being responsible for actuating said first segment 20 from the vertical position until it is maximally lowered towards a second side opposite the first side. Said actuating means can be hydraulically, electrically or electronically controlled.
An alternative embodiment is shown in Figure 5 and Figures 7a, 7b and 7c, according to which the vertical position of the first articulation 30 with respect to the vehicle can be changed, sliding on said vertical column 10, actuated by actuating means 2, which are hydraulically, electrically or electronically controlled hydraulic pistons 11 in this example. This allows vertically displacing the entire articulated arm 1, simplifying the operations of gripping and releasing a container 5 located close to the vehicle, allowing the grip of the container 5 to be coupled to the gripping device 60 of the articulated arm 1 by means of a vertical movement that is a lot easier to control than a rotational movement.
Said first segment 20 can be extendable by means of a telescopic mechanism and is located in a perpendicular position with respect to the direction of advancement X, and connected to said vertical column 10 by means of the mentioned first articulation 30, which allows it to rotate in a plane perpendicular to the direction of advancement X, with sufficient freedom of movement to place the mentioned first segment 20 in a vertical arrangement, and to lower it laterally towards one side or another at least ±60°, and preferably at least ±90°, or greater than ± 120°, as shown in the embodiment of Figure 3a.
The extendable first segment 20 also allows, during the step of lifting a container 5, regulating the length of said first segment 20 to assure that said container at no time comes into contact with the vehicle during the rotational movement of the first segment 20. Preferably, the extension of the first segment 20 will be regulated such that, in combination with its rotational movement, the container 5 is lifted vertically. In the case of containers 5 which must be located vertically above the collection receptacle of the vehicle, they will be lifted vertically over the height of the collection receptacle of the vehicle and will preferably be displaced horizontally from that point onwards.
This first segment 20 can be a telescopic arm having a rectangular section, such as the one shown in Figure 2, or consist of a first telescopic arm 21 and a second telescopic arm 22 that are parallel, connected and superimposed with one another, such as the one shown in Figure 5.
A second segment 40 which is arranged in a direction parallel to the direction of advancement X, and therefore perpendicular to the first segment 20, is connected at the distal end of the first segment 20, as shown in Figures 2 and 5. The connection between the first segment 20 and the second segment 40 lacks articulation which allows changing the angle they form, this being fixed at approximately 90°. This allows the second segment 40 to project in a cantilevered manner with respect to the distal end of the first segment 20, such that when the first segment 20 is in the vertical position, the second segment 40 is located partially above the collection receptacle of the vehicle 3.
A gripping device 60 configured for securely gripping containers in order to lift them is connected to said second segment 40.
In the embodiment shown in attached drawings, the gripping device 60 is a head provided with a lower opening in which a grip firmly connected to the upper face of the container is introduced. There is a fastening mechanism inside the gripping device 60 which, when actuated, retains said grip connected to the container and allows securely lifting it.
Other alternative embodiments of said gripping device 60 are possible and known, such as for example the use of two parallel arms that are coupled to lugs provided on opposite side faces of the container, there allowing lifting the container and optionally also turning it over to empty it (see Figure 5).
It is also known to grip containers, particularly small containers, laterally by one of their faces, by means of a gripping device 60 in the form of upwardly oriented claws that can be coupled to said container by means of the same lifting movement.
The articulated arm can be provided so that said gripping device 60 can be replaced, or for including a few different gripping devices 60 simultaneously. This allows said articulated arm 1 to collect different types of containers, and even containers that are emptied in different ways, such as containers that require turning them over for emptying, and containers that require actuating the opening of lower hatches for emptying same.
According to one embodiment, said gripping device 60 is located on the lower face of the second segment 40, such that it can be readily located above a container 5 by means of actuating the articulated arm 1. This lower position allows gripping and lifting said container 5 by its center of gravity, thereby reducing eccentric loads and twisting and bending moments applied on the articulated arm.
To better oppose torsional stress, the first extendable segment 20 is envisaged to have, according to the mentioned first embodiment shown in Figure 2, a rectangular section, and according to the mentioned second embodiment shown in Figure 5, a double circular section, by means of a first telescopic arm 21 and a second telescopic arm 22 that are parallel and cylindrical.
In this embodiment, said gripping device 60 consists of an opening on the lower face thereof through which there can be introduced a head, provided with projections, arranged in the upper face of a container. Once said head has been introduced, inner fasteners or clamps of the gripping device 60 close together and firmly hold said head, allowing securely lifting the container.
In an alternative embodiment, the gripping device consists of two arms which can be located on both sides of the container and which, by means of a hairpin-type fastener configuration, can be coupled to side protrusions of said container 5 for lifting same.
While lifting the container, in order to prevent the gripping device 60, by means of rotation of the first articulation 30, from rotating with respect to the vertical, which would cause rotation of the gripped container 5 and the generation of undesired twisting moments, the articulated arm 1 is provided with a second articulation 70, with an axis of rotation parallel to the axis of the first articulation 30 and to the direction of advancement X. This second articulation allows introducing a rotation contrary to the rotation of the first articulation, for counteracting the undesired effects thereof.
Said second articulation affects at least the gripping device 60, so it will be located, according to an embodiment shown in Figure 2, between said gripping device 60 and said second segment 40.
In the second alternative embodiment shown in Figure 5, said second articulation 70 is located between the first segment 20 and second segment 40.
Said second articulation 70 can preferably be actuated by electrically or electronically controlled actuating means 2. Said control allows the second articulation 70 to be actuated with a rotation similar to that implemented in the first articulation 30 at any given time, but in the opposite direction. It also allows the mentioned control to always keep the angular position of said gripping device 60 with respect to the vertical constant, for example, by controlling said position by means of rotation or inclination sensors.
According to another alternative embodiment, said second articulation 70 is mechanically connected to the first articulation 30 to reproduce the same rotational movements, but in the opposite direction.
Another possible embodiment illustrated in Figure 5 leaves said second articulation free, such that the gripping device 60 is oriented by gravity. The load will therefore always be in a vertical arrangement. In this case it is desirable to introduce a braking mechanism 71 which allows locking said second articulation 70 in a certain angular position, or which makes its rotation difficult, to prevent sudden movements or gusts of wind from being able to cause the suspended container 5 to swing.
Additionally, the position of the gripping device 60 can change with respect to the first segment 20, being displaced, for example, in the direction of advancement X along the second segment 40. Said displacement can be achieved, for example, by means of rails and a carriage actuated by actuating means 2.
Another alternative embodiment consists of a spindle arranged inside the second segment 40, mechanically connected to the gripping device 60 through longitudinal openings of said second segment 40, such that the actuation of the mentioned spindle causes longitudinal displacement of the gripping device 60.
Alternatively, the second segment 40 is displaced in the direction of advancement X with respect to the first segment 20, changing the point of connection between both.
Another alternative with an equivalent result shown in Figure 5 consists of an extendable second segment 40, and the gripping device 60 is arranged at the distal end thereof, such that the extension of said second segment 40 moves the gripping device 60 away from the first segment 20 in the direction of advancement X.
This change in the position of the gripping device 60 allows the articulated arm 1 to have means for adjusting the position of the gripping device 60 in the direction of advancement X, and thereby achieving optimal gripping, even when the vehicle does not stop in the optimal location for gripping the container.
The articulated arm 1 has a working cycle shown in Figures 4a, 4b, 4c, 4d and 4e, corresponding respectively with the retracted, extended, gripping, lifting and emptying positions.
In the retracted position, the articulated arm 1 does not project from the gauge of the vehicle 3.
In the extended position, the articulated arm 1 extends to position the gripping device 60 in a proximal position vertically aligned with a coupled head provided on an upper face of a container.
In the gripping position, the articulated arm 1 moves down to couple the gripping device 60 to the head, and then actuates a mechanism assuring the connection between the head and the gripping device 60.
These two extension and gripping steps can be controlled by a human operator or can be automated by means of a plurality of sensors allowing the articulated arm 1 to know the exact position of the gripping point of the container 5 with respect to the gripping device 60, for correctly positioning the gripping device 60 by means of actuating the different actuating means 2 controlling the relative position of the different elements forming the articulated arm 1.
In the lifting position, the articulated arm 1 lifts the container, and transports it to the emptying position by means of rotating the first segment 20. During this displacement, the lifted container 5 is controlled such that it does not hit against any element, be it the vehicle or an element not related to the vehicle. This control can be performed by means of a human operator or can be automated by means of a plurality of sensors optically detecting, for example, obstacles in the path of the arm and the container, or detecting unforeseen forces applied on the articulated arm 1.
In the emptying position, the container 5 is positioned above a portion of the collection receptacle of the vehicle. When the container 5 is in this position, the content of the container 5 is emptied into said collection receptacle, either by turning the mentioned container 5 over for emptying it through its upper opening, or by actuating the opening of hatches arranged on a face of the container 5 by means of an actuating mechanism which is integrated in the container and can be actuated by the gripping device 60. Typically, said actuating device of the container 5 will be able to be actuated through the gripping device of the container.
Once this working cycle has been completed, the same is repeated in the opposite direction to put the empty container 5 in its original position and to retract the articulated arm 1.
This entire cycle can be performed on either side of the vehicle.
An alternative embodiment shown in Figures 3b, 6a and 6b shows how the connection of the first articulation 30 to the vehicle 3 by means of a vertical displacement mechanism 11 allows vertical displacement of the entire moving arm 1, which allows the gripping device 60 to move from the extended position to the gripping position without having to perform any rotation, which would require a more complex adjustment and control. This vertical displacement has a short path and only serves for coupling said gripping device 60 to the container 5 in a quick and simple manner.

Claims

A vehicle (3) with a device for collecting and lifting containers and emptying the content thereof, said vehicle (3) defining a horizontal direction of advancement (X) and two lateral sides and said device comprising an articulated arm (1) including:
• a vertical column (10) fixed to the vehicle in a non-articulated manner and arranged substantially centered with respect to the plane of symmetry of said vehicle;

• a first segment (20) connected to said vertical column (10) by means of a first articulation (30) and arranged substantially perpendicular to the direction of advancement (X), the axis of rotation of said first articulation (30) being parallel to the direction of advancement (X), allowing the movement of the first segment (20) in a transverse plane substantially perpendicular to the direction of advancement (X), the first segment (20) being rotatable around said first articulation (30) from a vertical position to a lateral lowered position in which it is lowered towards one lateral side or another with a freedom of movement of at least ± 60°;

• a second segment (40) arranged substantially parallel to the direction of advancement (X) and connected without articulation to a distal end of the first segment (20);

• a gripping device (60) directly or indirectly connected to the second segment (40) in an approximately distal position and configured for being coupled to a container (5) to allow the lifting thereof;

• a second articulation (70) between the gripping device (60) and the second segment (40), the axis of which is parallel to the direction of advancement (X), and arranged to rotate at least the gripping device (60), whereby the second segment (40) can be placed on either lateral side of the vehicle (3) by means of the rotation of the first articulation (30), and the second articulation (70) allows keeping said gripping device (60) in an angular position with respect to the vertical regardless of the angular position of the first segment (20);
said articulated arm (1) being actuated by hydraulically, electrically or electronically controlled actuating means (2) resulting in a working cycle including at least the following positions:
• retracted position, in which no part of said articulated arm (1) projects from the gauge of the vehicle (3);

• extended position, in which the articulated arm (1) projects from the gauge of the vehicle (3) and places the gripping device (60) in a position coinciding vertically with a container and spaced away from same;

• gripping position, in which the gripping device (60) interferes with the container and is securely coupled thereto to allow the lifting thereof;

• lifting position, in which the articulated arm (1) lifts the container off the ground; and

• emptying position, in which the container has been lifted, and its content can be emptied from the container into the collection receptacle of the vehicle (3).
The vehicle (3) according to claim 1, characterized in that the freedom of movement of the first segment (20) is at least ± 90° with respect to the vertical.
The vehicle (3) according to claim 1 or 2, characterized in that said first segment (20) is extendable.
The vehicle (3) according to claim 3, characterized in that said first segment (20) is formed by two parallel telescopic arms connected to one another.
The vehicle (3) according to any one of the preceding claims, characterized in that the first segment (20) is connected to the base articulation (30) by a central portion located in the central one-third of the total length of the retracted first segment (20).
The vehicle (3) according to any one of claims 1 to 5, characterized in that the second articulation (70) is located between the second segment (40) and the gripping device (60).
The vehicle (3) according to any one of the preceding claims, characterized in that the second articulation (70) actuated by a hydraulic, electrical or electronic control which reproduce any angular rotation introduced in the base articulation (30), but in the opposite direction.
The vehicle (3) according to any preceding claim 1 to 7, characterized in that the second articulation (70) is a free articulation oriented by gravity, the gripping device (60) thus being oriented by gravity, such that it is always vertical regardless of the position of the articulated arm (1).
The vehicle (3) according to any one of the preceding claims, characterized in that the distance between said gripping device (60) and the distal end of the first segment (20), in the direction of advancement (X), can be changed by a longitudinal displacement of said gripping device (60) on said second segment (40), or by means of extending said second segment (40), or varying the connection position of the second segment (40) with respect to the first segment (20), in the direction of advancement (X).
The vehicle (3) according to any one of the preceding claims, characterized in that the first articulation (30) is vertically displaceable with respect to the vehicle (3), by a vertical displacement mechanism (11) included between the first articulation (30) and the vehicle (3).
The vehicle (3) according to any one of the preceding claims, characterized in that the second segment (40) integrates at least two gripping devices (60) configured for gripping different types of containers.
The vehicle (3) according to any one of the preceding claims, characterized in that the actuating means (2) of the first articulation (30) consists of a first piston (2a) and a second piston (2b), arranged in a manner approximately symmetrical with respect to the plane of symmetry of the vehicle (3), each of them connecting a point of the vertical column (10) that is stationary with respect to the first articulation (30) with a point of the first segment (20) that is stationary with respect to the first articulation (30), the actuation of the first piston (2a) allowing regulating the rotation of the first segment (20) towards one lateral side, and the second piston (2b) allowing regulating the rotation of the first segment (20) towards the opposite lateral side.