SK93397A3 - Container gripping device - Google Patents

Abstract

The device has two pivoted gripper arms (10a,b) which are arranged on a gripper head (40) of an emptying unit, through front and rear links (26a,b,32a,b). The gripper arms are adjustable via at least one operating device (50) which acts upon the links. At least one support component (28a,b) is fitted between the gripper arms and the four link guide forms a parallelogram (20a,b) so that in each pivot position, an acute angle ( alpha ) is enclosed between the links and the corresponding gripper arms. The support component is carried by the projecting free end of the front links (26a,26b) which are pivoted to the gripper head at a common link point (23) and form a shear link (30). The rear links (32a,32b) on the gripper head also have a common link point (24). The gripper arms are straight and at their free end may bent inwards.

Description

Container gripping device

Technical field

BACKGROUND OF THE INVENTION The invention relates to a device for gripping containers, in particular waste containers, with a feeding head disposed on a discharge device, to which two rotating feed arms are arranged via a four-way guide with front and rear guides and adjustable by at least one actuating device and as with at least one support element disposed between the feed arms.

BACKGROUND OF THE INVENTION

For conventional placed rear emptying on the vehicle but one, mostly garbage, to the emptying device back. This staff with a facility designed to shut down two on can waste collection facilities, workers who take the edge of the street and, after emptying, save when they can which are so, the street. For this, the garbage was straight on the edge of the feeder, which either operated or could be controlled by the driver.

be at least the containers to attract them stand emptying grab containers developed specially fully automatically, gripping garbage containers, which is located on the side of the vehicle on a pivot around the vertical axis, is on

US-A-3.841.508 discloses a waste collection device.

A feed head with a housing is placed on the arm, a pivot lever, in which two feed arms rotatable about a vertical axis are disposed, which can be moved by means of a pressure cylinder positioned between the feed arms.

The feed arms are adapted to the shape of the containers to be emptied and abut against the container wall by means of buffers located at the free ends of the arms. In addition, two additional buffers are rotatably mounted on the feed head so that the container is gripped at four points in total. However, the mobility of the bumpers is limited.

the

The containers deviate too much from the outside because of their ideal wall shape, the containers, the dimensions otherwise the fillings would not be gripped with confidence. Because of the limited opening width of the feed arms, standing containers adjacent to each other may be gripped, but these must be aligned because the feed head is not itself movable in order to be able to align according to the position of the containers to be gripped.

DE

44 193 the positions should be facilitated for the purpose

C1 describes the evacuation setting and the spacers around the inner side, possibly driven, and thereby aligned. in the case of cylindrical containers, adapted to the size of the containers, in the form of a circular arc with a vertical wheel, a waste collection system; The feeder has two hinged arms, or whose specific swivel which carry the arms wide standing

US bullets, therefore, the container may be after this administration taking

On the device to open the containers can not be

4.175.903 has one extendable of its which can be gripped turned can only be used to be the arms into the feed base formed to grip the containers must consequently grip.

The arms that close to the feed side describe an emptying arm mounted on the device, a waste collection vehicle and is rotatable in two planes on which the plate-shaped feed arms are located.

The feed arms can tilt about the longitudinal axis and are lined on their inside with a resilient material, with pistons,

Each plate is mounted on at least two cylinders perpendicular to the longitudinal axis of the device and the feed arms open or clamp while maintaining a parallel position. Additional supports are not present, therefore the container is only clamped between the feed arms. Because of the high torques, the pressure on the container may only be low, so there is a risk of slipping. A further disadvantage is that, when gripping the containers, considerable lateral forces are exerted by the levers on the piston cylinders which can lead to damage or leakage, so that the whole device is considerably defective.

WO 93/25457 discloses a feeding device with which it should be possible to grip containers standing side by side. On the feed head, which is rigidly located on the emptying device, two feed arms, which are substantially curved, are rotatably mounted by means of a four-pin guide. Both guides are always of different lengths, and one guide must be additionally curved. The articulation points on the feed head are so positioned that, in the closed position of the feed arms, the guides cross and extend forward of the feed head. In order to open the feed arms, the guides must be rotated backwards by approximately 90 ° with the consequence that the feed arms leave their parallel arrangements with respect to each other and rotate very far outwards, so much space is required. Due to this large swivel range in conjunction with the curved shape of the feed arms, it is not possible to grasp very tightly standing containers side by side with these feed arms, especially when it is considered that a space of approximately 10 cm is generally available. The feed arms are provided with belts that are tensioned between the tip of the feed arm and the support that is mounted on the feed head. The disadvantage is that heavy containers cannot be safely gripped under the circumstances and, in addition, the belts wear quickly.

Other devices which also have belts are known from WO 94/18098. The feed arms are two-piece and have an inwardly rotating end section. Also, with this device, tightly standing containers cannot be gripped side by side.

US-PS 5,360,310 discloses a feed device which is designed to grip spherical containers and has two-piece feed arms. There is one guide for each feeding arm and the pair crosses. All the guides are located outside the area surrounded by the feed arms. At the rear of the feed arms there are always piston cylinders which must be operated simultaneously to open and close the feed arms. The movement of the feed arms requires a lot of space, so that adjacent containers cannot be gripped.

SUMMARY OF THE INVENTION

SUMMARY OF THE INVENTION The object of the invention is to provide a device for gripping garbage containers with which containers which are standing next to each other and containers of different sizes can be securely gripped.

This object is solved by the features of claim 1. Preferred embodiments are described in the subclaims.

The invention is based on the fact that the quadruple guide is a parallelogram guide, the guides forming an acute angle with each pivot arm at each rotation. The parallelogram guide has the advantage that the feed arms maintain parallelism when the guides are rotated to open and close the feed arms. There is thus the possibility that the distance of the feed arms can be adjusted to the width of the containers, whereby the feed arms do not rotate the gaps with each other, which would again make it impossible to introduce the pivoting arms into adjacent containers. Adjusting the guides to extend forwards relative to the respective guides through their front pivot joint on the arms allows the head therefore always positioned at the free end of the front support element.

the feeding guides may be

The front guides preferably have a common joint and thus form a scissor joint. large container for support elements area between the arms for gripping themselves also are backward from the head of the feed head If the trash garbage is stretched on the front guides by the feed arms towards the feed, therefore more space to grab the container with the arms on them

Conversely, when moving forward inwardly into the region between the feed container, its outer wall adheres to the feed arms, parallelogram pullers. The small container automatically also smaller away from the displaced to the feeding available arms to grip to each other, the support elements move the arms, therefore not only grip the large container, or even its but with an elongated us sharp angle while not changing the feeding arms.

is to offer the necessary support elements, front guides, the ability to grip different equipment to adjust

Preferably, the rear guides may also have a common joint.

In this case, the joints of the front and rear guides lie on the axis of symmetry of the entire device.

The feed arms are preferably straight and only at their free end are bent inwardly

The feed arms are slightly curved on their inside. This embodiment has the advantage that the angular containers are gripped by feed arms bent substantially by the corners of the free ends so that they are attracted inwardly to abut the container wall to the two support elements, a four-point support which

It is even achieved by the basis of the entire curvature device being on different sized feed arms abutting in two pushing container in the direction of the container securely holding. For adaptation, because thus the container wall and the facilitated container, points to the support elements.

In order to extend the feed arms sideways in: In the longitudinal anti-slip device in the direction of being able to lift downwards, vertically, the containers with the skin could not cross between the arms on their anti-slip coating. , exactly along the shoulders

This inner to one side and so does the inner coating. causing the feed feeds to direct j and that the feed arms have on their movable in the longitudinal act of the toothed belt aligning obliquely along these grooves to the arms.

which shoulders. Can rollers unwind longitudinally feed them and rollers.

could

To grip the spherical side of the feed containers the internally adjustable adjustable bumper when it is round these can no longer be gripped by the feed arms.

supported may be the inner side of the feeding direction deposited on the garbage preferably, which is a standing container Such a belt is to prevent the belt from slipping through the can arms

This is advantageous with little inwardness if, in addition, it is necessary, in particular, to be bent because of the ends

The support elements on the guides preferably have a curved shape in the plane of the feed arms so that they always adjoin the wall of the container, even though they occupy different positions relative to the container due to the rotation of the guide.

The actuating device preferably engages behind the rear guide, and for the sake of simplicity of the whole device it is preferable to have one common actuating device on both feed arms. The common control device may be according to one exemplary head.

In order to avoid the large piston, the feeding force, the symmetry of the container damage device due to the control device developed preferably has a force limiter. In the case of a hydraulic device, e.g.

cylinders with a piston, pressure reducers are available for this purpose.

guides implemented as articulated arms.

In this embodiment, the control device engages behind the respective breakpoints of the rear guides. The rear guides only break towards the front guides. By breaking the rear guides, the parallel position of the two feed arms is disturbed and both feed arms are opened even further. This is advantageous when the inclined container has to be gripped and must first be aligned with respect to the delivery device. In the case of rectangular containers, the feed arms must open so wide that such a container can also be gripped at points opposed diagonally.

The possibility of breaking the rear guides has another advantage. When the feed arm encounters an obstacle on its way to the containers to be emptied, it will recede in the horizontal direction as the rear guide may break. In this way, great damage can be prevented, not only on the feeder, but also on the obstacle.

In many cases, it is not possible under certain circumstances to align the inclined containers by moving the feeding arms together.

The feed head is preferably rotated about a vertical axis in these cases relating to the discharge device. The feed head may be rotatably mounted within a housing located on the emptying device. Preferably, an adjusting device for rotating the feed head is disposed between the feed head and the housing. The vertical axis of rotation of the feed head preferably lies in the common joint of the rear guides, therefore the feed head and the entire feed device are simplified and form a compact device.

The delivery device may be manually directed towards the containers to be emptied, which may preferably be realized by the driver of the garbage truck. However, it is also possible to place sensors on the device, preferably on the feed head, to determine the position of the container to be emptied and to control the emptying device and the feed arms accordingly.

BRIEF DESCRIPTION OF THE DRAWINGS

Preferred embodiments are explained in more detail below with reference to the figures. show:

Fig. 1 shows a plan view of a feeding device with a medium-sized container, FIG. 2 is a side view of the feeding device shown in FIG. 1, FIG. 3 shows a section along the line III-III of the device shown in FIG. 1, without a container, FIG. 4 shows a plan view of the feeding device together with a smaller container,

Fig. container 5 shows a plan view of the feeding device together with more Fig. 6 feeding device in floor plan, sat askew weaned garbage container, Fig. 7a and 7b show a plan view of the device grip askew standstill container

Fig. 8 shows a plan view of the apparatus together with a round vessel.

DETAILED DESCRIPTION OF THE INVENTION

In FIG. 1 is a plan view of a feed device that receives a medium-sized container 1a with side walls 2a-d; and

with the edge 3. The delivery device has a delivery head 4 0, which, as can be seen on the Fig. 2 the Stock of two parallel plates 4 1 and 42 a which my essentially triangular shape, as is a see on Fig. First At the feed

the guides are pivotably mounted in the joints 23 and 24, which are distinguished into front guides 26a, 26b and rear guides 32a, 32b. The front guides 26a, 26b are mounted on the feed arms 10a and 10b in the joints 21a and 21b. The rear guides 32a and 32b are mounted on the feed arms 10a and 10b in the joints 22a and 22b, the front and rear guides respectively forming parallelogram guides 20a, 20b. All guides 26a, 26b, 32a, 32b are in the space between the feed arms 10a, 10b.

The front and rear guides are between the joints 23 and 21a or 21b, respectively between the joint 24 and the joint 22a, respectively 22b, respectively. The guides that are parallel to each other form an acute angle in each position with the feed arms 10a and 10b, which is shown in FIG. 1 marked as a.

This arrangement of guides allows the front guides 26a and 26b to extend outwardly through their joints, therefore the front sections 27a and 27b extend into the space between the feed arms 10a and 10b. In this way they form the front guides

6a, 26b together with the scissor joint 30.

At the free end of these front sections 27a and 27b there are support elements 28a and 28b having a curved shape in plan view, preferably a circular cutout shape, and which are provided with a non-slip, resilient coating. The feed arms 10a and 10b have a substantially straight shape and are bent inwards at their free end. These curved ends 12a and 12b are adapted to the rounded corners of the garbage containers 1a. On the inside of the feed arms 10a and 10b, which have a slightly curved contour, there is a non-slip coating 11a, 11b, which prevents the grasped container 1a from crossing over. The inner contour, together with the curved ends 12a and 12b, is shaped such that the garbage container 1a is gripped mainly by the corners and only partially by the side walls 2a and 2c while being pushed towards the feed head 40, hence the side wall 2d of the container 1a is pressed against the support elements 28a and 28b.

Due to their parallel arrangement and elongated shape, the feed arms 10a and 10b can be introduced into the space between the containers which are placed side by side, as can be seen in FIG. 1. The thickness of the feed arms is adapted to the available distance.

The control device 50, which is mounted on the feed head 40, serves to control the feed arms 10a, 10b. in the embodiment shown here, the control device 50 is a piston cylinder, wherein the cylinder 52 is disposed on the feed head 40 in the axis of symmetry of the device. The piston 51, which projects at the end of the feed head 40, is controlled by the control levers 53a, 53b on the rear guides 32a, 32b. As the piston 51 is moved, the angle α increases or decreases while maintaining the parallel position of the feed arms 10a and 10b. In this way, it is possible to adjust the spacing of the feed arms 10a and 10b to different sized garbage containers, as further explained with reference to Figures 4 and 5. The rear guides 32a and 32b are designed as articulated arms, with the control levers

53a and 53b are fixed at respective breakpoints

33a and 33b. Position of the break and arrangement of the arm section

34a,

34b,

35a, 35b is still explained in connection with Figures 6,

7a and 7b.

The feed head 40 is housed in a housing 60 that is attached to the emptying device 70, which is shown in a side view of FIG. 2. Behind the upper side of the housing 60 engage a first pivot arm 71 and a piston cylinder 72, which are guided by the second pivot arm 7. 3. The other components of the emptying device 70 are the plate 75 and the second piston cylinder 74 which are again attached to a telescopic arm 76 which is mounted on the garbage truck. By actuating the cylinders with pistons 72 and 74, the feed device together with the garbage container 1a is raised and emptied into a garbage truck (not shown here). In FIG. 2, there is shown at the top of the housing 60 a device 61 which will be described with reference to FIGS. 7a and 7b.

In FIG. 3, a section III-III of FIG. 1 can be seen. The cylinder 52 of the actuator 50 is fixed by a flange to the connecting element 45 within the feed head 40, in which the pins 43 and 44 are received. These two pins are located in common joints 24 and 23, respectively, which have been described in connection with FIG. 1. On the front section 27b of the front guide 26b there is a support element 28b provided with transverse grooves to prevent it from sliding down.

The feed arm 10a is shown only in part a

the longitudinal creasing of the coating 11a can also be seen.

In FIG. 4 shows a feeding device for gripping a smaller container 1b. In order to grip the side walls 2a, 2c, the two feed arms 10a and 10b must simultaneously move together. This is accomplished by extending the piston 51 so that the rear guides 32a and 32b are pulled backward, therefore the angle α decreases. By means of the scissor joint 30, which is formed by the front guides 26a and 26b, the support elements 28a and 28b are moved forward and 'lie on the side wall 2d of the garbage container 1b. When a larger container is to be gripped as shown in FIG. 5, the piston 51 slides into the cylinder 52 and the rear guides 32a and 32b are pushed forward by the control levers 53a and 53b, therefore the angle α increases. At the same time, the support elements 28a and 28b recede by means of the scissor joint of the front guides 26a and 26b backwards, therefore a corresponding larger space is available between the feed arms 10a and 10b. Due to the curved shape of the support elements 28a and 28b, these, as can be seen in FIGS. 4 and 5, always abut the side wall 2d of the container 1c or 1b.

An embodiment of the rear guides is shown

32a a

32b with articulated arms.

If the container 1c is not straight with respect to the feed device and has to be gripped by its opposing diagonally angled corners, it is desirable to abolish the parallel position of the two feed arms 10a and 10b and thereby increase the expansion range. This is done by inserting the piston 51 further into the cylinder 52, thereby breaking the rear guides 32a and 32b. As the piston 51 extends, the angled position is abolished, wherein the angled portions of the arms 35a and 35b " with their projections 37a and 37b " These projections 37a, 37b and stops 36a, 36b are so adapted to each other that when the rear guides are reversed

32a and 32b are both knuckle sections 34a and 34b, respectively

35a and 35b straight and cannot break. This is necessary so that the swivel arms 10a and 10b do not move away from the parallel position.

When

10a and 10b the arms 10a of the piston k

11a se

10b are a and 11b, the arms coated along the feeds therefore " with their side 28a and 28b "

extends, gripping on its inner which allows 10a to move the container 1c.

and 10b by the wall of the feed arms Since the feed side equipped with the container 1c is straightened, the slipping elements are a container

2d on support

If it is not possible to align the container 1c in a manner, it is necessary to rotate the entire delivery head 40 of the housing relative to the head 40 of the delivery device shown.

This feed capability is shown at

61, already shown in FIG. 2 shows the piston head of FIGS. 7a and 7b. Adjusting on the top of the housing 60 a and rotates the head in

3, it engages its cylinders with the help of each to direct the entire feed device of the extension and direction. Accordingly, according to the insertion receptacle, it is possible to grasp it independently of the movement of the emptying device.

The position of the feed arms and support elements remains unchanged during this rotation.

In FIG. 8 shows a further embodiment in which a spherical container 1d is gripped. In this case, the two feed arms 10a and 10b are provided with additional buffers 13a and 13b that can be adjusted on the arms 10a and 10b to match the diameter of the spherical container. The contour of the buffers is selected such that the buffers abut against the outer peripheral wall of the container 1d.

"Fit equally on the circumferential grip equally in four

The wall support elements 28a and 28b, therefore, the container is points. In the depiction shown here, the coating 11a and 11b, which is applied on the inside of the feeding arms 10a and 10b, also adheres to the wall 6.

Claims (19)

1. Device for gripping with a feed head, containers, in particular placed containers on a device on which they are four-doved Γϋ garbage, on the emptying line with the front and rear guide two pivoting arms, which can be adjusted by means of at least one guide engaging behind the guides, as well as with at least one support element located between the feeding arms, by the four-wire guide 20b), wherein the guides (26a) rotate with respective parallelogram feeds 26b, 32a, 32b) the conduits form in the arms (20a, each (10a, 10b) an acute angle α and (26a, the head of the front guide (23) on the feed each support element (28a, 26b) extending forward through its joint at its free end has (40) and 28b). Device according to claim 1, m, wherein the front guides (40) joint (26a, (23)) 26b) have a scissor joint (30) on the delivery leg. 3. The device according to the feed head Device according to claim 1, or that the rear guides (40) have a common joint (24). one of them being equal and on their free (32a, 32b) have in claims 1 to 3 that the end feed arms (10a, 10b) are bent inwards. Device according to one of Claims 1 to 4, characterized in that the feed arms (10a, 10b) have a slightly curved contour on their inside. Device according to one of claims 1 to 5, characterized in that the feed arms (10a, 10b) have on their inner side a coating (11a, 11b) which acts in a non-slip direction in the vertical direction. Device according to one of Claims 1 to 5, characterized in that the feed arms (10a, 10b) have on their inner side a belt which is movable along feeders the arms (10a, 10b). 8 . Device according to one from of claims 1 until 7 v y from on the M c u melting have longitudinal grooves team • 1 that coating (Ha, 11b) or strip 9 . Device according to one FROM of claims 1 until 8 v y from on the č u July p and T that on the the inside page Adjustable buffers (13a, 13b) are positioned in the feed arms (10a, 10b). Device according to one of Claims 1 to 9, characterized in that the support elements (28a, 28b) have a curved shape in the plane of the feed arms. Device according to one of Claims 1 to 10, characterized in that the support elements (28a, 28b) are mounted on the guides (26a, 26b) in a movable manner. Device according to one of Claims 1 to 11, characterized in that the control device (50) of the feed arms (10a, 10b) engages behind the rear guides (32a, 32b). Device according to one of Claims 1 to 12, characterized in that it has one common control device (50) for both arms (10a, 10b). Device according to claim 13, characterized in that the common control device (50) is formed by a cylinder with a piston, which is disposed on the feed head in the axis of symmetry of the device. 15. Equipment by one from of claims 1 until 14 confesses ignating clothes m. that control equipment (50) has a limiter forces. 16. Equipment by one from of claims 1 until 15 confesses ignating clothes m that rear guides (32b, 32b) are designed as articulated arms. Apparatus according to claim 16, characterized in that the control device (50) engages the respective break points (33a, 33b). Device according to one of claims 16 or 17, characterized in that the rear guides (32a, 32b) are allowed to break only towards the front guides (26a, 26b). 19th Device according to one of Claims 1 to 18, characterized in that the feed head (40) is rotatable about a vertical axis relative to the emptying device (70). Device according to one of claims 1 to 19, characterized in that the feed head (40) is rotatably mounted in a housing (60) mounted on the emptying device (70). Device according to claim 20, characterized in that an adjusting device (61) for rotating the feed head (40) is arranged between the feed head (40) and the housing (60). Device according to one of Claims 19 to 21, characterized in that the vertical axis of rotation of the feed head (40) lies at the joint joint (24) of the rear guides (32a, 32b). Device according to one of Claims 1 to 22, characterized in that it is provided with sensors to ensure the position of the containers (1a, 1b, 1c, 1d) to be emptied.