EP3150513B1 - Véhicule avec un dispositif de collecte et de levage de conteneurs et le déchargement de leur contenu - Google Patents

Véhicule avec un dispositif de collecte et de levage de conteneurs et le déchargement de leur contenu Download PDF

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Publication number
EP3150513B1
EP3150513B1 EP15800379.8A EP15800379A EP3150513B1 EP 3150513 B1 EP3150513 B1 EP 3150513B1 EP 15800379 A EP15800379 A EP 15800379A EP 3150513 B1 EP3150513 B1 EP 3150513B1
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EP
European Patent Office
Prior art keywords
segment
vehicle
articulation
gripping device
container
Prior art date
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EP15800379.8A
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German (de)
English (en)
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EP3150513A4 (fr
EP3150513A1 (fr
Inventor
José Francisco SÁNCHEZ ESPÍN
Miguel Angel Fernandez Cela
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Explin Iris Sl
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Explin Iris Sl
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Publication of EP3150513A4 publication Critical patent/EP3150513A4/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/041—Pivoted arms or pivoted carriers
    • 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
    • B65F2003/0263—Constructional features relating to discharging means
    • B65F2003/0266—Constructional features relating to discharging means comprising at least one telescopic arm

Definitions

  • 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.
  • 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.
  • 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.
  • 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 grip
  • 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
  • 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:
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first segment is extendable, for example by means of telescopic segments, 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.
  • 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.
  • the container reaches the emptying position when it is positioned above the collection receptacle of the vehicle.
  • 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.
  • 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.
  • emptying is achieved by turning the container over in order for its content to fall out through its upper opening.
  • 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.
  • 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:
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • FIG. 5 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.
  • 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.
  • the extension of the first segment 20 will be regulated such that, in combination with its rotational movement, the container 5 is lifted vertically.
  • 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.
  • 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.
  • said gripping device 60 is 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 ).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the articulated arm 1 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.
  • 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.
  • said second articulation 70 is mechanically connected to the first articulation 30 to reproduce the same rotational movements, but in the opposite direction.
  • FIG. 5 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.
  • 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.
  • 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.
  • FIG. 5 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.
  • the articulated arm 1 In the retracted position, the articulated arm 1 does not project from the gauge of the vehicle 3.
  • the articulated arm 1 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.
  • 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.
  • the articulated arm 1 lifts the container, and transports it to the emptying position by means of rotating the first segment 20.
  • 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.
  • the container 5 In the emptying position, the container 5 is positioned above a portion of the collection receptacle of the vehicle.
  • 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.
  • said actuating device of the container 5 will be able to be actuated through the gripping device of the container.
  • This entire cycle can be performed on either side of the vehicle.
  • FIG. 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (12)

  1. Un véhicule (3)
    ayant un dispositif pour collecter et élever des conteneurs et vider leur contenu, ce véhicule (3) définissant un sens horizontal d'avancement (X) et deux côtés latéraux et ce dispositif comportant un bras articulé (1) comprenant :
    • une colonne verticale (10) fixée sur le véhicule de façon non articulée et aménagée sensiblement centrée par rapport au plan de symétrie de ce véhicule.
    • un premier segment (20) relié à cette colonne verticale (10) au moyens d'une première articulation (30) et aménagée sensiblement perpendiculaire au sens d'avancement (X), l'axe de rotation de cette première articulation (30) étant parallèle au sens d'avancement (X), permettant le mouvement du premier segment (20) dans un plan transversal sensiblement perpendiculaire au sens d'avancement (X), le premier segment (20) étant rotatif autour de cette première articulation (30) d'une position verticale à une position abaissée latérale dans laquelle il est abaissé vers un côté latéral ou
    une autre ayant une liberté de mouvement d'au moins ± 60º ;
    • un deuxième segment (40) aménagé sensiblement parallèle au sens d'avancement (X) et relié, sans articulation, à une extrémité distale du premier segment (20) ;
    • un dispositif de préhension (60) directement ou indirectement relié au deuxième segment (40) dans une position approximativement distale et configuré pour être couplé à un conteneur (5) pour permettre de l'élever ;
    • une deuxième articulation (70) entre le dispositif de préhension (60) et le deuxième segment (40) dont l'axe est parallèle au sens d'avancement (X) et aménagé pour faire tourner au moins le dispositif de préhension (60) de sorte que le deuxième segment (40)
    peut être placé sur chaque côté latéral du véhicule (3) au moyen de la rotation de la première articulation (30) et
    la deuxième articulation (70) permet de maintenir ce dispositif de préhension (60) dans une position angulaire par rapport à la verticale indépendamment de la position angulaire du premier segment (20) ;
    ce bras articulé (1) étant actionné par des moyens d'actionnement contrôlés hydrauliquement, électriquement ou électroniquement (2) résultant en un cycle de travail comprenant au moins les positions suivantes :
    • position en retrait, dans laquelle aucune partie de ce bras articulé (1) ne se projette depuis le gabarit d'encombrement limite du véhicule (3) ;
    • position déployée, dans laquelle le bras articulé (1) se projette depuis le gabarit d'encombrement limite du véhicule (3) et place le dispositif de préhension (60) dans une position qui coïncide verticalement avec un conteneur et écarté de celui-ci ;
    • position de préhension, dans laquelle le dispositif de préhension (60) interfère avec le conteneur et lui est
    couplé en toute sécurité pour permettre de l'élever ;
    • position d'élévation, dans laquelle le bras articulé (1)
    élève le conteneur du sol, et
    • position de vidage, dans laquelle le conteneur a été élevé et son contenu peut être vidé du conteneur dans le réceptacle de collecte du véhicule (3).
  2. Le véhicule (3) conformément à la revendication 1, caractérisé en ce que la liberté de mouvement du premier segment (20) est au moins + 90º par rapport à la verticale.
  3. Le véhicule (3)
    conformément à la revendication 1 ou 2, caractérisé en ce que ce premier segment (20) est déployable.
  4. Le véhicule (3)
    conformément à la revendication 3, caractérisé en ce que ce premier segment (20) est formé par deux bras télescopiques parallèles reliés entre eux.
  5. Le véhicule (3)
    conformément aux revendications précédentes, caractérisé en ce que le premier segment (20) est relié à l'articulation de base (30) par une portion centrale située dans le un tiers central de la longueur totale du premier segment en retrait (20).
  6. Le véhicule (3)
    conformément à une quelconque des revendications 1 à 5, caractérisé en ce que la deuxième articulation (70) est située entre le deuxième segment (40) et le dispositif de préhension (60).
  7. Le véhicule (3)
    conformément à une quelconque des revendications précédentes, caractérisé en ce que la
    deuxième articulation (70) actionnée par un contrôle hydraulique, électrique ou électronique qui reproduit une quelconque rotation angulaire introduite dans l'articulation de base (30) mais en sens inverse.
  8. Le véhicule (3) conformément à une quelconque des revendications précédentes 1 à 7,
    caractérisé en ce que la deuxième
    articulation (70) est une articulation libre orientée par la gravité, le dispositif de préhension (60) étant ainsi orienté par la gravité, de sorte qu'il est toujours vertical indépendamment de la position du bras articulé (1).
  9. Le véhicule (3)
    conformément à une quelconque des revendications précédentes, caractérisé en ce que la distance entre ce dispositif de préhension (60) et l'extrémité distale du premier segment (20) dans le sens
    d'avancement (X) peut être changée par un déplacement longitudinal de ce dispositif de préhension (60) sur
    ce deuxième segment (40) ou en déployant ce deuxième segment (40) ou en variant la position de lien du deuxième segment (40) par rapport au premier segment (20), dans le sens
    d'avancement (X).
  10. Le véhicule (3)
    conformément à une quelconque des revendications précédentes, caractérisé en ce que la première articulation (30) est déplaçable verticalement par rapport au véhicule (3), par un mécanisme de déplacement vertical (11) compris entre la première articulation (30) et le véhicule (3).
  11. Le véhicule (3)
    conformément à une quelconque des revendications précédentes, caractérisé en ce que le deuxième segment (40) intègre au moins deux dispositifs de préhension (60) configurés pour saisir des types différents de conteneurs.
  12. Le véhicule (3)
    conformément à une quelconque des revendications précédentes, caractérisé en ce que les moyens d'actionnement
    (2) de la première articulation (30) consiste en un premier piston (2a) et un deuxième piston (2b) aménagé de façon approximativement symétrique par rapport au plan de symétrie du véhicule (3), chacun d'eux reliant un point de la colonne verticale (10) qui est fixe par rapport à la première articulation (30) ayant un point du premier segment (20) qui est fixe par rapport à la première articulation (30), l'actionnement du premier piston (2a) permettant de réguler la rotation du premier segment (20) vers un côté latéral
    et le deuxième piston (2b) permettant de réguler la rotation du
    premier segment (20) vers le côté latéral opposé.
EP15800379.8A 2014-05-29 2015-05-21 Véhicule avec un dispositif de collecte et de levage de conteneurs et le déchargement de leur contenu Active EP3150513B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201430818A ES2553927B1 (es) 2014-05-29 2014-05-29 Dispositivo instalado en un vehículo para la recogida y elevación de contenedores y descarga de su contenido
PCT/ES2015/000066 WO2015181409A1 (fr) 2014-05-29 2015-05-21 Dispositif installé dans un véhicule pour la collecte et le levage de conteneurs et le déchargement de leur contenu

Publications (3)

Publication Number Publication Date
EP3150513A1 EP3150513A1 (fr) 2017-04-05
EP3150513A4 EP3150513A4 (fr) 2018-01-24
EP3150513B1 true EP3150513B1 (fr) 2020-03-18

Family

ID=54698150

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15800379.8A Active EP3150513B1 (fr) 2014-05-29 2015-05-21 Véhicule avec un dispositif de collecte et de levage de conteneurs et le déchargement de leur contenu

Country Status (3)

Country Link
EP (1) EP3150513B1 (fr)
ES (2) ES2553927B1 (fr)
WO (1) WO2015181409A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2018315061B2 (en) * 2017-08-11 2022-09-22 Bucher Municipal Pty Ltd A refuse collection device
CN110562642A (zh) * 2019-10-14 2019-12-13 随州市创想汽车技术有限公司 一种垃圾车垃圾收集装置
WO2024018408A1 (fr) * 2022-07-21 2024-01-25 Nord Engineering S.P.A. Système pour la collecte des déchets, en particulier pour la collecte différenciée des déchets, et procédé associé

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2933210A (en) * 1958-12-04 1960-04-19 Harland R Dye Container handling and dumping apparatus
US3786949A (en) * 1972-10-16 1974-01-22 W Sutton Apparatus for side pick up refuse collection
SE450111B (sv) * 1981-06-29 1987-06-09 Norba Ab Anordning for uppsamling av sopseckar och andra avfallsbehallare
ATE186892T1 (de) * 1995-06-03 1999-12-15 Peters Klaus Tilmann Sammelsystem für recycling-stoffe
ITTO980341A1 (it) * 1998-04-22 1999-10-22 Nord Engineering Di Armando Lo Sistema e/o dispositivo per la movimentazione, e lo scarico del conten uto,di contenitori adibiti alla raccolta dei rifiuti.
CH703732A2 (it) * 2010-09-14 2012-03-15 Mondini Engineering Sa Processo ed apparato per la movimentazione di contenitori per rifiuti e per lo svuotamento del loro contenuto.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
WO2015181409A1 (fr) 2015-12-03
ES2553927B1 (es) 2016-09-20
ES2553927A1 (es) 2015-12-14
EP3150513A4 (fr) 2018-01-24
ES2799428T3 (es) 2020-12-17
EP3150513A1 (fr) 2017-04-05

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