WO1993022227A1

WO1993022227A1 - Refuse collection apparatus

Info

Publication number: WO1993022227A1
Application number: PCT/NZ1993/000026
Authority: WO
Inventors: Bryan Geoffrey Black
Original assignee: Manco Engineering Group Limited
Priority date: 1992-04-23
Filing date: 1993-04-22
Publication date: 1993-11-11
Also published as: AU3963393A

Abstract

A lifting device pivotted to a refuse collection vehicle comprises an inner (21) and an outer (22) boom. It is extendable to the side of the vehicle so that a grab (30, 31) may engage and lift a refuse bin. Inner (40) and outer (41) links provide the booms with parallelogram-type linkages so that the grab is maintained horizontal throughout the lifting movement. At the fully raised position the grab is rotated to invert the bin and discharge its contents into a dual entranceway leading to two sections of a vehicle container i.e. an upper section superimposed on a lower section. A dividing wall inside the dual entranceway is moved to appropriate positions to guide bin contents into either or both sections. This dividing wall may also include a packer for the upper section. The lower section is provided with a packer plate which moves longitudinally due to extension of an hydraulic ram acting through a bellcrank linkage. The dual entranceway is situated at the front top of the vehicle container whilst respective upper and lower exits for the sections are provided at the vehicle rear.

Description

REFUSE COLLECTION APPARATUS

TECHNICAL FIELD

This invention relates to improvements in methods and apparatus for the automated collection of compartmentalised refuse bins. BACKGROUND ART

A variety of methods and apparatus for the collection of refuse have been proposed. Such apparatus generally comprises a refuse bin and lifting device mounted on a vehicle so that the refuse bin may be moved adjacent to rubbish bins which may then be lifted by the lifting device to deposit the contents into the refuse bin. The arrangement of the various components varies depending on the requirements. For example in the case of refuse collection apparatus for the collection of recyclable refuse which must be collected in separate compartments, US patent 5074,737 discloses a front loading apparatus wherein a compartmentalised bin may be loaded from the front by a lifting device and the contents tipped into separate compartment inlets. In this apparatus, the refuse bin is divided by longitudinally arranged partitions into three compartments. In emptying the compartments, the refuse bin is tipped on the back of the truck and the contents pushed out by means of an hydraulically operated discharge mechanism having pusher plates with the actuators arranged in scissor fashion to provide a balanced and long stroke. Problems with this apparatus are that the compartmentalised bins must be loaded over the front, so that the apparatus is not generally suitable for normal street refuse collection. Furthermore, the discharge mechanism involves the use of long stroke rams so that a compact design is not possible.

US patent No. 5018929 discloses a refuse collection apparatus wherein the lifting device is mounted so that refuse bins may be lifted from the kerb side of the road and inverted to deposit the contents into separate compartments in the refuse bin separated by vertical partitions. The lifting device comprises two arms pivotally connected together with one end pivotally mounted on a movable track and the other end supporting a bin gripping device. The arms may be independently moved relative to each other by means of rotary actuators so as to control the orientation of a bin held by the bin gripping device throughout the operation from pick up at the kerb side to positioning above the required compartments of the container for final inverting to deposit the contents into the compartment. The control system for co-ordinating the rotary actuators is however complicated. US patent No. 5,071,303 discloses a similar mechanism to that of US 5,018,929, however in this case, the rotary actuators are replaced by linear actuators. A similar control system however is required to co-ordinate the operation of the actuators to maintain the bin in a substantially vertical position over part of its lifting range until it is positioned ready for inverting. Since the compartments of the container are separated by vertical partitions, emptying of the compartments requires the container to be tipped to the side, and there is no provision for pushing the refuse from the compartments.

German patent DE3537,536 C2 discloses a refuse collection apparatus comprising a refuse bin having longitudinally divided sections. A bin lifting device is mounted on the side of the vehicle for lifting refuse bins and depositing the contents into a top opening hopper for distribution into one of the longitudinal sections. As with the previously mentioned US patents 5,018,929 and 5,071,303, the device is designed for non- compartmentalised bins wherein the whole of the contents are emptied into a selected container section. This system is thus not suitable for compartmentalised bins which require the contents of the separate bin compartments to be directed into separate sections of the refuse bin. Furthermore, the bin lifting device of this device comprises a side mounted vertical track fitted with a bin attachment means which can move up and down the track to lift the bin and subsequently invert the bin over the hopper. Operation, therefore requires the bins to be hooked onto the bin lifting device by hand. The refuse collection apparatus is thus not suitable for one man operation from the cab of a truck.

DISCLOSURE OF TNVFNTTON

According to one aspect of the present invention there is provided a refuse collection apparatus comprising a refuse bin and lifting device for mounting on a vehicle, said refuse bin being longitudinally divided into an upper and lower section, each of the sections having an entry thereto and an exit therefrom, said lifting device being fixed to the supporting vehicle and operable to pick up a refuse bin positioned to the side of the vehicle and to elevate and substantially invert the bin so that the contents thereof can be distributed to the entry of one or other of the container sections, wherein said lifting device comprises an inner boom and an outer boom, said inner boom and outer boom each having respective first and second ends, said first end of said inner boom adapted to be pivotally mounted to said vehicle and said second end adapted to be pivotally connected to said end of said outer boom, a gripping means for aligning and gripping said bin, said gripping means adapted to be pivotally mounted on said second end of said outer boom, and linkage means for linking said gripping means to said vehicle, an actuation means for pivoting said inner boom about said pivotal connection to said vehicle, and said outer boom about said pivotal connection to said inner boom, and linkage means for linking said gripping means to said vehicle, the arrangement and construction being such that an object may be aligned and gripped by said gripping means and may be maintained at a predetermined orientation to said vehicle throughout pivotal movement of said outer boom relative to said inner boom, and said inner boom relative to said vehicle.

According to another aspect of the present invention there is provided a method for the automated emptying of compartmentalized refuse bins, said methods comprising the steps of: -

(a) positioning a vehicle carrying said refuse collection apparatus adjacent to a refuse bin resting on the ground,

(b) aligning said refuse bin by operating elements of a gripping means,

(c) gripping said refuse bin with said gripping means of said lifting device, (d) elevating said refuse bin while maintaining said refuse container in a substantially upright condition to a predetermined position above an entry of the container,

(e) inverting said refuse bin at said predetermined position so that contents thereof can be distributed to the entry of one or other of the container sections.

According to another aspect of the present invention there is provided a method of maintaining a refuse bin gripped by a gripping means of a lifting device substantially as described above, in a substantially constant orientation with pivotal movement of said outer boom about said inner boom, and causing a predetermined change in orientation of said refuse bin with pivotal movement of said inner boom about said vehicle comprising the steps of; (i) linking said gripping means to said inner boom by means of a parallel linkage, and

(ii) linking said parallel linkage to said vehicle by means of a quadrilateral linkage.

According to another aspect of the present invention there is provided a packer device for a container of a refuse collection apparatus, said packer device comprising a packer plate guided for moving longitudinally into said container, and a bell crank connected to a linear actuator, whereby an operating force from said linear actuator in one direction is transmitted through said bell crank to provide an operating force for said packer plate in the direction of movement of said packer plate. With a mobile refuse collection apparatus as described above, the refuse bin may be compartmentalised and the lifting device arranged so as to be able to invert the refuse bin over the entry to the respective longitudinal sections of the refuse bin so that refuse from the refuse bin compartments is selectively distributed between the longitudinal sections of the container. The container may include means by which refuse received at the entry is continuously swept towards the rear of the container section. For example, a paddle type waste densifier may be used. Alternatively a packer device as described above may be used. The entry to the container can be an opening in the top wall or surface of the container adjacent the lifting device. The lifting device is adapted to be able to grip each refuse bin and to maintain the refuse bin in a substantially vertical orientation until it is inverted. Gripping of the refuse bin may be achieved by means of a grab device designed to emulate the grasping capability of the human thumb and forefinger with an additional side squeezing function to ensure that a refuse bin is correctly aligned prior to lifting and emptying into respective entries to the container sections.

With such an apparatus, the contents of separate compartments of a compartmentalised refuse container may be positively discharged ( with minimum cross contamination) into appropriate sections of a refuse bin, for subsequent transport and dumping and/or sorting. Since the refuse bin may be maintained in a vertical orientation until it is accurately positioned in relation to the inlets to the separate compartments of the container, refuse contained in the separate compartments of the refuse bin does not tend to fall out or mix, as may be the case with conventional lifting devices where the refuse bin is tilted as it is raised. Once the refuse bin is in position, it may be turned rapidly from the vertical orientation to an upside down orientation. The rapid inversion of the refuse bin minimises the possibility of the contents falling out during the inversion process.

The sections inside the refuse container may be arranged so that non-recyclable rubbish is guided into the lower compartment for compaction by a standard compaction device, while recyclable rubbish may be guided into the upper compartment where it may or may not be compacted, depending on whether subsequent sorting is required. Having the lower compartment for storing ^"compacted non recyclable refuse keeps the centre of gravity of the vehicle low to improve stability.

The refuse container may comprise discharge openings for the discharge of refuse held in the separate compartments. These openings may be closed by separate doors so that one or other of the separate compartments may be emptied separately. Preferably the container may be supported on the vehicle so as to be tiltable, and emptying of the compartments may involve unlocking the required discharge door and tilting the container so that refuse in the appropriate compartment may be tipped out at the required location. Non recyclable refuse may first be dumped and the vehicle then moved to another location for the collection and/or sorting of the recyclable refuse, and the recyclable compartment emptied by opening the recyclable door and tilting the container.

The lifting means for the refuse collection apparatus may comprise a linkage arrangement as described above. However the invention is not limited to this construction and any linkage device whereby a refuse bin may be raised in a substantially upright condition to a predetermined position and then substantially inverted, may be suitable. Furthermore the linkage arrangement as described above may be suitable for a variety of applications, and although described below with respect to use with the mobile refuse collection apparatus, it is to be understood that it is not to be limited as such. For example, in the following description it is used in relation to lifting objects in a vertical plane, however it may also be useful for moving objects in other planes.

With the linkage arrangement used for a lifting device for a refuse collection apparatus of the present invention, the inner and outer booms may be pivotally connected by means of a rotary hydraulic actuator, and the gripping means connected to the outer end of the outer boom may also comprise a rotary or linear actuator means whereby its inclination to the outer boom may be varied as the outer boom pivots relative to the inner boom. The gripping means may be turned relative to the outer boom when the outer boom is fully extended by any suitable means as required or desired. For example, this may comprise a linkage arrangement, or a rotary actuator activated by means of a proximity device.

The linkage arrangement may comprise a parallelogram type linkage arrangement whereby the refuse bin gripped by the gripping means may be maintained in a vertical orientation while being raised. However the invention is not limited to a parallelogram type linkage arrangement, and it may be possible to have a non-parallelogram type linkage arrangement achieving substantially the same result, or a combination of a parallelogram linkage and a quadrilateral linkage. In the case of a parallelogram linkage, an additional linkage mechanism may be provided having a tension type link for supporting the gripping means as the outer boom moves through an over centre condition.

Further aspects of the present invention will become apparent from the ensuing description which is given by way of example only and with reference to the _^accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

Figures IA. IB and 1C: are schematic diagrams of a refuse collection apparatus according to the present invention shown in plan, elevation, and end views respectively, and Figure 2: is a view showing a horizontal operational range of the lifting device of the present invention, and

Fi ure 3: is a view showing the vertical operational range of the lifting device, and

Figure 4: is a schematic diagram of another lifting device according to a further embodiment of the present invention, and

Figure 5: is a schematic diagram of a hydraulic control system for the refuse collection apparatus.

Figure 6: is a schematic diagram of a packer device according to a further aspect of the present invention.

BEST MODES FOR CARRYING OUT THE TNVF.NTTON

With reference to figure 1 there is shown a mobile Tefuse collection apparatus generally indicated by arrow 1. The apparatus 1 comprises a refuse container generally indicated by arrow 2 and a lifting device generally indicated by arrow 3. The lifting device 3 is fixedly mounted on the chassis 4 of a vehicle 4', while the refuse container 2 is mounted on the chassis 4 by means of a pivotal mounting (not shown) whereby the refuse container 2 may be tilted relative to the chassis 4 by means of a hydraulic actuator 5.

The refuse container 2 comprises a longitudinally arranged horizontal partition 6 whereby the refuse bin 2 is divided into an upper section 7 for recyclable refuse and a lower section 8 for non recyclable refuse. Each of the sections 7 and 8 is provided with respective entrances 9 and 10 separated by a vertical partition 10a, and opening upwards of said container 2 so as to provide inlets whereby recyclable refuse and non-recyclable refuse may be tipped into respective upper and lower sections 7 and 8. The respective upper and lower sections 7 and 8 are also provided with respective upper and lower exits 11 and 12 located towards the rear end of the vehicle 4'. The upper exit 11 is closed with an upper door 13 pivotally mounted at an upper portion thereof to an upper end portion of the refuse bin 2. The lower exit 12 is closed with a lower door 14 which is

^~~ also pivotally mounted at an upper portion thereof to pivotal mounts on the upper end portion of the refuse bin 2. The arrangement of the upper and lower doors 13 and 14 is such that the lower exit 12 may be opened by swinging the lower door 14 upward about its pivot by means of a hydraulic actuator 15 and holding the door in the open condition. The upper exit 11 may then be opened once refuse has been emptied from the lower section 8 by releasing a locking catch (not shown) so that refuse in the upper section 7 is able to push open the upper door 13, when the refuse container 2 is tilted on the chassis 4 by means of the actuator 5.

Refuse (non-recyclable) contained in the lower section 8 is compacted by means of a lower packer device generally indicated by arrow 100 (see Fig. 6), while recyclable refuse contained in the upper section 7 can be compacted, by means of an upper packer device 110 (see Fig. 6) which is combined with the vertical partition 10a.

Figure 2 shows details of the lifting device 3. Items similar to those in Fig. 1 are identified with the same numerals.

As shown in figure 2, the lifting device 3 comprises an inner boom 21, an outer boom 22 and a grab generally indicated by arrow 23. The inner boom 21 is pivotally mounted above the main chassis 4 of the vehicle 4' at a pivot point 24 and is pivoted about the pivot point 24 by means of a first hydraulic actuator linkage 25. The actuator linkage 25 is arranged so as to pivot the inner boom 21 between a lowered position shown in Fig. 2 and an upper position shown in Fig. 3. The outer boom 22 is pivotally connected to the inner boom 21 at a pivot point 27 and is rotatable about the pivot point 27 by means of a second hydraulic linkage 28.

The grab 23 is rotatably mounted to the outer boom 22 about a pivot point 29. The grab 23 comprises gripping fingers 30, 31 (finger 31 is obscured by a refuse bin) which are able to grip around a refuse bin 32 and hold the refuse bin 32 squarely with respect to the lifting device 3 and hence, the entrances 9, 10. Although not shown in the figure, the fingers 30, 31 each comprise inner and outer fingers. The inner fingers are pivotally connected to a base of the grab 23 and the outer fingers are pivotally connected to the inner fingers. Both the inner and outer fingers are independently operable by actuator means. By appropriate operation of the inner and outer fingers, a refuse bin positioned between the fingers 30, 31 may be correctly aligned prior to gripping the refuse bin. The grab 23 further comprises a support 33 whereby the grab 23 is pivotally mounted to the outer boom 22, and a rotary actuator 34 (obscured in the figure) whereby the fingers 30, 31 may be rotated about a horizontal axis with respect to the support 33, thereby enabling the refuse bin 32 to be substantially inverted. The lifting device 3 further comprises an inner boom link 40 and an outer boom link 41. The inner boom link 40 is pivotally connected at an inner end to a mounting arm 42 which is fixed to the chassis 4 at a predetermined distance L from the pivot point 24. An outer end of the inner boom link 40 is pivotally connected to a first arm 43 of a bell crank generally indicated by arrow 44 which is pivotally mounted at the first pivot 27. The length of the first arm 43 is made different from the distance L so as to make up a quadrilateral linkage consisting of inner boom 21, inner boom link 40, first arm 43 and distance L. An inner end 50 of the outer boom link 41 is pivotally connected to a second arm 51 of the bell crank 44. An outer end 52 of the outer boom link 41 is pivotally connected to a grab crank arm 53 which is fixed to the support 33 of the grab 23 so that the grab 23 may be turned about the pivot point 29 by movement of the crank arm 53. This arrangement constitutes a parallelogram linkage, consisting of outer boom 22, outer boom link 41, second arm 51 and crank arm 53.

As shown in figures 2 and 3, the inner boom 21 may be pivoted by means of the actuator 25 about the first pivot 24 from a raised (stowed) condition so that the second pivot 27 moves outward from the chassis 4, and the outer boom 22 may be pivoted about the second pivot 27 by operation of the actuator 28 so as to extend further out from the chassis 4 (as shown in Fig. 2). During this operation, the grab 23 moves from a position at the top of Fig. 3 to a position on the right side of figure 2, with the fingers 30, 31 being maintained in a substantially horizontal orientation throughout the operation by means of the quadrilateral linkage incorporating the inner boom 21 , and the parallelogram linkage incorporating the outer boom 22.

By this operation, the grab 23 may be positioned close to a refuse bin 32 resting on the ground adjacent to the refuse collection apparatus 1 so that the fingers 30, 31 may be closed on either side of the refuse bin 32.

In raising the refuse bin 32, the outer boom 22 is first tucked in so as to lie adjacent the inner boom 21, with the refuse bin 32 being maintained in a substantially upright orientation due to the parallelogram linkage. The inner arm 21 is then pivoted about the first pivot 24 by means of the actuator linkage 25 so as to swing up to the raised (stowed) condition.

At the fully raised condition (top of figure 3) a proximity switch (not shown) is activated so that the rotary actuator 34 rotates to cause the fingers 30, 31 to rotate as indicated by the arrow in Fig.3, thereby inverting the refuse bin 32 held therebetween.

Returning the refuse bin 32 back to the original position on the ground is carried out by a reverse process to the above, and description is omitted for brevity. Figure 4 shows an alternative lifting device according to the present invention, with components similar in function to those of figures 1, 2 and 3 identified by the same numerals. This device comprises two parallelogram linkages. An additional over centre link is provided to enable rotation past an over centre condition. The over centre link comprises a tie rod 60 pivotally connected at and inner end to a second bell crank generally indicated by arrow 61 comprising the arm 43 of a first bell crank 44 and an arm 62 arranged at a smaller angle to the arm 43 than the angle between the arm 51 and the arm 43 of the first bell crank 44. The tie rod 60 is pivotally connected at an outer end to an over centre crank 65 fixedly mounted on the support 33. Operation of the inner arm is by means of a linear actuator while operation of the outer arm is by means of a rotary actuator.

Figure 5 shows a schematic diagram of a hydraulic control system for the refuse collection apparatus of the present invention. The hydraulic control system comprises a dual axis joy stick 80 whereby respective hydraulic actuator control valves generally indicated by arrow 81 may be operated. The actuator control valves 81 are for controlling the first actuator linkage 25 and the second actuator linkage 28 by operation of the joy stick 80. As mentioned before, the rotary actuator 34 is operated automatically by means of a proximity switch which activates when the inner boom 21 has been raised to the fully elevated position. The actuator control valves 81 also comprise control valves for actuators used to operate the fingers 30, 31. These valves are operated by means of a rocker switch 80' on the joystick 80. Other actuators such as actuator 5 for tilting the container 2 and actuator 15 for opening the lower door 14 are operated by separate control valves.

Additional components such as an error indicator 82, a fine control ready switch 83 and an emergency stop switch 84 are also provided. The system is operated by a battery power supply 85 connected through as fuse 86. A console for programming and diagnosis 87 is also provided.

Figure 6 is a longitudinal sectional view showing details of the lower and upper packer devices 100, 110. The lower packer device 100 comprises a packer plate 101 guided for moving longitudinally in the lower section 8. The packer plate 101 is moved in the longitudinal direction by means of an actuator bell crank assembly comprising two actuators 102, 103 (only one shown) mounted on either side of the packer plate 101 to a wall 104 of the entrance 10, and connected at operating ends to respective second operating arms 105, 106 (only one shown in the figure) mounted on a torsion member 107 which is rotatably mounted on a chassis member of the vehicle (not shown in the figure). A first operating arm 108 is mounted on the torsion member 107 between the two second operating arms 105, 106 and is connected to the packer plate 101 be means of a link 109. In operation, the actuators 102, 103 are extended, thereby causing the second operating arms 105, 106 and the first operating arm 108 to rotate about the rotational mounting of torsion member 107 is a clockwise direction (as shown in figure 6) so that the packer plate 101 is pushed to the right by means of link 109.

The upper packer device 110 as shown in figure 6 comprises a packer plate assembly 111 guided for moving longitudinally into the upper section 7. The divider wall 10a is formed integral with the upper packer assembly 111. The upper packer assembly 111 is moved longitudinally into the upper section 7 by means of a linear hydraulic actuator 112 connected between a mounting point 113 on a wall of the entrance 10 and a mounting point 114 on a rear end of the packer assembly 111. In operation, the divider wall 10a is moved when the packer assembly 111 is operated to pack the upper section 7. This operation is not carried out when a bin is being tipped into the entrance of 9, 10 and hence does not cause a problem. When a bin is to be tipped into the entrances 9, 10, the divider wall 10a may be moved to an appropriate position to guide the contents from the bin into the entrance 9 or entrance 10, or in the case of a compartmentalised bin, to guide contents from one compartment to entrance 9 and contents from another compartment to entrance 10.

In operating the mobile refuse collection apparatus, the operator aligns the centre line of the grab 23 with an refuse bin located on the road kerb side. Then utilising the joystick 80, the operator extends the grab 23 outward and horizontally to bring the gripping fingers 30,31 into position around the refuse bin. The operator then operates the rocker switch 80' located under his thumb on the joystick 80 to actuate the fingers 30,31 so as to grip the refuse bin and align it squarely with respect to the lifting device 3. When the refuse bin has been clamped and squared by the fingers 30,31 the operator elevates the refuse bin to the full lifting height by operating the joystick 80 to actuate the actuator 25, and the actuator 28. The indirect linkage connection between the grab 23 and the chassis 4 ensures that the refuse bin is retained substantially upright to thereby prevent premature discharge of its contents. When the refuse bin has been raised to the full lift height, the proximity switch is activated so that the rotary actuator 34 operates to rotate the refuse bin through a sufficient rotation to discharge its contents into the respective entrances 9 and 10 of the upper and lower sections 7 and 8 of the container 2.

Once the contents of the refuse bin have been discharged, the operator utilizes the joystick 80 and rocker switch 80' to return the refuse bin to the ground level and release it. Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the scope thereof as defined in the appended claims.

Claims

THE CLAIMS DEFINING THE INVENTION ARE:

1. A refuse collection apparatus comprising a refuse container and lifting device for mounting on a vehicle, said refuse container being longitudinally divided into upper and lower sections, each of said sections have an entry thereto and an exit therefrom, said lifting device being fixed to the supporting vehicle and operable to pick up refuse bins positioned to the side of the vehicle and to elevate and substantially invert the bin so that the contents thereof can be distributed to the entry of one or other of the container sections, said lifting device comprising; an inner boom and an outer boom, said inner boom and outer boom each having respective first and second ends, said first end of said inner boom adapted to be pivotally mounted to said vehicle, and said second end adapted to be pivotally connected to said first end of said outer boom, a gripping means for aligning and gripping said bin, said gripping means adapted to be pivotally mounted on said second end of said outer boom, an actuation means for pivoting said inner boom about said pivotal connection to said vehicle, and said outer boom about said pivotal connection to said inner boom, and linkage means for linking said gripping means to said vehicle, the arrangement and construction being such that an object may be aligned and gripped by said gripping means and may be maintained at a predetermined orientation to said vehicle throughout pivotal movement of said outer boom relative to said inner boom, and said inner boom relative to said vehicle.

2. A refuse collection apparatus according to claim 1, wherein said linkage means comprises mechanical linkages, the arrangement and construction being such that said gripping means may be maintained at a substantially constant orientation to said vehicle throughout pivotal movement of said outer boom relative to said inner boom over a range from a folded condition wherein said outer boom lies substantially adjacent to said inner boom, to an extended condition wherein said outer boom is extended to make an obtuse angle with an effective axis of said inner boom.

3. A refuse collection apparatus according to any one of claims 1 and 2, wherein said gripping means comprises; a base section with opposed finger sections pivotal about said base section, said opposed finger sections further comprising sets of inner and outer fingers, said inner and outer fingers being pivotally connected together, first actuation means for actuating said inner fingers relative to said base section, second actuation means for actuating said second fingers relative to said first fingers, and control means whereby said second fingers may be extended substantially in line with said first fingers, and said first fingers may be spread apart from each other, when said gripping means is being placed around a refuse bin to be gripped, said control means further enabling said first fingers to be moved together to align said bin to be gripped, and once said bin has been aligned, to cause said second fingers to pivot relative to said first fingers and thereby hold said object firmly in said gripping means.

4. A refuse collection apparatus according to any one of claims 1 to 3, wherein the pivotal mount of said first end of said inner boom to said vehicle is located at a distance above the chassis of said vehicle, such that elevation of said bin to a height where said bin may be inverted to distribute the contents thereof to the entry of one or other of said container sections may be achieved by actuation of said inner boom about said pivotal connection to said vehicle independent of pivotal actuation of said outer boom relative to said inner boom.

5. A refuse collection apparatus according to any one of claims 1 to 4, wherein said apparatus is adapted for collection of refuse from compartmentalised refuse bins, and said entry to each of the sections is provided with a divider wall, said divider wall being positioned so that when said compartmentalised bin is positioned at a predetermined position above said entry, refuse from one compartment thereof is guided to the entry of one of the container sections and refuse from the other compartment is guided to the entry of the other of the container sections.

6. A refuse collection apparatus according to claim 5, wherein said divider wall is movable so that the contents of said bin may be distributed to the entry of one or other or both of the containers sections when said bin is positioned at a predetermined position above said entry.

7. A packer device for packing a longitudinal container of a refuse collection apparatus, said packer device comprising a packer plate guided for moving longitudinally into said container, and a bell crank connected to a linear actuator whereby an operating force from said linear actuator in one direction is transmitted through said bell crank to provide an operating force for said packer plate in the direction of movement of said packer plate.

8. A packer device, according to claim 7, wherein said bell crank linkage comprises a pivotally mounted torsion member, and a single first operating arm mounted on said torsion member between two second operating arms mounted on said torsion member, said first operating arm being connected either to a linear actuator or to said packer plate, and said second operating arms being connected either to said packer plate, or to linear actuators respectively.

9. A refuse collection apparatus according to any one of claims 1 to claim 6, wherein at least one of said sections of said container is provided with a packer device according to claim 7 or claim 8.

10. A refuse collection apparatus as claimed in claim 9, wherein a second packer device is provided for said upper section, said second packer device being guided for moving longitudinally into said upper section, and said divider wall is formed integral with said second packer device, the arrangement and construction being such that said divider wall is moved during a packing operation of said packer unit to pack said upper section, and may be positioned to suit partitioned or different sized bins so as to allow contents thereof to be deposited to either said upper section or said lower section or to both sections.

11. A method for the automated emptying of compartmentalized refuse bins using a refuse collection apparatus according to any one of claims 1 to 6 and 9 and 10, said method comprising the steps of: -

(b) aligning said refuse bin by operating fingers of said gripping means,

(c) gripping said refuse bin with gripping means of said lifting device,

(d) elevating said refuse bin while maintaining said refuse container in a substantially upright condition to a predetermined position above an entry of the container,

(e) inverting said refuse bin at said predetermined position so that the contents thereof can be distributed to the entry of one or other of the container sections.

12. A method of maintaining a refuse bin gripped by the gripping means of any of claims 1 to 6 and 9 and 10 in a substantially constant orientation with pivotal movement of said outer boom about said inner boom, and causing a predetermined change in orientation of said object with pivotal movement of said inner boom about said vehicle comprising the steps of;

(i) linking said gripping means to said inner boom by means of a parallel linkage, and (ii) linking said parallel linkage to said base vehicle by means of a quadrilateral linkage.

13. A refuse collection apparatus substantially as described herein with reference to the accompanying drawings.

14. A packer device substantially as described herein with reference to the accompanying drawings.

15. A method for the automated emptying of refuse bins substantially as described herein with reference to the accompanying drawings.

16. A method for maintaining an object gripped by gripping means in a substantially constant orientation substantially as described herein with reference to the accompanying drawings.