Refuse collection device

Abstract

A refuse collection device mountable to a refuse collection vehicle having a first chassis rail and a second chassis rail, the device including: a base; a rotating member rotatably connected to the base about a first rotational axis; an extension member that is supported by the rotating member and configured to extend relative to the rotating member; a lifting member rotatably connected to the extension member for rotation about a second rotational axis; and a bin-grabbing member that is connected to the lifting member, the bin-grabbing member being configured to collect a bin, the device configured to mount to the vehicle to locate the first rotational axis of the rotation member between the first chassis rail and the second chassis rail.

Claims

1. A refuse collection device mountable to a refuse collection vehicle to collect and tip bins to empty their contents into a waste container associated with the vehicle, the vehicle having a first chassis rail and a second chassis rail, the device including: a base; a rotating member rotatably connected to the base about a first rotational axis that, when in use, is substantially vertical; an extension member that is supported by the rotating member and configured to extend relative to the rotating member in a direction generally perpendicular to the first rotational axis; a lifting member rotatably connected to the extension member for rotation about a second rotational axis generally perpendicular to a longitudinal axis of the extension member such that, when in use, the second rotational axis is arranged substantially horizontally; and a bin-grabbing member configured to collect a bin, the bin grabbing member being rotatably connected to the lifting member and configured to rotate relative to the lifting member about a third rotational axis, the bin-grabbing member including a grab support member having a first support part pivotally connected to the lifting member about the third rotational axis, the device configured to mount to the vehicle to locate the first rotational axis of the rotating member between the first chassis rail and the second chassis rail, wherein the lifting member is further configured to rotate relative to the extension member from a generally downwardly extending position to a generally upwardly extending position about the second rotational axis, and wherein when the lifting member moves towards its generally upwardly extending position, the first support part is allowed to rotate about the third rotational axis relative to the lifting member to thereby assist in inverting a bin collected by the bin-grabbing member.

2. The refuse collection device of claim 1, further including a guiding member configured to support and guide movement of the extension member relative to the rotating member.

3. The refuse collection device of claim 2, wherein the guiding member comprises the rotating member, or is mounted thereto or integral therewith.

4. The refuse collection device of claim 2, wherein the guiding member further includes a hollow portion that slidingly receives the extension member therein such that the extension member is configured to slide relative to the guiding member.

5. The refuse collection device of claim 1, wherein the lifting member is an arm.

6. The refuse collection device of claim 5, wherein the third rotational axis is substantially perpendicular to a longitudinal axis of the lifting member such that, when in use, the third rotational axis is arranged substantially horizontally.

7. The refuse collection device of claim 1, wherein the bin-grabbing member is further configured to rotate relative to the lifting member about a fourth, slewing, axis.

8. The refuse collection device of claim 7, wherein the fourth axis is generally perpendicular to the third rotational axis such that, when in use, the fourth axis is substantially vertical.

9. The refuse collection device of claim 1, wherein the bin-grabbing member further includes a second support part rotatably connected to the first support part about a fourth, slewing axis.

10. The refuse collection device of claim 9, wherein the bin-grabbing member includes one or more bin-grabbing arms rotatably connected to the second support part.

11. The refuse collection device of claim 10, further including one or more limit controls configured to prevent over-rotation of any one or more of the rotating member, the lifting member, the bin-grabbing member, a grab support member, the first support part, the second support part, and the one or more bin-grabbing arms.

12. The refuse collection device of claim 1, further including a safety detection system configured to lockout movement of the refuse collection device in response to detecting an individual or object in a work area associated with the refuse collection device.

13. The refuse collection device of claim 1, further configured to be operated in one or more operation modes, including an automated mode in which the refuse collection device can be operated semi-autonomously or fully autonomously, and wherein the refuse collection device includes a control system configured to detect and locate a bin.

14. A refuse collection vehicle, including: a chassis having a first longitudinal chassis rail and a second longitudinal chassis rail; a waste container supported by the chassis; and a refuse collection device according to claim 1, wherein the base of the refuse collection device is connected to the chassis such that the first rotational axis is located between the first longitudinal chassis rail and the second longitudinal chassis rail.

15. A method of operating a refuse collection vehicle to collect and tip bins to empty their contents into a waste container associated with the vehicle, the method including the steps of: rotating a rotating member about a first rotational axis positioned between a first longitudinal chassis rail and a second longitudinal chassis rail of the refuse collection vehicle, wherein the first rotational axis is arranged substantially vertically; extending an extension member relative to the rotating member in a direction generally perpendicular to the first rotational axis, moving a bin-grabbing member relative to the extension member so to collect a bin, the bin-grabbing member including a grab support member having a first support part pivotally connected to a lifting member, and rotating the bin about a second rotational axis to deliver waste to the waste container of the refuse collection vehicle, wherein said rotating the bin includes rotating the lifting member relative to the extension member from a generally downwardly extending position to a generally upwardly extending position about the second rotational axis, wherein the second rotational axis is generally perpendicular to a longitudinal axis of the extension member and is arranged substantially horizontally, and wherein when the lifting member moves towards its generally upwardly extending position, the first support part is allowed to rotate about a third rotational axis relative to the lifting member to thereby assist in inverting the bin collected by the bin-grabbing member.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) By way of example only, preferred embodiments of the invention will be described hereinafter with reference to the accompanying figures, wherein:

(2) FIG. 1 illustrates a refuse collection vehicle, according to an embodiment of the invention;

(3) FIG. 2 illustrates a refuse collection device, from the refuse collection vehicle in FIG. 1, according to an embodiment of the invention; and

(4) FIG. 3 illustrates a bin-grabbing member of the refuse collection device in FIG. 2, according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

(5) FIG. 1 illustrates a refuse collection vehicle 10. The refuse collection vehicle 10 includes a chassis 100, wheels 200, a cabin 300, a waste container 400 with collection hopper 410, and an articulated refuse collection device 500.

(6) The chassis 100 includes a first chassis rail 110 and a second chassis rail 120. Vehicle 10 has a central longitudinal axis 12 centrally located between the first and second chassis rails 110, 120. The cabin 300 and waste container 400 are supported by the first and second chassis rails 110, 120, with cabin 300 located towards the front of the vehicle 10 and waste container 400 located towards the rear. Collection hopper 410 provides a rubbish receiving means into waste container 400, into which the contents of bins are emptied by an articulated refuse collection device 500. The waste container 400 includes a compactor (not shown) to assist in compacting waste therein.

(7) As FIG. 1 shows, the articulated refuse collection device 500 (illustrated in further detail in FIG. 2) is located between the cabin 300 and the waste container 400 in a forward region of the vehicle 10. The articulated refuse collection device 500 includes a base 510, a rotating member 520 having a guiding member 530, an extension member 540, a lifting member 550, a bin-grabbing member 560 and a utility guide chain 570.

(8) The base 510 includes a supporting plate 512 connected between two supporting rails 514, 516. The base 510 is connected to the chassis rails 110, 120 via mounting brackets attached to supporting rails 514, 516 and supporting plate 512. In this regard, the supporting plate 512 extends laterally across the central longitudinal axis 12 between the supporting members 514, 516. The mounting brackets are attached to chassis rails 110, 120 by means of suitable fasteners.

(9) The rotating member 520 includes a slew ring 522. The axis of rotation of the slew ring 522 is defined by the vertical axis 502, which is located between the first and second chassis rails 514, 516, substantially coincident with central axis 12. As FIG. 2 shows, slew ring 522 is located on a central portion of the supporting plate 512.

(10) The slew ring 522 is connected to the guiding member 530. Actuators in the form of hydraulic rams 524, 526 are connected between base 510 and guiding member 530, and are configured to move in opposite directions in order to rotate the slew ring 522 and therefore guiding member 530 about axis 502. With a suitable hydraulic circuit, this affords a straightforward way of ensuring the hydraulic flow rate and applied force are the same in both directions, thus simplifying the control software in providing the ability to determine the appropriate action to take to position the device.

(11) In an alternative embodiment, slew ring 522 (and guiding member 530) may be rotated about axis 502 by a single hydraulic ram. To ensure uniform piston movement in both directions (thereby ensuring that rotation of guiding member 530 is the same in both directions), the hydraulic ram is coupled to a regenerative circuit (regen spool) configured to deliver hydraulic fluid from the annulus end of the cylinder to the full bore end (or blind end) of the cylinder during extension of the piston. The ratio of the cross-sectional area of the full bore end to that of the piston rod is 2:1—this ensures that the cylinder force and velocity is the same in extension and retraction of the piston.

(12) In alternative embodiments, it will be appreciated that the actuators 524, 526 could be replaced by other forms of actuator, for example, by servo drives.

(13) A rotary positional encoder is configured to provide positional feedback to an operational controller on the rotational position of the guiding member 530. The rotary encoder is arranged to measure the rotational position of the slew ring 522 in order to provide a signal which corresponds to the angular position of the guiding member 530. Furthermore, one or more limit controls assist in ensuring that the rotating member 520 and/or the guiding member 530 do not rotate beyond set limits. As outlined further below, the limit controls may be determined by hardware stops and/or software.

(14) The guiding member 530 comprises an elongated square hollow section, with a counterbalance weight 532 attached at one end. The counterbalance weight 532 assists in balancing the weight of the articulated refuse collection device 500, including the weight of a bin during a bin collection and emptying operation. At an opposite end, the guiding member 530 has an open end to receive the extension member 540 in a sliding manner therein.

(15) The extension member 540, which takes the form of a longitudinal arm of generally rectangular section, is configured to move relative to the rotating member 520 by sliding within the guiding member 530. An actuator in the form of ram 542 is arranged in connection between the guiding member 530 and the extension member 540. Operation of the ram 542 in opposite directions respectively extends and retracts the extension member 540 relative to the guiding member 530. In this regard, it will be appreciated that, in use, the extension member 540 moves in a linear manner in a horizontal direction.

(16) A position encoder is arranged to provide feedback to the operational controller on the position of the extension member 540. For this purpose, the position encoder may be mounted to the guiding member 530, the extension member 540 or the ram 542, in accordance with design preferences. The position encoder may be a roller encoder, mounted to guiding member 530 and including a roller configured to engage an outer surface of extension member 540 and thus to rotate in a first direction as extension member 540 extends relative to guiding member 530, and in the opposite, direction as extension member 540 retracts relative to guiding member 530. Rotation of the roller thus provides an accurate measure of the position of extension member 540 relative to guiding member 530.

(17) As shown in FIG. 2, the lifting member 550 takes the form of a longitudinal arm of generally rectangular section, journaled to the outer end of the extension member 540 to rotate about a horizontal axis 504. To this end, the extension member 540 includes a vertical plate 544 at its outer end carrying journal bearings at an upper portion thereof, to which the lifting member 550 is connected. An actuator in the form of a rotary actuator 552 is configured to effect rotation on the lifting member 550 about the axis 504. A rotary positional encoder is arranged to provide positional feedback to the operational controller on the rotational position of the lifting member 550, ie. the rotary encoder is arranged in a manner to track the rotation of lifting member 550 about axis 504 relative to extension member 540. One or more limit controls also assist in ensuring that the lifting member 550 does not rotate beyond prescribed limits, which may be physical stops or determined by control software.

(18) The bin-grabbing member 560, shown further in FIG. 3, is configured to grab and hold a bin. The lifting member 550 is connected to the bin-grabbing member 560 by way of a dual arrangement as discussed below, to allow rotation of bin-grabbing member 560 about two orthogonal rotational axes which are perpendicular to the longitudinal direction of lifting member 550. The bin-grabbing member 560 includes a grab support member 561 with a first support part 561a pivotally connected to the lifting member 550. As outlined further below, linkages in the form of struts 554, 556 assist in controlling and providing a bin tipping operation whilst a bin lifting operation is underway.

(19) Bin-grabbing member 560 is mounted to lifting member 550 by way of a plastic bushing, to allow rotation therebetween about rotational axis 506, which lies in a horizontal direction. The connections between the first support part 561a and the struts 554, 556 are offset from axis 506. Accordingly, in combination with rotation of lifting member 550 relative to extension member 540, rotation of bin-grabbing member 560 about axis 506 assists in emptying the bin into the collection hopper 410. In particular, the struts 554, 556 assist in rotating the first support part 561a about the axis 506 at an upper portion of the lifting cycle. This allows the bin to be tipped in an inverted manner.

(20) Separately, the grab support member 561 includes a second support part 561b rotatably connected to the first support part 561a. Plastic plates are located between first and second support part 561a, 561b to assist with the rotation therebetween. An actuator 562 affords rotation of the second support part 561b about a second slew axis 508, and a rotary positional encoder is used to provide positional feedback to the operational controller on the rotational position of the second support part 561b about its axis 508.

(21) The bin-grabbing member 560 includes two arms 563, 564 pivotally connected to the grab support member 561. The arms 563, 564 are configured to rotate from an open position, where the arms are a sufficient distance apart to receive a bin therebetween, to a relatively closed position, where the arms can grippingly hold the bin therebetween. To assist holding the bin, the arms 563, 564 each include a tension belt 565, 566. The arms 563, 564 can be moved to pre-programmed open positions which are at varying degrees of mutual separation, dependent upon the size and/or location of the bin to be picked up. In this regard, it will be appreciated that one or more rotary positional encoders are used to provide to the operational controller signals indicating the relative position of arms 563, 564. The arms 563, 564 are driven by separately synced actuators but, in further embodiments, it will be appreciated that the arms 563, 564 may be coupled together to provide movement in a substantially identical manner with one actuator. In this regard, the arms 563, 564 are designed to move in unison between the open and relatively closed positions.

(22) Utility guide chain 570 provides a means to flexibly support cabling to provide power and control signals to the actuators as well as feedback signals from the position encoders.

(23) Vehicle 10 may be equipped with a safety detection system (not shown), configured to detect a person or object in an associated work area of the articulated refuse collection device 500 and, in response to detecting an person or object, lock device 500 until its associated work area is determined to be clear, and/or provide a suitable warning signal to an operator via the operational controller. To detect the person or object, a suitable sensor (for example, an image recognition or movement sensor) may be employed, and this may be mounted to the articulated refuse collection device 500 or on another part of vehicle 10 in the vicinity of device 500.

(24) As will be understood, the articulated refuse collection device 500 affords a very manoeuvrable manipulation of a bin between an at-rest position on the ground to a content emptying position over the collection hopper 410 and back again. Rotation about slew axis 502 provides the ability to manoeuvre bin-grabbing member 560 to a desired position, which may be substantially forward or rearward of the position of mounting base 510. This allows the device to reach bins in orientations and positions that would otherwise be difficult or impossible to reach, without the need for fine positioning of the refuse collection vehicle itself. The rotation of bin-grabbing member 560 about second slew axis 508 provides still further manoeuvrability for bin engagement.

(25) It will be appreciated that, when in its home, stowed position, articulated refuse collection device 500 does not protrude from the side of vehicle 10, ie. it fits within the vehicle profile. Furthermore, to assist with controlling the refuse collection device 500, and in order to assist in keeping the refuse collection device 500 substantially safe during a hydraulic failure, the actuator(s) in the present invention are fitted with a counterbalance valve. In this regard, the refuse collection device 500 is substantially prevented from, for example, freely swinging from its stowed position during non-collection driving (e.g. highway driving), becoming a dangerous hazard, in the event that a hydraulic line fails.

(26) In use, the refuse collection vehicle 10 may be operated in at least three operating modes: i) a manual mode; ii) a semi-automated mode; and/or iii) a fully automated mode. Each of these modes will be discussed in turn below.

(27) In manual mode, an operator of the refuse collection vehicle 10 uses a joystick controller to manoeuvre the bin-grabbing member 560 to a required bin pickup location. More particularly, once the collection vehicle 10 is stopped, by use of the joystick, the bin-grabbing member 560 is extended towards a bin by extending the extension member 540. If required (again, by use of the joystick) the operator may rotate the rotating member 520 and hence guiding member 530 and the extension member 540. In the event that, for example, an obstacle is partially blocking the bin, rotation of bin-grabbing member 560 about the slew axis 508 enhances the ability to reach and grab the bin. The limit controls prevent the over-rotation of the various components during operation when the operator is using the joystick controller.

(28) It is noted that when using the joystick controller in manual mode, to streamline the control of more than one axis, it is possible to couple, for instance, the rotational movement about slew axis 502 with that around slew axis 508. Similarly, the movement of extension member 540 may be coupled with the rotation of the lifting member 550 about axis 504 such that, depending on the status of the lift cycle, the movements of the extension member 540 and lifting member 550 are controlled in a logical manner in the bin lifting and replacement operation. Software and/or hardware limits may limit the motion of the combined control to avoid collision of one part of the device with other parts of the device or vehicle. Further, the system may be configured such that if one degree of movement needs to be controlled alone, the joystick controller may be switched into a further mode to control movement, eg, movement about a selected axis. This arrangement therefore allows the operator to control multiple axes with manipulation of a single joystick, as well as providing the flexibility to control a single degree of movement alone if desired.

(29) With the above in mind, when the bin-grabbing member 560 is at the required bin pickup location, the arms 563, 564 are in an open position and substantially surround the bin. The open position of the arms 563, 564 may be at predetermined positions such that the arms are at an optimum distance apart to ensure relatively quick pick up of the bins and to minimise interference with surrounding objects, such as neighbouring bins or street furniture. The operator then moves the arms 563, 564 to a relatively closed position where the arms 563, 564 grip the bin therebetween. Lifting member 550 may then be actuated to lift the bin, whilst the extension member 540 is retracted, in order to move the bin to an emptying position over collection hopper 410. Again, limit controls, assisted by the position encoders and/or hardware stops, prevent over rotation or collision of parts of the device 550 with other parts of the device or vehicle.

(30) When the lifting arm has moved the bin towards the upper part of the lifting cycle (i.e. where the bin has been rotated past a substantially horizontal direction), the bin commences a tipping arc around axis 506. That is, the rotation of the struts 554, 556, relative to the rotation of the lifting member 550, further pulls the first support part 561a about the axis 506. This tips up the bin to allow the emptying of its contents into collection hopper 410. From there, the waste travels into the waste container 400 after being delivered into the chute 410, where it is then compacted with the compaction mechanism.

(31) Once the bin has been emptied, it is returned to the ground through a reverse operation to the lifting and emptying operation, again under control of the joystick.

(32) In the semi-automated mode, a controller works with the assistance of an operator and sensors to locate and retrieve bins, with some aspects of the operational cycle being programmed.

(33) In the fully automated mode, the controller relies on the feedback from the various encoders (and other sensors, as required) to identify a bin and its location, to pick up the bin and deliver its waste to the waste container 400, and to return the bin to the ground, without the need for active operator control.

(34) As will be appreciated, by locating the rotational axis 502 between the chassis rails 110, 120, the operating loads of the refuse collection device 500 can be adequately managed. For example, large cantilever loads may be avoided. As the centre of mass of the articulated refuse collection device 500 is located close to the central longitudinal axis 12 of the vehicle, this assists with the dynamic handling of vehicle 10. Moreover, due to its central location, the refuse collection device 500 can easily be adapted for both left-hand and/or right-hand drive vehicles.

(35) The slew axes 502, 508 provide the refuse collection device 500 with particularly powerful flexibility in the bin collection operation. This reduces the need to accurately position the refuse collection vehicle 10 to pick up a bin. Furthermore, as will be appreciated, bins can be more readily collected when surrounding obstacles restrict access or road layouts are difficult to navigate.

(36) In addition, providing this additional flexibility in the bin collection operation, allows the introduction of a greater level of automation to the bin collection operation. In the present invention, the automatic modes provide a means to increase efficiency, which in turn increases productivity and reduces emissions and mechanical wear on components.

(37) The structural components of the refuse collection device 500 are constructed of suitable mild steel, as will be understood other suitable materials may be utilised for some or all components. Supporting plate 512 (and possibly other parts) are preferably fabricated from a high strength structural steel plate such as GR350 stock.

(38) Furthermore, the present invention allows the vehicle operator to pay greater attention to road hazards and other risk factors by reducing the level of concentration required to pick up, empty and replace bins.

(39) In this specification, adjectives such as left and right, top and bottom, first and second, and the like may be used to distinguish one element or action from another element or action without necessarily requiring or implying any actual such relationship or order. Where context permits, reference to a component, an integer or step (or the like) is not to be construed as being limited to only one of that component, integer, or step, but rather could be one or more of that component, integer or step.

(40) The above description relating to embodiments of the present invention is provided for purposes of description to one of ordinary skill in the related art. It is not intended to be exhaustive or to limit the invention to a single disclosed embodiment. As mentioned above, numerous alternatives and variations to the present invention will be apparent to those skilled in the art from the above teaching. Accordingly, while some alternative embodiments have been discussed specifically, other embodiments will be apparent or relatively easily developed by those of ordinary skill in the art. The invention is intended to embrace all modifications, alternatives, and variations of the present invention that have been discussed herein, and other embodiments that fall within the spirit and scope of the above described invention.

(41) In this specification, the terms ‘comprises’, ‘comprising’, ‘includes’, ‘including’, or similar terms are intended to mean a non-exclusive inclusion, such that a method, system or apparatus that comprises a list of elements does not include those elements solely, but may include other elements not listed.

(42) It will be understood that the invention disclosed and defined in this specification extends to all alternative combinations of two or more of the individual features mentioned or evident from the text or drawings. All of these different combinations constitute various alternative aspects of the invention.