EP4116229B1 - Verfahren und vorrichtung zur handhabung von müllsammelbehältern - Google Patents

Verfahren und vorrichtung zur handhabung von müllsammelbehältern Download PDF

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Publication number
EP4116229B1
EP4116229B1 EP21382600.1A EP21382600A EP4116229B1 EP 4116229 B1 EP4116229 B1 EP 4116229B1 EP 21382600 A EP21382600 A EP 21382600A EP 4116229 B1 EP4116229 B1 EP 4116229B1
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EP
European Patent Office
Prior art keywords
handle
container
holding member
movable elements
movable
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English (en)
French (fr)
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EP4116229A1 (de
Inventor
Albert PADULLES OMEDES
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Palvi SL
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Palvi SL
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    • 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 waste collection containers, and to methods for performing said operations.
  • the present invention relates to a device for handling waste collection containers, and to a method for performing said operation, by means of a coupling head attached to a crane arm of a waste collection vehicle, said coupling head allowing holding a container and lifting it.
  • Particular embodiments of the device and method of the present invention also allow emptying the container into a container discharge area.
  • Devices for handling waste collection containers capable of being coupled to a handle of the container are known in the state of the art.
  • devices for handling and emptying waste collection containers which besides being capable of being coupled to a handle of the container, are also capable of interacting with a gate operator of the container for causing the opening and/or closing of the gates of the container.
  • patent document EP 3115317 A1 discloses a device and a method for handling and emptying waste collection containers.
  • a holding member comprises a central opening for the insertion of the handle of the container and a plurality of jaws, which move in a radial and coordinated manner to close the same around the handle of the container.
  • said holding member provides a firm and secure attachment of the device to the container, it can be damaged if the container and/or its handle are not properly placed or aligned, in which case the misalignment of the handle and/or its container can cause an overload to one or more of the jaws that can damage them as the device lacks a mechanism to avoid overloads in the jaws.
  • a device for handling waste collection containers according to the preamble of claim 1 with safety features regarding detecting and signalling overload in the lifting system is known from WO 2015/136127 A1 .
  • None of the known prior art documents disclose a device for handling waste collection containers comprising means to avoid overloading the jaws that secure the container.
  • the present invention is directed towards a device for handling waste collection containers.
  • a device for handling waste collection containers comprising a coupling head which comprises a head structure arranged to be attached to the distal end of a crane arm comprised in a waste collection vehicle, said head structure comprising a first holding member having first movable elements operated by means of first operating means, said first movable elements being movable between a handle gripping position and a handle release position and for being coupled to a mushroom-shaped handle fixed on an outer surface of a container and for holding up said container through said handle, each of said first movable elements having a flat surface adapted for being placed in contact with a corresponding flat surface of the mushroom-shaped handle in their handle gripping position; said first operating means being controlled by means of a control unit; and wherein the first movable elements, between the handle gripping
  • a mushroom-shaped handle is a handle having a tubular section and a head protruding transversally with respect to said handle.
  • Said head is preferably shaped like a semi ellipsoid or a semi sphere, although it can have any other suitable shape.
  • Said tubular section is preferably of a polygonal cross-section.
  • the overload position is located between the handle gripping position and the handle release position, in said overload position the flat surface of the first movable element is not in contact with a corresponding flat surface of the mushroom-shaped handle of the container.
  • the first movable element still interferes with the mushroom-shaped handle, and in particular, the first movable element still interferes with the protruding head of the handle.
  • the first operating means may comprise a spring for each first movable element, each spring having a first end operatively connected to the corresponding first movable element and a second end operatively fixed to the first holding member.
  • each first movable element is preferably independent from the other movable elements, that is to say, each first movable element can move to its overload position irrespective of the position of the other first movable elements.
  • the first end of the spring may be connected to a link member that may be operatively connected to the corresponding first movable element.
  • the link member may be shaped as a circular arc.
  • At least part of the link members may slide along a groove matching the shape of the link.
  • the groove is also shaped as a circular arc.
  • the first holding member may comprise a lower plate for housing the first movable elements, and an intermediate plate for simultaneously actuating the first movable elements, said intermediate plate being arranged between the lower plate and an upper plate for being attached to the head structure.
  • the second end of the spring may be housed in a respective recess in the intermediate plate.
  • the first operating means may comprise an actuator and the intermediate plate may comprise a protruding part for being operatively connected to said actuator.
  • Said protruding part may protrude from the first holding member through an aperture in the upper plate.
  • the actuator may be configured to rotate the intermediate plate relative to the head structure.
  • Said actuator may be a hydraulic cylinder.
  • Each first movable element may comprise two lateral faces perpendicular to its flat surface, and chamfered edges between the flat surface and the lateral faces.
  • the first holding member may comprise at least a pair of movable elements facing each other.
  • the first holding member may comprise four first movable elements arranged in a cross shaped manner.
  • Said head structure may further comprise a second holding member having second movable elements arranged to be operated by means of second operating means, said second movable elements being movable between a gate operator release position and a position of interaction with the gate operator and allowing said second movable elements to come into geometric interference with the gate operator, preventing its free movement, the first holding member being adapted to be attached to the handle and the second holding members being adapted to be arranged in the position of interaction, and the gate operator being arranged in the container in a position adjacent and/or concentric to said handle and mechanically linked to lower gates of the container for controlling their opening and closing; a displacing mechanism arranged to be operated by a third operating means envisaged for axially moving said second holding member with respect to said first holding member between gate closing and gate opening positions, by means of the relative axial movement between the handle and the gate operator of the mentioned container linked to the first and second holding members, causing the closing and/or opening of said lower gates of the container mechanically linked to the gate operator; and the second movable
  • the control unit may be provided with at least a first and second handling configuration, which are adapted, respectively, for handling a container containing a gate operator of a first type and for handling a container containing a gate operator of the second type, the first and second configurations differing at least in the predetermined handle gripping and release positions, and/or in the operator release and interaction positions; and/or in the gate opening and closing positions.
  • the displacing mechanism for axially moving the second holding member with respect to the first holding member may comprise at least a guide arranged in an axial direction of the coupling head and the third operating means may comprise at least a roller chain.
  • the third operating means may further comprise a hydraulic cylinder.
  • a method for handling waste collection containers by means of a device for handling waste collection containers comprising the following steps: placing the coupling head in a position such that the first holding member is located adjacent to, aligned with and at least partially around the handle of a container, the second holding member being adjacent to and aligned with the gate operator; operating the movement of the first movable elements to the handle gripping position, firmly securing the handle; lifting the container, placing it such that it is superposed on a discharge area; moving at least one movable element to its overload position when a force exerted by the container handle exceeds a threshold; returning the at least one movable element to its handle gripping position from its overload position when the force exerted by the container handle is inferior to the threshold.
  • the method may further comprise the steps of operating the movement of the second movable elements to the position of interaction with the operator; moving the second holding member to the gate closing position by means of the displacing mechanism, allowing the second movable elements to support a vertical load produced by the weight of the waste located on the gates of the container and transmitted through the gate operator; operating the displacing mechanism until placing the second holding member in the gate opening position, causing the movement of the second holding member and the gate operator, causing the opening of the gates mechanically linked to said gate operator; and operating the displacing mechanism again until placing the second holding member in the gate closing position, causing the closing of said gates, putting the container back in its original location and releasing the first and second holding members.
  • the first, second and third operating means may be controlled by means of a programmable control unit provided with at least a first and a second handling configuration, which are adapted, respectively, for handling a container containing a gate operator of a first type and for handling a container containing a gate operator of a second type, the first and second configurations differing at least in the predetermined handle gripping and release positions, and/or in the gate opening and closing positions; and wherein the programmable control unit may implement the following steps: determining if the container to be handled integrates a gate operator of a first type or a gate operator of the second type based on the information obtained by means of sensors or by means of information entered by an operator through an interface; applying a first handling configuration if the container to be handled integrates a gate operator of the first type or a second handling configuration if the container to be handled integrates a gate operator of the second type.
  • a camera and/or a lidar sensor may be integrated in the coupling head for providing information of the handle and the gate operator, and in that the programmable control unit uses said information of the handle and the gate operator to guide the coupling head to the handle and the gate operator and/or to determine if the gate operator is of the first type or of the second type.
  • references to geometric position such as parallel, perpendicular, tangent, etc. allow deviations up to ⁇ 5° from the theoretical position defined by this nomenclature.
  • FIGS. 1 and 2 show a top and a bottom perspective view, respectively, of an exemplary embodiment of a device for handling waste collection containers according to the present invention.
  • the device comprises a coupling head 1 which comprises a head structure 30 arranged to be attached at a distal end of a crane arm in a waste collection vehicle (not shown).
  • Said head structure 30 further comprises a first holding member 10 having first movable elements 14 operated by first operating means.
  • the first holding member 10 comprises a lower plate 11 for housing the first movable elements 14 and an upper plate 12 attached to the head structure 30. Between said upper and lower plates 12, 11, the first holding member 10 comprises an intermediate plate 13 (in these views is hidden, see for example, FIG. 5 ). Said intermediate plate 13 is driven by an actuator 20, which in the exemplary embodiment shown is a hydraulic cylinder, which rotates said intermediate plate 13 around a longitudinal axis of the head structure 30.
  • an actuator 20 which in the exemplary embodiment shown is a hydraulic cylinder, which rotates said intermediate plate 13 around a longitudinal axis of the head structure 30.
  • the lower plate 11 defines a circular opening 112 for the passage therethrough of the handle 2, 2' of a waste collection container 3 (see FIG. 3 ) to be handled by the device object of the present invention.
  • the exemplary embodiment shown comprises four first movable elements 14 arranged in a cross shaped manner.
  • other embodiments can have a different number of first movable elements 14, for example, a pair of them facing each other.
  • FIG. 3 shows a schematic front view of two different handles 2, 2' of a waste collection container 3.
  • the device object of the present invention can be used for handling containers 3 having gates on its lower face, filling openings in its upper half, a handle 2, 2' firmly attached to the container 3 on its upper face, which allows holding the entire container and its waste load through said handle 2, 2'.
  • Certain containers 3 can have a handle 2, 2' comprising a gate operator 201, 201' arranged in a position adjacent or concentric to said handle 2, 2', which is mechanically linked to the gates of the container 3, for example, by means of an articulated bar mechanism or a cable and pulley mechanism.
  • Said mechanical link allows the axial movement of the gate operator 201, 201' to cause the opening and closing of said gates and to cause at least a part of the weight of the waste deposited on the lower gates of the container 3 to be transmitted through the mentioned mechanical link to the gate operator 201, 201' while lifting the container 3.
  • said transmitted loads are supported by said second holding member.
  • both handles 2, 2' comprise a tubular section 202 and a head 200 protruding from said tubular sections 202.
  • the tubular section 202 has a squared cross-section, although other handles 2,'2 can have tubular sections having different cross-sections.
  • the gate closing position will be the position in which said operator 201 is completely inserted into the handle 2, without projecting above the same, whereas the gate opening position will be the position in which said gate operator 201 of the first type projects a predetermined distance from the handle 2.
  • the gate operator 201 of the first type is shown in the gate opening position.
  • the gate opening position can be the position in which the operator is completely inserted into the handle, without projecting above the same, whereas the gate closing position can be the position in which said gate operator projects a predetermined distance from the handle.
  • said gate operator 201' of the second type comprises a flange and the gate opening position will be the position in which said gate operator 201' is in the lower point of its vertical travel, the mentioned flange being close to and superposed to the handle. This one will also be the resting position of the gate operator 201' of the second type, the container 3 being supported on the ground, and the opening of the lower gates therefore being prevented as they are supported on the ground. In the case shown in FIG.
  • the gate closing position of the gate operator 201' of the second type will be the position in which the flange of the gate operator 201' of the second type is arranged at a predetermined distance from the head 200 greater than the distance existing in the gate opening position, in the upper limit of its vertical travel.
  • handles 2, 2' depicted in FIG. 3 have been shown for illustrative purposes, as other types of handles 2, 2' of waste collection containers 3 can also be used with the device of the present invention.
  • FIG. 4 shows a perspective view of the first holding member 10 of the exemplary embodiment of a device for handling waste collection containers shown in FIGS. 1 and 2 .
  • a channel 110 that houses and guides a corresponding first movable element 14, which slides or moves along said channel 110. Sliding or moving along their corresponding channel 110, the first movable elements 14 move in a radial manner from the handle release position to the handle gripping position, and vice versa.
  • the first movable elements 14 are placed so that they do not interfere with the container handle 2, 2' of the container 3 (see FIG. 3 ) and the device of the present invention can be uncoupled from the container 3.
  • a flat or planar surface of the first movable elements 14 is placed in contact with a corresponding flat surface of the container handle 2,2', and in particular, with a corresponding flat surface of the tubular section 202 of the container handle 2, 2', firmly securing the container handle 2, 2' to the device of the present invention.
  • the first movable elements 14 interfere geometrically with the head 200 of the container handle 2, 2', thus providing a more secure coupling between the container handle 2, 2' and the device for handling waste container of the present invention.
  • said first movable elements 14 can also move to an overload position when a force applied to the first movable elements 14 exceeds a certain threshold that could damage, or even break, them.
  • the movable element 14 In said overload position, the movable element 14 is located between its handle gripping position and its handle release position.
  • the flat surface of the first movable element 14 In the overload position 14 the flat surface of the first movable element 14 is no longer in contact with the corresponding flat surface of the container handle 2, 2', but the first movable element 14 is still in geometric interference with the head 200 of the handle 2, 2' so that still contributes to the attachment of the device of the present invention to the container 3, and in particular, to its handle 2, 2'.
  • FIG. 5 This figure clearly depicts the protruding part 132 of the intermediate plate 13 (see FIG. 5 ) protruding from the upper plate 12 through the aperture 120.
  • the aperture 120 is in the upper face of the upper plate 12, in other embodiments, said aperture can be in the side face of said upper plate 12, as the protruding part 132 in other embodiments can also protrude radially instead of longitudinally with respect to a longitudinal axis of the head structure 30 (see FIGS. 1 and 2 ).
  • FIG. 5 shows an exploded perspective view of the first holding member 10 show in FIG. 4 , so that the elements that are usually, partially or completely, hidden can also be seen.
  • the first holding member 10 comprises an upper plate 12 attached to the head structure 30 (see FIGS. 1 and 2 ), a lower plate 11 housing the first movable elements 14 and an intermediate plate 13 arranged between the upper and the lower plates 11, 12.
  • the intermediate plate 13 acts as part of the first operating means and is configured for simultaneously actuating the first movable elements 14 housed in the lower plate 11, and in particular, housed in the corresponding channels 110.
  • Said intermediate plate 13 houses a plurality of resilient elements, which in this embodiment are springs 15 (see FIG.
  • the intermediate plate comprises openings 130 on its upper side and openings 131 on its lateral side to allow access to the springs 15 housed therein, to ease the maintenance and installation of the springs 15 in the intermediate plate 13, among other possible benefits.
  • the intermediate plate 13 further comprises a plurality of pins 133, each of said pins 133 being operatively connected to the corresponding spring 15 (see FIG. 7 ) and to the corresponding link member 141. Said pins 133 also act as a stop of the corresponding spring 15 (see FIG. 12 ).
  • the intermediate plate 13 is at least partly guide by a corresponding circular groove or housing in the lower plate 11 and in the upper plate 12.
  • each first movable element 14 is operatively connected to a link member 141 that is also operatively connected to a first end of the corresponding spring 15.
  • a second end of said spring is housed in the intermediate plate 13.
  • the connection between the first movable element 14, the link member 141 and the spring 15 is preferably done using non-permanent attachment means, such as, bolts and nuts, screws, etc.
  • This particular embodiment also comprises a plate 142 for each first movable element 14, placed between the lower plate 11 and the intermediate plate 13 that can, among other benefits, ease the movement, and in particular, ease the rotation of the intermediate plate 13 relative to the head structure 30 and the first holding member 10 by easing the sliding of the intermediate plate 13 relative to the upper and lower plates 12, 11 that are fixed.
  • the upper plate 12 is attached to the lower plate 11 using threaded fasteners 121, however other types of fastening means can also be used.
  • FIG. 6 shows a front view of the first holding member 10 shown in FIG. 4 without its upper plate 12. This view shows the lower plate 11 with one of its first movable elements 14 and the intermediate plate 13 with its protrusion 132 and one of its lateral openings 131.
  • the cut line VII-VII is also depicted in FIG. 6 .
  • FIG. 7 shows a perspective view of the first holding member shown in FIG. 6 with a cut-off along the cut line VII-VII.
  • the springs 15, acting as resilient elements housed in the intermediate plate 13.
  • the linear travel of the first movable elements 14 along their corresponding channel 110 is limited by the actuator 20, and in particular, by the rotation that the actuator 20 imparts to the intermediate plate 13 by the protruding part 132.
  • first movable elements 14 When a force is applied to one or more first movable elements 14 that exceeds a predetermined threshold, generally due to a misalignment or misplacement of the container 3 and its handle 2, 2', the affected first movable element 14 compresses the spring 15 and moves to its overload position. When said excess force disappears, i.e., the force that the first movable element receives comes back to the normal or regular values, the spring 15 pushes the first movable element 14 back to the handle gripping position.
  • FIG. 8 shows a front view of the first holding member 10 shown in FIG. 4 .
  • This figure shows the protruding part 132 protruding from the upper plate 12.
  • said protruding part 132 is operatively connected to the actuator 20, which drives the intermediate plate 13.
  • the actuator 20 drives the intermediate plate 13.
  • the first movable elements 14 move from the handle release position to the handle gripping position, and vice versa.
  • the connection of the first movable elements 14 to their corresponding link 141 can be seen in the section view of FIG. 9 , which shows a section view the first holding member 10 along the cut line IX-IX shown in FIG. 8 .
  • This section views shows the arrangement of the first movable elements 14 in their corresponding channel 10 of the lower plate 11 and their connection to their corresponding link member 141.
  • each first movable element 14 comprises an indentation 143.
  • the groove 111 aids in allowing and guiding the movement of the first movable element 14 by guiding the pin 133 that slides along a corresponding groove 111.
  • FIG. 10 shows an exploded perspective view of the intermediate plate 13 of the first holding member 10 shown in FIG. 5 .
  • This view shows how, in this exemplary embodiment, the spring 15 is inserted into the intermediate plate 13 through the opening 131 on the lateral side of the intermediate plate 13.
  • said plate 13 comprises a stop 135, which can be operated through the opening 131, and the pin 133, which on its upper portion comprises a body that acts as a stop of one of the ends of the spring 15.
  • Said pin 133 is held in its position by the locking pin 134, which in the exemplary embodiment shown, is coaxial with a longitudinal axis defined by the spring 15.
  • each link member 141 is operatively connected to an end of the corresponding spring 15 by means of the corresponding pin 133.
  • FIG. 11 shows a top view of the intermediate plate 13 shown in FIG. 10 . This top view clearly shows the openings 130 on the upper side of the intermediate plate 13.
  • cut line XII-XII is also depicted in FIG. 11 .
  • FIG. 12 shows a section view of the intermediate plate 13 shown in FIGS. 10 and 11 along the cut line XII-XII, clearly showing the arrangement of the previously described components of the intermediate plate 13 when they are in their working position.
  • FIG. 12 shows the spring 15 with the stop 135 limiting the movement of said spring 15 at one of its ends and the body of the pin 133 limiting the movement of said spring 15 at the opposite end.
  • the pin 133 is held in place by the locking pin 134.
  • Certain embodiments of the device according to the present invention can comprise a second holding member having second movable elements arranged to be operated by means of second operating means, said second movable elements being movable between a gate operator release position and a position of interaction with the gate operator 201, 201' and allowing said movable elements to come into geometric interference with the gate operator 201, 201', preventing its free movement, the first holding member being adapted to be attached to the handle 2, 2' and the second holding members being adapted to be arranged in the position of interaction.
  • Said embodiments according to the present invention also comprise a displacing mechanism arranged to be operated by third operating means envisaged for axially moving said second holding member with respect to said first holding member between gate closing and gate opening positions, by means of the relative axial movement between the handle 2, 2' and the gate operator 201, 201' of the mentioned container 3, causing the closing and/or opening of the lower gates of the container 3.
  • said embodiments besides handling the waste collection container 3, can also empty their content in a discharge area.
  • the containers 3 can be emptied, for example, by an operator manually activating a discharge mechanism of the containers 3.
  • Embodiments of the device according to the present invention which are able to discharge the content of the container 3 are preferred, but as previously stated, are not necessary.
  • each first movable element 14 comprises two lateral faces perpendicular to its flat surface and chamfered edges between the flat surface and the lateral faces.
  • the first movable elements 14 can have a different shape than the one described.

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Claims (15)

  1. Vorrichtung zur Handhabung von Müllsammelbehältern, wobei die Vorrichtung einen Kupplungskopf (1) umfasst, der eine Kopfstruktur (30) umfasst, die so angeordnet ist, dass sie an dem distalen Ende eines in einem Müllsammelfahrzeug enthaltenen Kranarms angebracht werden kann, wobei die Kopfstruktur Folgendes umfasst:
    ein erstes Halteglied (10) mit ersten beweglichen Elementen (14), die mittels erster Betätigungsmittel betätigt werden, wobei die ersten beweglichen Elemente (14) zwischen einer Griff-Greifposition und einer Griff-Freigabeposition beweglich sind und zum Koppeln mit einem pilzförmigen Griff (2, 2'), der an einer Außenoberfläche eines Behälters (3) befestigt ist und um den Behälter (3) durch den Griff (2, 2') hochzuhalten, wobei jedes der ersten beweglichen Elemente (14) eine flache Oberfläche aufweist, die dafür ausgelegt ist, in Kontakt mit einer entsprechenden flachen Oberfläche des pilzförmigen Griffs (2, 2') in ihrer Griff-Greifposition platziert zu werden;
    wobei die ersten Betätigungsmittel mittels einer Steuereinheit gesteuert werden;
    dadurch gekennzeichnet, dass die ersten beweglichen Elemente (14) zwischen der Griff-Greifposition und der Griff-Freigabeposition, auch in eine Überlastposition bewegbar sind, wobei die ersten beweglichen Elemente (14) in geometrischem Eingriff mit dem pilzförmigen Griff (2, 2') sind,
    und dass die ersten Betätigungsmittel elastische Elemente umfassen, die so ausgebildet sind, dass sie ein erstes bewegliches Element (14) aus der Griff-Greifposition in die Überlastposition bewegen, wenn eine durch den Griff (2, 2') des Behälters ausgeübte Kraft einen Schwellenwert überschreitet.
  2. Vorrichtung nach Anspruch 1, wobei die ersten Betätigungsmittel eine Feder (15) für jedes erste bewegliche Element (14) umfassen, wobei jede Feder (15) ein erstes Ende aufweist, das betriebsmäßig mit dem entsprechenden ersten beweglichen Element (14) verbunden ist, und ein zweites Ende, das betriebsmäßig an dem ersten Halteglied (10) befestigt ist.
  3. Vorrichtung nach Anspruch 2, wobei das erste Ende der Feder (15) mit einem Verbinderglied (141) verbunden ist, das betriebsmäßig mit dem entsprechenden ersten beweglichen Element (14) verbunden ist.
  4. Vorrichtung nach einem der Ansprüche 2 bis 3, wobei mindestens ein Teil des Verbindergliedes (141) entlang einer Nut (111) gleitet, die der Form des Verbinders entspricht.
  5. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei das erste Halteglied (10) eine untere Platte (11) zur Aufnahme der ersten beweglichen Elemente (14) und eine Zwischenplatte (13) zur gleichzeitigen Betätigung der ersten beweglichen Elemente (14) umfasst, wobei die Zwischenplatte (13) zwischen der unteren Platte (11) und einer oberen Platte (12) angeordnet ist, die an der Kopfstruktur (30) befestigt ist.
  6. Vorrichtung nach Anspruch 2 und 5, wobei das zweite Ende der Feder (15) in einer jeweiligen Aussparung in der Zwischenplatte (13) aufgenommen ist.
  7. Vorrichtung nach Anspruch 5 oder 6, wobei die ersten Betätigungsmittel einen Aktuator (20) umfassen und wobei die Zwischenplatte (13) einen vorstehenden Teil (132) umfasst, um mit dem Aktuator (20) betriebsmäßig verbunden zu werden.
  8. Vorrichtung nach Anspruch 7, wobei das vorstehende Teil (132) von dem ersten Halteglied (10) durch eine Öffnung (120) in der oberen Platte (12) vorsteht.
  9. Vorrichtung nach Anspruch 7 oder 8, wobei der Aktuator (20) so ausgebildet ist, dass er die Zwischenplatte (13) relativ zur Kopfstruktur (30) dreht.
  10. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei jedes erste bewegliche Element (14) zwei Seitenflächen senkrecht zu seiner flachen Oberfläche und abgeschrägte Kanten zwischen der flachen Oberfläche und den Seitenflächen umfasst.
  11. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei das erste Halteglied (10) mindestens ein Paar einander gegenüberliegende bewegliche Elemente (14) umfasst.
  12. Vorrichtung nach Anspruch 11, wobei das erste Halteelement (10) vier erste bewegliche Elemente (14) umfasst, die kreuzförmig angeordnet sind.
  13. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Kopfstruktur (30) ferner Folgendes umfasst:
    - ein zweites Halteglied mit zweiten beweglichen Elementen, die so angeordnet sind, dass sie mittels zweiter Betätigungsmittel betätigt werden können, wobei die zweiten beweglichen Elemente zwischen einer Freigabeposition des Torantriebs (201, 201') und einer Position des Zusammenwirkens mit dem Torantrieb (201, 201') beweglich sind und es den zweiten beweglichen Elementen ermöglichen, in geometrischen Eingriff mit dem Torantrieb zu kommen, wobei dessen freie Bewegung verhindert wird, wobei das erste Halteglied dazu ausgelegt ist, an dem Griff angebracht zu werden, und die zweiten Halteglieder dazu ausgelegt sind, in der Position des Zusammenwirkens angeordnet zu werden, und wobei der Torantrieb (201, 201') in dem Behälter (3) in einer Position neben und/oder konzentrisch zu dem Griff (2, 2') angeordnet ist und mechanisch mit den unteren Toren des Behälters (3) verbunden ist, um deren Öffnen und Schließen zu steuern;
    - einen Verschiebemechanismus, der so angeordnet ist, dass er durch ein drittes Betätigungsmittel betätigt werden kann, das vorgesehen ist, um das zweite Halteglied in Bezug auf das erste Halteglied zwischen Torschließ- und Toröffnungspositionen axial zu bewegen, und zwar mittels der relativen axialen Bewegung zwischen dem Griff und dem Torantrieb (201, 201') des Behälters (3), der mit dem ersten und dem zweiten Haltegliedern verbunden ist, wobei das Schließen und/oder Öffnen der unteren Tore des Behälters verursacht wird, die mechanisch mit dem Torantrieb (201, 201') verbunden sind; und
    wobei die zweiten beweglichen Elemente zwischen der Freigabeposition des Torantriebs (201, 201') und der Position des Zusammenwirkens mit dem Torantrieb (201, 201') beweglich sind; und die ersten, zweiten und dritten Betätigungsmittel durch die Steuereinheit gesteuert werden.
  14. Verfahren zur Handhabung von Müllsammelbehältern mittels einer Vorrichtung zur Handhabung von Müllsammelbehältern nach einem der Ansprüche 1 bis 13, umfassend die folgenden Schritte:
    - Platzieren des Kupplungskopfes (1) in einer solchen Position, dass das erste Halteglied (10) an den Griff (2, 2') eines Behälters (3) angrenzt, mit diesem ausgerichtet ist und ihn mindestens teilweise umgibt;
    - Betätigen der Bewegung der ersten beweglichen Elemente (14) in die Griff-Greifposition, wobei der Griff (2, 2') fest gesichert wird;
    - Anheben des Behälters (3), wobei dieser so platziert wird so, dass er auf einer Entladefläche aufliegt;
    - Bewegen mindestens eines beweglichen Elements (14) in seine Überlastposition, wenn eine durch den Griff (2, 2') des Behälters ausgeübte Kraft einen Schwellenwert überschreitet;
    - Zurückbringen des mindestens einen beweglichen Elements (14) aus seiner Überlastposition in seine Griff-Greifposition, wenn die durch den Griff (2, 2') des Behälters ausgeübte Kraft unter dem Schwellenwert liegt.
  15. Verfahren nach Anspruch 14, das ferner die folgenden Schritte umfasst:
    - Betätigen der Bewegung der zweiten beweglichen Elemente in die Position des Zusammenwirkens mit dem Torantrieb (201, 201');
    - Bewegen des zweiten Halteglieds in die Torschließposition mittels des Verschiebemechanismus, was es den zweiten beweglichen Elementen ermöglicht, eine vertikale Last zu tragen, die durch das Gewicht des Abfalls erzeugt wird, der sich auf den Toren des Behälters (3) befindet und durch den Torantrieb (201, 201') übertragen wird;
    - Betätigen des Verschiebemechanismus, bis das zweite Halteglied in der Toröffnungsposition platziert ist, wobei die Bewegung des zweiten Halteglieds und des Torantriebs (201, 201') verursacht wird, wobei das Öffnen der mechanisch mit dem Torantrieb (201, 201') verbundenen Tore bewirkt wird; und
    - erneutes Betätigen des Verschiebemechanismus bis zum Platzieren des zweiten Halteglieds in der Torschließposition, wobei das Schließen der Tore verursacht wird, der Behälter wieder an seinen ursprünglichen Ort zurückgesetzt wird und das erste und zweite Halteglied freigegeben werden.
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IT1320227B1 (it) 2000-07-05 2003-11-26 Nord Engineering Di Armando Lo Dispositivo per la movimentazione, e lo scarico del contenuto, dicontenitori adibiti alla raccolta dei rifiuti, e contenitori per detto
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.
ES2545827B1 (es) * 2014-03-14 2016-06-22 Explin Iris, S.L. Sistema y método de apertura y cierre de compuertas de contenedores
EP3115317B1 (de) 2015-07-07 2017-11-22 Palvi, S.L. Verfahren und vorrichtung zum behandeln und entleeren von abfallbehältern
ES2661290B2 (es) * 2017-10-24 2018-10-25 Aquilino PÉREZ VERA Grúa eléctrica portante para movimiento de cargas y recipientes contenedores de cogida vertical y vaciado sin volteo.
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