EP0529219B1 - Device for emptying containers - Google Patents

Device for emptying containers Download PDF

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Publication number
EP0529219B1
EP0529219B1 EP92110097A EP92110097A EP0529219B1 EP 0529219 B1 EP0529219 B1 EP 0529219B1 EP 92110097 A EP92110097 A EP 92110097A EP 92110097 A EP92110097 A EP 92110097A EP 0529219 B1 EP0529219 B1 EP 0529219B1
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EP
European Patent Office
Prior art keywords
lifting
tilting
control device
container
switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP92110097A
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German (de)
French (fr)
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EP0529219A2 (en
EP0529219A3 (en
Inventor
Herbert Reck
Rolf Saftig
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Zoeller Kipper GmbH
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Zoeller Kipper GmbH
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Publication date
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Publication of EP0529219A2 publication Critical patent/EP0529219A2/en
Publication of EP0529219A3 publication Critical patent/EP0529219A3/en
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Publication of EP0529219B1 publication Critical patent/EP0529219B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/001—Vehicles particularly adapted for collecting refuse for segregated refuse collecting, e.g. vehicles with several compartments

Definitions

  • the invention relates to a device for emptying containers, in particular garbage containers in collecting containers with at least one tilting or lifting-tilting device, which has a gripping device for gripping the garbage container, and with a pressure medium drive device with an electrical control device, which at least a part of the controls the entire tilting or lifting-tilting process, with at least one acknowledgment signal switch checking the correct seat of the container on the gripping device being connected to the control device.
  • Lift-tilt devices are known for emptying garbage containers, which have different control devices.
  • automatic controls are known with which the garbage container is emptied and set down again fully automatically after being picked up by the lifting and tilting device.
  • Such a fully automatic emptying device is known, for example, from DE-A-3 910 660.
  • flap and acknowledgment signal switches are provided on the lifting and tilting device, which are connected to a current flow monitoring device which constantly checks the desired switching state of these switches and only then issues a release signal to the automatic control device, when the switches are switched in the intended manner at the desired time are.
  • lifting and tilting devices with a semi-automatic control are also known.
  • a lifting and tilting device is described, for example, in WO 89/03794 for emptying small waste containers.
  • the waste container to be emptied is brought up to the lifting and tilting device and initially held there by the operator. Then by a second operator At the push of a button, the lifting and tilting device is raised, gripping the edge of the waste container.
  • a switch attached to the lifting and tilting device is actuated, which serves to check the correct container seat. If the switch is operated in the prescribed manner, the lifting and tilting process is continued and the container is emptied automatically.
  • a disadvantage of this lifting and tilting device is the fact that a person first has to hold the waste container - for example on a downhill road - until a second operator has raised the lifting and tilting device in the receiving position. Since the movement sequence continues without interruption when the container is correctly seated, the operator may also be injured if the container is not released in time.
  • a lift-tilt device for emptying garbage containers in which the lift-tilt device is first raised manually and the automatic control of the directional control valve for lifting, holding and lowering only after a specific one Lifting height or lifting time is triggered automatically.
  • the automatic emptying process is triggered by a motion detector arranged at a predetermined lifting height.
  • a switch which is arranged in the receiving area of the lifting and tilting device and is actuated from the edge of the refuse container, can also be provided, with a time-delayed initiation of the automatic emptying process being ensured.
  • An additional operator must also be present when the lifting and tilting device is raised manually. Since the automatic emptying process z. B. triggered by the garbage container, has Operators have no way of first checking that the waste bin is properly seated. The emptying process can only be interrupted by pressing the emergency stop button.
  • the object of the invention is therefore a tilting or lifting-tilting device, in which only one operator is required, who himself determine the time of the start of the automatic emptying after the container has been gripped by the gripping device and after an additional visual check of the correct container seat can.
  • the lifting phase is understood to mean lifting the lifting and tipping device from its lowest position to a specific, predetermined lifting height, at which the container to be emptied is completely picked up by the gripping device and is lifted off the floor. It is sufficient if the container is only a few centimeters from the ground after the lifting phase has been interrupted.
  • the lifting phase of the container is started automatically, but is then interrupted and the subsequent emptying process is started by hand.
  • the tilting or lifting-tilting device has at least one of Trash container when actuated to the tilt or tilt device actuated trigger switch.
  • This trigger switch can be a flap switch which is actuated by the container wall when the refuse container is brought up to the lifting and tilting device.
  • a light barrier for example, which is also triggered by the waste container when it touches the lifting and tilting device.
  • Such trigger switches are known per se from automatically operating lift-and-tilt devices, but these trigger switches then trigger the entire lift-and-tilt process.
  • This lifting phase is interrupted by the control device after the predetermined lifting height of the tilting or lifting-tilting device has been reached.
  • This offers the advantage that the operator, in particular in the case of large containers, has the opportunity once again to check that the refuse container is correctly seated on or on the gripping device.
  • At least it is an acknowledgment signal switch is provided, which is arranged, for example, in the area of the receiving comb and is triggered by the edge of the container and thus checks the correct fit of the container, but there may still be cases that the acknowledgment or the acknowledgment signal switch are triggered, but the container may has not yet taken its optimal position on the gripping device. The operator thus once again has the option of making a correction in this regard.
  • the operator Since, according to the invention, the subsequent emptying process is not started automatically, the operator must move away from the garbage container and trigger the first manual actuation device, which is preferably attached to the side of the garbage truck or the lifting and tilting device, in order to start the automatic emptying process. There is no danger to the operator because the operator is no longer in the swivel range of the container when the automatic emptying process is triggered.
  • the control device can interrupt the lifting phase in different ways.
  • the control device preferably comprises a programmable device into which the desired lifting height is entered can. There is also the possibility of designing the control program accordingly, so that the lifting phase is interrupted at the desired time or a desired lifting height.
  • At least one stroke limit switch is provided, which is connected to the control device.
  • a stroke limit switch can be, for example, a proximity switch, a light barrier, a cam switch or an angle encoder, this stroke limit switch being triggered by the tilting or lifting-tilting device at a predetermined lifting height.
  • the stroke limitation switch sends a corresponding signal to the control device, whereupon the control device interrupts the lifting phase.
  • This stroke limitation switch is attached to a fixed component of the refuse collection vehicle at a height that corresponds to the specified lifting height.
  • control device comprises a timer which emits a signal to interrupt the lifting phase after a predetermined time. This timer is set in motion by the trigger switch, the predetermined time being matched to the lifting speed of the lifting and tilting device.
  • the control device is designed to monitor a predetermined first time period between the actuation of the trigger switch and the acknowledgment signal switch. If the lifting phase runs smoothly, there will always be one between the actuation of these two switches certain period of time, which is predetermined by the lifting speed of the lifting and tilting device. If there are problems during the lifting phase, for example if the container edge is not correctly grasped by the pick-up comb and the container may not assume its correct position until a later than the intended time, this irregularity is recognized by the control device due to the time being exceeded.
  • the lifting and tilting device is stopped immediately and / or the operator is informed by an acoustic and / or visual display that this lifting phase has not gone smoothly, which in turn is an indication for the operator, once again the correct one Check the fit of the container.
  • this first time period can be monitored by the programmable device into which the predetermined time period can be entered.
  • a separate monitoring device can also be connected to the control device, which only emits an enable signal to the control device if the predetermined first time period is observed between the actuation of the trigger switch and the acknowledgment signal switch.
  • the first period of time is preferably less than 2 seconds.
  • the container could already be lifted on one side and still remain on the bottom on the other side, so that the container assumes an inclined position, which results in an incorrect seat on the gripping device when the second single-stroke tilting device is tightened leads and thus does not guarantee a trouble-free sequence of the emptying process.
  • the control device is designed to monitor a predetermined second time period between the actuation of at least two trigger switches. Only if the trigger switches are actuated within a predetermined period of time can it be assumed that the container is in its correct starting position on the tilting or lifting-tilting devices. If the predetermined second period of time is observed, the lifting device is started by the control device after actuation of the last trigger switch set. If the specified second period of time has not been observed, the lifting phase of the lifting and tilting device is not triggered, but the trigger switch has already been actuated. Both lifting and tilting devices then remain in their starting position. In addition, an optical feature can tell the operator that problems have arisen with regard to the placement of the garbage container.
  • the monitoring of the predefined first and second time period also does not allow any manipulations on the part of the operating personnel. If, for example, one of the trigger switches or acknowledgment signal switches is activated at an earlier point in time or is determined manually, the specified time periods can no longer be observed, which leads to the above-described interruption of the entire lifting process.
  • This second time period can also be input into the programmable device or the programmable device is already designed in such a way that it monitors this second time period.
  • a second monitoring device can be provided, which is connected to the control device and which only emits an enable signal to the control device if the predetermined second time period has been observed between the actuation of at least two trigger switches.
  • This second time period is preferably in the range from 0.4 to 0.8 seconds. In the context of the invention it is also possible to integrate the first and the second monitoring device.
  • the control device is designed in such a way that it interrupts the lowering of the refuse container to a predetermined reference height and that a second manual operating device is provided with which the complete lowering of the container can be controlled manually.
  • This reference height can correspond to the specified lifting height of the lifting phase.
  • the stroke limit switch can be actuated at a predetermined reference height, which is therefore equipped with an additional function. The complete lowering of the container is therefore under the control of the operator.
  • FIG. 1 A device for emptying containers is shown schematically in FIG. 1, which has a single lifting and tilting device 1.
  • this lifting and tilting device 1 has pressure medium motors which are connected to a hydraulic circuit and a pressure medium pump.
  • This pressure medium drive device and the connection with the lifting and tilting device 1 are indicated by the reference numerals 6 to 7.
  • the lifting and tilting device 1 is equipped with a trigger switch 2 and an acknowledgment signal switch 3.
  • the trigger switch 2 is triggered when the refuse container is brought up (not shown), as a result of which a signal is emitted to the control device 4, which has a programmable device 5.
  • the control device 4 emits a corresponding signal to one or more elements of the pressure medium drive device 6, so that the lifting and tilting device 1 is moved upward from its starting position A until the predetermined one Stroke height is reached, which is characterized by position B.
  • the container to be emptied is gripped by the gripping device, z. B. the edge of the container triggers the receipt signal switch 3.
  • the predetermined lifting height is programmed into the programmable device 5, which at a specific point in time emits a corresponding signal to the pressure medium drive device 6, which then the pressure medium motors of the lifting and tilting device 1 stops (not shown).
  • the programmable device 5 also takes over the temporal monitoring of the time period between the triggering of the trigger switch 2 and the triggering of the acknowledgment signal switch 3. If the predetermined first time period entered in the programmable device 5 is not adhered to, the control device 4 outputs a corresponding one Signal to the pressure medium drive device 6, which then stops the lift-tilt device 1. In addition, the control device 5 can also activate a warning lamp 20 which indicates to the operating personnel that irregularities have occurred during the lifting phase.
  • a first manual control device 8 is connected to the control device 5, with the aid of which the operator can trigger the automatic emptying process after checking that the refuse container is correctly seated on the gripping device of the lifting and tilting device 1.
  • the control device 4 then sends a corresponding signal to the pressure medium drive device 6, whereupon the lifting and tilting device leaves position B and, depending on the corresponding design of the mechanics of the tilting or lifting and tilting device 1, further raises the container and then into the pouring opening tilts.
  • a shaking process or a lingering of the refuse container can also be provided, the type of movement sequence being controlled by the control device 4 by means of corresponding signals to the pressure medium drive device 6.
  • the container is pivoted back and lowered, the lifting and tilting device 1 being stopped at a predetermined reference height, which can correspond to position B.
  • a second manual control device 9 which is also connected to the control device 4, the garbage worker can bring about the complete lowering of the lifting and tilting device 1 and thus of the container.
  • FIG. 2 schematically shows a device for emptying containers, which has two single-lift-tilt devices 1a and 1b.
  • the pressure medium drive device 6 is only shown schematically and the connection between the pressure medium drive device 6 and the lifting and tilting devices is indicated schematically via the connecting line 7a and 7b.
  • Each lifting and tilting device 1a and 1b has a trigger switch 2a, 2b and an acknowledgment signal switch 3a and 3b.
  • the control device 4 also has a programmable device 5 in this embodiment.
  • a first manual control device 8 and a second manual control device 9 are also connected to the control device 4. The mode of operation of the device when emptying a large container is described below, which is emptied jointly by the two individual lifting and tilting devices 1a, 1b.
  • the two trigger switches 2a, 2b are actuated more or less simultaneously by the container wall.
  • the programmable device 5 takes over the monitoring of the second period between the triggering of the two trigger switches 2a and 2b. If the predetermined second time interval between the triggering of these two trigger switches 2a and 2b is exceeded, none of the single-lift-tilting device 1a or 1b is raised. Both single lift and tilt devices 1 a and 1 b then remain in their starting position A. In this case too, the visual display 20 can be set in motion by the control device 4 in order to inform the operator that this second period of time has not been held irregularities are to be expected.
  • the two individual lift and tilt devices 1a and 1b are started up, which can be done independently of one another.
  • the acknowledgment signal switches 3a, 3b are actuated from the container edge, one after the other.
  • the time period between the triggering of the trigger switch 2a and the acknowledgment signal switch 3a or the trigger switch 2b and the acknowledgment signal switch 3b is additionally monitored. If this first period of time has also been observed for both individual lifting and tipping devices 1a and 1b, the operator can trigger the automatic emptying process via the first manual operating device 8, both individual lifting and tipping devices 1a, 1b emptying the large container together.
  • the second manual actuation device 9 also serves to completely lower both single-lift-tilting devices after the container has been emptied.
  • FIG. 3 A further embodiment is shown in FIG. 3, with a first monitoring device 10 and a second monitoring device 11 now being arranged between the trigger switches 2a, 2b, the acknowledgment signal switches 3a and 3b and the control device 4 instead of the programmable device 5.
  • the monitoring of the first time period is carried out by the first monitoring device 10 and the monitoring of the second time period by the second monitoring device 11, which, when the predetermined time periods are observed, emit corresponding release signals to the control device 4, which in turn controls the pressure medium drive device 6 accordingly.
  • the connection of the pressure medium drive device 6 with the individual lift-tilt devices 1a and 1b is not shown.
  • a stroke limiting switch 12a and 12b which can be designed as a proximity switch, is arranged on each side of the two individual lift-and-tilt devices 1a and 1b. Accordingly, the individual lift-tilt devices 1a and 1b have corresponding contact elements 13a and 13b, which actuate or trigger the switches 12a and 12b when position B is reached.
  • These stroke limit switches 12a and 12b are connected to the control device 4 which, in the presence of the corresponding signal, causes the pressure medium drive device 6 to stop the individual stroke and tilt devices 1a and 1b.
  • FIG. 4 shows the rear view of a garbage truck 15.
  • the Single-stroke-tilting devices 1a and 1b have gripping devices in the form of receiving combs 18a and 18b, which are also designed for gripping large containers.
  • a trigger switch 2a and 2b are attached to the front of each of these gripping devices 18a and 18b.
  • Acknowledgment signal switches 3a and 3b are arranged behind the gripping devices and are actuated from the container edge when sitting on the gripping devices 18a and 18b.
  • These lifting and tilting devices 1a and 1b are actuated by means of swivel arms 19a and 19b which are connected to the pressure medium drive device 6, which cannot be seen in the illustration shown here.
  • Stroke limit switches 12a and 12b are fastened to the garbage truck 15 and are actuated when the swivel arms 19a and 19b are pivoted at the predetermined lifting height (position B) and lead to an interruption of the lifting phase.
  • the side area of the two lifting and tilting devices is secured by two barriers 14a and 14b.
  • First manual control device 8 and second manual control device 9 are shown as buttons on the side of garbage truck 15. By actuating the first manual control device 8, which is only effective when position B is reached and no fault has been reported, the automatic emptying process is triggered, in which the refuse container to be emptied is tipped into the pouring opening 17 of the pouring housing 16. With the help of the second manual control device 9, after the garbage container has been emptied, the garbage container is completely lowered and set down on the street.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Refuse Collection And Transfer (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Threshing Machine Elements (AREA)
  • Processing Of Solid Wastes (AREA)
  • Packages (AREA)
  • Vending Machines For Individual Products (AREA)
  • Loading And Unloading Of Fuel Tanks Or Ships (AREA)

Abstract

In order to make it possible to empty in particular, large containers with a crew of just one person, an emptying device with a tilting/lifting device 1 and a control unit 4 is described to which a trigger switch 2 is connected which is actuated by the container to be emptied as it approaches the lifting/tilting device and which triggers the raising phase of the lifting/tilting process automatically. When a preset raised level of the lifting/tilting device is reached the control unit interrupts the raising phase. In addition, a first manual actuator 8 to trigger the automatic emptying process, which actuator has an effect upon the control unit 4 only after the interruption of the lifting process, is connected to the control unit. The control unit 4 contains a programmable device 5 into which the preset raised level can be inputted. The programmable device 5 also assumes the function of monitoring the preset time spans, such as the time span between the actuation of the trigger switch 2 and the actuation of the acknowledgement signal switch 3. After the container is emptied, putting the container back down completely is accomplished by means of a second manual actuator 9.

Description

Die Erfindung betrifft eine Vorrichtung zum Entleeren von Behältern, insbesondere von Müllbehältern in Sammelbehälter mit zumindest einer Kipp- oder Hub-Kipp-Vorrichtung, die eine Greifeinrichtung zum Erfassen des Müllbehälters aufweist, und mit einer Druckmittelantriebseinrichtung mit einer elektrischen Steuereinrichtung, die zumindest einen Teil des gesamten Kipp- oder Hub-Kipp-Vorgangs automatisch steuert, wobei zumindest ein an der Greifeinrichtung den richtigen Sitz des Behälters auf der Greifeinrichtung überprüfender Quittungssignalschalter an die Steuereinrichtung angeschlossen ist.The invention relates to a device for emptying containers, in particular garbage containers in collecting containers with at least one tilting or lifting-tilting device, which has a gripping device for gripping the garbage container, and with a pressure medium drive device with an electrical control device, which at least a part of the controls the entire tilting or lifting-tilting process, with at least one acknowledgment signal switch checking the correct seat of the container on the gripping device being connected to the control device.

Zum Entleeren von Müllbehältern sind Hub-Kipp-Vorrichtungen bekannt, die über unterschiedliche Steuereinrichtungen verfügen. Bei kleinen Müllbehältern wie z.B. solchen mit einem Fassungsvermögen von 240 Litern, sind automatische Steuerungen bekannt, mit denen der Müllbehälter nach dem Erfassen durch die Hub-Kipp-Vorrichtung vollautomatisch entleert und wieder abgesetzt wird. Eine solche vollautomatische Entleervorrichtung ist z.B. aus der DE-A-3 910 660 bekannt. Um Manipulationen seitens des Bedienungspersonals weitgehend zu verhindern, sind u.a. Klappen- und Quittungssignalschalter an der Hub-Kipp-Vorrichtung vorgesehen, die an einer Stromlaufüberwachungseinrichtung angeschlossen sind, die den Soll-Schaltzustand dieser Schalter ständig kontrolliert und nur dann ein Freigabesignal an die Automatiksteuereinrichtung abgibt, wenn die Schalter im Soll-Zeitpunkt in vorgesehener Weise geschaltet sind. Trotz dieser Sicherheitsmaßnahmen sind derartige vollautomatische Entleervorrichtungen zum Entleeren von großen Müllbehältern wie z.B. solche mit einem Fassungsvermögen von 1,1 m³ nicht einsetzbar, da aufgrund des großen Gewichtes der Behälter zusätzliche Sicherheitsmaßnahmen ergriffen werden müssen. Hier spielt insbesondere das exakte Erfassen des Müllbehälters durch die Greifeinrichtung der Hub-Kipp-Vorrichtung eine große Rolle, da ein nicht richtig sitzender Großbehälter beim vollautomatischen Entleeren unter Umständen leichter herunterfallen kann als ein kleiner Behälter, so daß das Bedienungspersonal gegebenenfalls einer größeren Gefahr ausgesetzt ist. Es müssen daher zusätzliche Kontrollmaßnahmen durch das Bedienungspersonal geschaffen werden.Lift-tilt devices are known for emptying garbage containers, which have different control devices. In the case of small garbage containers, such as those with a capacity of 240 liters, automatic controls are known with which the garbage container is emptied and set down again fully automatically after being picked up by the lifting and tilting device. Such a fully automatic emptying device is known, for example, from DE-A-3 910 660. In order to largely prevent manipulation on the part of the operating personnel, flap and acknowledgment signal switches are provided on the lifting and tilting device, which are connected to a current flow monitoring device which constantly checks the desired switching state of these switches and only then issues a release signal to the automatic control device, when the switches are switched in the intended manner at the desired time are. Despite these safety measures, such fully automatic emptying devices for emptying large garbage containers, such as those with a capacity of 1.1 m³, cannot be used, since additional safety measures must be taken due to the large weight of the containers. Here, in particular, the exact detection of the waste container by the gripping device of the lifting and tilting device plays a major role, since a large container that is not properly seated can fall down more easily than a small container during fully automatic emptying, so that the operating personnel may be at greater risk . Additional control measures must therefore be created by the operating personnel.

Um dem gesamten Entleervorgang der Kontrolle des Bedienungspersonals zu unterstellen, wurden Großbehälter bisher ausschließlich manuell entleert. Die Bedienungsperson muß zunächst den Müllbehälter an der Greifeinrichtung positionieren und betätigt anschließend einen Hebel, mit dem der gesamte Entleervorgang gesteuert und beeinflußt werden kann. Dies hat jedoch den Nachteil, daß die Zeit des Entleervorgangs nicht für das Heranholen des nächsten Behälters genutzt werden kann.In order to place the entire emptying process under the control of the operating personnel, large containers were previously only emptied manually. The operator must first position the waste container on the gripping device and then actuates a lever with which the entire emptying process can be controlled and influenced. However, this has the disadvantage that the time of the emptying process cannot be used for the fetching of the next container.

Neben der manuellen Entleerung sind auch Hub-Kipp-Vorrichtungen mit einer halbautomatischen Steuerung bekannt. Eine solche Hub-Kipp-Vorrichtung ist beispielsweise in der WO 89/03794 zum Entleeren von kleinen Müllbehältern beschrieben. Der zu entleerende Müllbehälter wird an die Hub-Kipp-Vorrichtung herangebracht und dort von der Bedienungsperson zunächst festgehalten. Anschließend wird von einer zweiten Bedienungsperson per Knopfdruck die Hub-Kipp-Vorrichtung hochgefahren, wobei sie den Rand des Müllbehälters ergreift. Hierbei wird ein an der Hub-Kipp-Vorrichtung angebrachter Schalter betätigt , der zur Überprüfung des richtigen Behälterssitzes dient. Wenn der Schalter in der vorgeschriebenen Weise betätigt wird, wird der Hub-Kipp-Vorgang fortgesetzt und der Behälter automatisch entleert. Nachteilig bei dieser Hub-Kipp-Vorrichtung ist die Tatsache, daß eine Person den Müllbehälter - z.B. auf eine abschüssigen Straße - zunächst festhalten muß, bis eine zweite Bedienungsperson die Hub-Kipp-Vorrichtung in Aufnahmeposition hochgefahren hat. Da bei richtigem Sitz des Behälters der Bewegungsablauf ohne Unterbrechung weiterläuft, kann außerdem u.U. bei nicht rechtzeitigem Loslassen des Behälters die Bedienungsperson verletzt werden.In addition to manual emptying, lifting and tilting devices with a semi-automatic control are also known. Such a lifting and tilting device is described, for example, in WO 89/03794 for emptying small waste containers. The waste container to be emptied is brought up to the lifting and tilting device and initially held there by the operator. Then by a second operator At the push of a button, the lifting and tilting device is raised, gripping the edge of the waste container. Here, a switch attached to the lifting and tilting device is actuated, which serves to check the correct container seat. If the switch is operated in the prescribed manner, the lifting and tilting process is continued and the container is emptied automatically. A disadvantage of this lifting and tilting device is the fact that a person first has to hold the waste container - for example on a downhill road - until a second operator has raised the lifting and tilting device in the receiving position. Since the movement sequence continues without interruption when the container is correctly seated, the operator may also be injured if the container is not released in time.

Aus der DE-A-3 517 491 ist eine Hub-Kipp-Vorrichtung zum Entleeren von Müllbehältern bekannt, bei der die Hub-Kipp-Vorrichtung zunächst manuell hochgefahren wird und die automatische Steuerung des Wegeventils zum Anheben, Halten und Absenken erst nach einer bestimmten Hubhöhe oder Hubzeit automatisch ausgelöst wird. Das Auslösen des automatischen Entleervorgangs erfolgt mit einem in einer vorgegebenen Hubhöhe angeordneten Bewegungsmelder. Es kann auch ein im Aufnahmebereich der Hub-Kipp-Vorrichtung angeordneter Schalter vorgesehen sein, der vom Rand des Müllbehälters betätigt wird, wobei über ein Zeitglied eine zeitverzögerte Einleitung des automatischen Entleervorgangs sichergestellt wird. Beim manuellen Hochfahren der Hub-Kipp-Vorrichtung muß ebenfalls eine zusätzliche Bedienungsperson vorhanden sein. Da der automatische Entleervorgang z. B. durch den Müllbehälter ausgelöst wird, hat das Bedienungspersonal keine Möglichkeit, zunächst noch den richtigen Sitz des Müllbehälters zu überprüfen. Eine Unterbrechung des Entleervorgangs ist nur durch Betätigung des Nothaltschalters möglich.From DE-A-3 517 491 a lift-tilt device for emptying garbage containers is known, in which the lift-tilt device is first raised manually and the automatic control of the directional control valve for lifting, holding and lowering only after a specific one Lifting height or lifting time is triggered automatically. The automatic emptying process is triggered by a motion detector arranged at a predetermined lifting height. A switch, which is arranged in the receiving area of the lifting and tilting device and is actuated from the edge of the refuse container, can also be provided, with a time-delayed initiation of the automatic emptying process being ensured. An additional operator must also be present when the lifting and tilting device is raised manually. Since the automatic emptying process z. B. triggered by the garbage container, has Operators have no way of first checking that the waste bin is properly seated. The emptying process can only be interrupted by pressing the emergency stop button.

Aufgabe der Erfindung ist daher eine Kipp - oder Hub-Kipp-Vorrichtung, bei der nur eine Bedienungsperson erforderlich ist, die den Zeitpunkt des Beginns der automatischen Entleerung nach dem Erfassen des Behälters durch die Greifeinrichtung und nach einer zusätzlichen optischen Kontrolle des richtigen Behältersitzes selbst bestimmen kann.The object of the invention is therefore a tilting or lifting-tilting device, in which only one operator is required, who himself determine the time of the start of the automatic emptying after the container has been gripped by the gripping device and after an additional visual check of the correct container seat can.

Diese Aufgabe wird mit einer Vorrichtung gemäß den kennzeichnenden Merkmalen von Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen sind Gegenstand der Unteransprüche.This object is achieved with a device according to the characterizing features of claim 1. Advantageous refinements are the subject of the dependent claims.

Erfindungsgemäß wird unter der Anhubphase das Anheben der Hub-Kipp-Vorrichtung von ihrer tiefsten Stellung bis zu einer bestimmten, vorgegebenen Hubhöhe verstanden, bei der der zu entleerende Behälter von der Greifeinrichtung vollständig aufgenommen ist und vom Boden abgehoben ist. Hierbei reicht es aus, wenn der Behälter nach Unterbrechung der Anhubphase lediglich einige Zentimeter vom Erdboden entfernt ist.According to the invention, the lifting phase is understood to mean lifting the lifting and tipping device from its lowest position to a specific, predetermined lifting height, at which the container to be emptied is completely picked up by the gripping device and is lifted off the floor. It is sufficient if the container is only a few centimeters from the ground after the lifting phase has been interrupted.

Bei der Erfindung die Anhubphase vom Behälter automatisch in Gang gesetzt, wird aber anschließend unterbrochen und der nachfolgende Entleervorgang wird von Hand gestartet.In the invention, the lifting phase of the container is started automatically, but is then interrupted and the subsequent emptying process is started by hand.

Zur Durchführung dieses halbautomatischen Entleervorgangs weist die Kipp- oder Hub-Kipp-Vorrichtung mindestens einen vom Müllbehälter beim Heranbringen an die Kipp- oder Kipp-Vorrichtung betätigbaren Auslöseschalter auf. Dieser Auslöseschalter kann ein Klappenschalter sein, der von der Behälterwand beim Heranbringen des Müllbehälters an die Hub-Kipp-Vorrichtung betätigt wird. Im Rahmen der Erfindung ist es auch möglich beispielsweise eine Lichtschranke vorzusehen, die ebenfalls vom Müllbehälter ausgelöst wird, wenn er die Hub-Kipp-Vorrichtung berührt. Derartige Auslöseschalter sind an sich aus automatisch arbeitenden Hub-Kipp-Vorrichtungen bekannt, wobei diese Auslöseschalter allerdings dann den gesamten Hub-Kipp-Vorgang auslösen.To carry out this semi-automatic emptying process, the tilting or lifting-tilting device has at least one of Trash container when actuated to the tilt or tilt device actuated trigger switch. This trigger switch can be a flap switch which is actuated by the container wall when the refuse container is brought up to the lifting and tilting device. Within the scope of the invention it is also possible to provide a light barrier, for example, which is also triggered by the waste container when it touches the lifting and tilting device. Such trigger switches are known per se from automatically operating lift-and-tilt devices, but these trigger switches then trigger the entire lift-and-tilt process.

Bei halbautomatisch arbeitenden Entleervorrichtungen sind diese Auslöseschalter hingegen nicht bekannt, da die Anhubphase bisher durch manuelle Betätigung ausgeführt wurde. Das automatische Starten lediglich der Anhubphase durch eine Betätigung des herangebrachten, zu entleerenden Behälters bietet den Vorteil, daß nur eine Bedienungsperson erforderlich ist. Eine Gefährdung dieser Bedienungsperson durch den automatischen Ablauf der Anhubphase kann nicht auftreten, da der Behälter nur eine geringe Strecke angehoben wird. Selbst wenn der Behälter nicht richtig erfaßt worden sein sollte und sich von der Greifeinrichtung lösen sollte, würde er bei einer Hubhöhe von wenigen Zentimetern ohne Beschädigung auf dem Erdboden auftreffen.In the case of emptying devices which operate semi-automatically, however, these trigger switches are not known, since the lifting phase was previously carried out by manual actuation. The automatic starting of only the lifting phase by actuating the container to be emptied has the advantage that only one operator is required. This operator cannot be endangered by the automatic sequence of the lifting phase since the container is only raised a short distance. Even if the container had not been correctly gripped and detached from the gripping device, it would hit the ground without damage at a lifting height of a few centimeters.

Diese Anhubphase wird von der Steuereinrichtung nach Erreichen der vorgegebenen Hubhöhe der Kipp- oder Hub-Kipp-Vorrichtung unterbrochen. Dies bietet den Vorteil, daß die Bedienungsperson insbesondere bei Großbehältern noch einmal die Möglichkeit hat, den richtigen Sitz des Müllbehälters auf oder an der Greifeinrichtung zu überprüfen. Zwar ist mindestens ein Quittungssignalschalter vorgesehen, der beispielsweise im Bereich des Aufnahmekammes angeordnet ist und vom Behälterrand ausgelöst wird, und somit den richtigen Sitz des Behälters überprüft, es können aber trotzdem noch Fälle auftreten, daß der Quittungs- oder die Quittungssignalschalter zwar ausgelöst werden, der Behälter aber vielleicht noch nicht seinen optimalen Sitz auf der Greifeinrichtung eingenommen hat. Die Bedienungsperson hat somit noch einmal die Möglichkeit, diesbezüglich eine Korrektur vorzunehmen.This lifting phase is interrupted by the control device after the predetermined lifting height of the tilting or lifting-tilting device has been reached. This offers the advantage that the operator, in particular in the case of large containers, has the opportunity once again to check that the refuse container is correctly seated on or on the gripping device. At least it is an acknowledgment signal switch is provided, which is arranged, for example, in the area of the receiving comb and is triggered by the edge of the container and thus checks the correct fit of the container, but there may still be cases that the acknowledgment or the acknowledgment signal switch are triggered, but the container may has not yet taken its optimal position on the gripping device. The operator thus once again has the option of making a correction in this regard.

Bei den Vorrichtungen gemäß dem Stand der Technik ist dies nicht möglich, da nach der manuell ausgeführten Anhubphase der nachfolgende Entleervorgang automatisch ausgelöst wird, sei es durch einen Bewegungsmelder oder sei es durch einen Auslöseschalter im Bereich der Greifeinrichtung.This is not possible with the devices according to the prior art, since after the manually executed lifting phase the subsequent emptying process is triggered automatically, either by a motion detector or by a trigger switch in the area of the gripping device.

Da erfindungsgemäß der nachfolgende Entleervorgang nicht automatisch gestartet wird, muß sich die Bedienungsperson vom Müllbehälter entfernen und die vorzugsweise seitlich am Müllfahrzeug bzw. an der Hub-Kipp-Vorrichtung angebrachte erste Handbetätigungseinrichtung auslösen, um den automatischen Entleervorgang in Gang zu setzen. Eine Gefährdung der Bedienungsperson ist damit ausgeschlossen, weil diese sich beim Auslösen des automatischen Entleervorgangs nicht mehr im Schwenkbereich des Behälters aufhält.Since, according to the invention, the subsequent emptying process is not started automatically, the operator must move away from the garbage container and trigger the first manual actuation device, which is preferably attached to the side of the garbage truck or the lifting and tilting device, in order to start the automatic emptying process. There is no danger to the operator because the operator is no longer in the swivel range of the container when the automatic emptying process is triggered.

Die Unterbrechung der Anhubphase durch die Steuereinrichtung kann auf unterschiedliche Weise realisiert werden. Vorzugsweise umfaßt die Steuereinrichtung eine programmierbare Einrichtung, in die die gewünschte Hubhöhe eingegeben werden kann. Es besteht auch die Möglichkeit, das Steuerprogramm entsprechend auszulegen, so daß die Anhubphase zum gewünschten Zeitpunkt bzw. einer gewünschten Hubhöhe unterbrochen wird.The control device can interrupt the lifting phase in different ways. The control device preferably comprises a programmable device into which the desired lifting height is entered can. There is also the possibility of designing the control program accordingly, so that the lifting phase is interrupted at the desired time or a desired lifting height.

Gemäß einer weiteren Ausführungsform ist mindestens ein Hubbegrenzungsschalter vorgesehen, der an die Steuereinrichtung angeschlossen ist. Ein solcher Hubbegrenzungsschalter kann beispielsweise ein Nährungsschalter, eine Lichtschranke, Nockenschalter oder Drehwinkelgeber sein, wobei dieser Hubbegrenzungsschalter von der Kipp- oder Hub-Kipp-Vorrichtung bei einer vorgegebenen Hubhöhe ausgelöst wird. Hierbei gibt der Hubbegrenzungsschalter ein entsprechendes Signal an die Steuereinrichtung ab, woraufhin die Steuereinrichtung die Anhubphase unterbricht. Dieser Hubbegrenzungsschalter ist an einem feststehenden Bauteil des Müllfahrzeugs in der Höhe angebracht, die der vorgegebenen Hubhöhe entspricht.According to a further embodiment, at least one stroke limit switch is provided, which is connected to the control device. Such a stroke limit switch can be, for example, a proximity switch, a light barrier, a cam switch or an angle encoder, this stroke limit switch being triggered by the tilting or lifting-tilting device at a predetermined lifting height. Here, the stroke limitation switch sends a corresponding signal to the control device, whereupon the control device interrupts the lifting phase. This stroke limitation switch is attached to a fixed component of the refuse collection vehicle at a height that corresponds to the specified lifting height.

Eine weitere Ausführungsform sieht vor, daß die Steuereinrichtung ein Zeitglied umfaßt, das nach Ablauf einer vorgegebenen Zeit ein Signal zur Unterbrechung der Anhubphase abgibt. Dieses Zeitglied wird vom Auslöseschalter in Gang gesetzt, wobei die vorgegebene Zeit auf die Anhubgeschwindigkeit der Hub-Kipp-Vorrichtung abgestimmt ist.A further embodiment provides that the control device comprises a timer which emits a signal to interrupt the lifting phase after a predetermined time. This timer is set in motion by the trigger switch, the predetermined time being matched to the lifting speed of the lifting and tilting device.

Um die Sicherheit des Bedienungspersonal weiter zu erhöhen, ist gemäß einer besonderen Ausführungsform vorgesehen, daß die Steuereinrichtung zur Überwachung einer vorgegebenen ersten Zeitspanne zwischen der Betätigung des Auslöseschalters und des Quittungssignalschalters ausgebildet ist. Bei einem störungsfreien Ablauf der Anhubphase wird zwischen der Betätigung dieser beiden Schalter immer eine bestimmte Zeitspanne eingehalten, die durch die Anhubgeschwindigkeit der Hub-Kipp-Vorrichtung vorgegeben ist. Sollte es bei der Anhubphase Probleme geben, indem z.B. der Behälterrand vom Aufnahmekamm nicht richtig erfaßt wird und der Behälter möglicherweise erst zu einem späteren als dem vorgesehenen Zeitpunkt seine richtige Position einnimmt, wird diese Unregelmäßigkeit aufgrund der Zeitüberschreitung von der Steuereinrichtung erkannt. In diesem Fall wird die Hub-Kipp-Vorrichtung sofort angehalten und / oder es wird durch eine akustische und / oder optische Anzeige der Bedienungsperson mitgeteilt, daß diese Anhubphase nicht störungsfrei verlaufen ist, was für die Bedienungsperson wiederum ein Hinweis ist, noch einmal den richtigen Sitz des Behälters zu überprüfen.In order to further increase the safety of the operating personnel, it is provided according to a particular embodiment that the control device is designed to monitor a predetermined first time period between the actuation of the trigger switch and the acknowledgment signal switch. If the lifting phase runs smoothly, there will always be one between the actuation of these two switches certain period of time, which is predetermined by the lifting speed of the lifting and tilting device. If there are problems during the lifting phase, for example if the container edge is not correctly grasped by the pick-up comb and the container may not assume its correct position until a later than the intended time, this irregularity is recognized by the control device due to the time being exceeded. In this case, the lifting and tilting device is stopped immediately and / or the operator is informed by an acoustic and / or visual display that this lifting phase has not gone smoothly, which in turn is an indication for the operator, once again the correct one Check the fit of the container.

Gemäß einer besonderen Ausführungsform kann diese erste Zeitspanne von der programmierbaren Einrichtung überwacht werden, in die die vorgegebene Zeitspanne eingebbar ist.According to a special embodiment, this first time period can be monitored by the programmable device into which the predetermined time period can be entered.

Gemäß einer weiteren Ausführungsform kann auch eine separate Überwachungseinrichtung an die Steuereinrichtung angeschlossen sein, die nur dann ein Freigabesignal an die Steuereinrichtung abgibt, wenn zwischen der Betätigung des Auslöseschalter und des Quittungssignalschalters die vorgegebene erste Zeitspanne eingehalten wird. Die erste Zeitspanne liegt bei den üblichen Hubgeschwindigkeiten vorzugsweise bei Zeiten kleiner 2 Sekunden.According to a further embodiment, a separate monitoring device can also be connected to the control device, which only emits an enable signal to the control device if the predetermined first time period is observed between the actuation of the trigger switch and the acknowledgment signal switch. At the usual lifting speeds, the first period of time is preferably less than 2 seconds.

Bei Müllfahrzeuen, die zwei Einzel-Hub-Kipp-Vorrichtungen zum Entleeren kleiner Behälter aufweisen, besteht die Möglichkeit durch Ausbildung der Aufnahmekämme auch Großbehälter zu entleeren, die von den Greifeinrichtungen beider Hub-Kipp-Vorrichtungen erfaßt werden. Jede dieser Einzel-Hub-Kipp-Vorrichtungen besitzt einen eigenen Auslöseschalter, der beim Entleeren von kleinen Behältern von diesen betätigt wird. Wenn ein Großbehälter von beiden Einzel-Hub-Kipp-Vorrichtungen gemeinsam entleert werden soll, werden beim Heranbringen des Großbehälters diese Auslöseschalter in der Regel nicht gleichzeitig betätigt. Da jedoch der Auslöseschalter der jeweiligen Hub-Kipp-Vorrichtung beim Betätigen die Anhubphase auslöst, kann es vorkommen, daß die eine Hub-Kipp-Vorrichtung bereits die Anhubphase ausführt, während die andere Einzel-Hub-Kipp-Vorrichtung noch in Ausgangsstellung verharrt. In diesem Fall könnte der Behälter bereits an der einen Seite angehoben werden und auf der anderen Seite noch am Boden verbleiben, so daß der Behälter eine Schieflage einnimmt, die beim Nachziehen der zweiten Einzel-Hub-Kipp-Vorrichtung zu einem unkorrekten Sitz auf der Greifeinrichtung führt und somit keinen störungsfreien Ablauf des Entleervorgangs gewährleistet.In refuse collection vehicles that have two single-stroke tilting devices for emptying small containers, there is also the possibility of forming large containers by designing the pick-up combs empty, which are gripped by the gripping devices of both lifting and tipping devices. Each of these single-lift-tilting devices has its own trigger switch, which is actuated by these when emptying small containers. If a large container is to be emptied jointly by the two single-lift-tilting devices, these trigger switches are generally not actuated simultaneously when the large container is brought up. However, since the trigger switch of the respective lifting-tilting device triggers the lifting phase when actuated, it can happen that one lifting-tilting device already executes the lifting phase while the other single-lifting-tilting device still remains in the starting position. In this case, the container could already be lifted on one side and still remain on the bottom on the other side, so that the container assumes an inclined position, which results in an incorrect seat on the gripping device when the second single-stroke tilting device is tightened leads and thus does not guarantee a trouble-free sequence of the emptying process.

Es ist daher vorgesehen, daß die Steuereinrichtung zur Überwachung einer vorgegebenen zweiten Zeitspanne zwischen der Betätigung mindestens zweier Auslöseschalter ausgebildet ist. Nur wenn die Auslöseschalter innerhalb einer vorgegebenen Zeitspanne betätigt werden, kann davon ausgegangen werden, daß der Behälter sich in seiner richtigen Ausgangsposition an den Kipp- oder Hub-Kipp-Vorrichtungen befindet. Wenn die vorgegebene zweite Zeitspanne eingehalten wird, so wird nach Betätigung des letzten Auslöseschalters der Hubvorgang von der Steuereinrichtung in Gang gesetzt. Sollte die vorgegebene zweite Zeitspanne nicht eingehalten worden sein, wird auch die Anhubphase der Hub-Kipp-Vorrichtung nicht ausgelöst, dessen Auslöseschalter aber bereits betätigt worden ist. Beide Hub-Kipp-Vorrichtungen bleiben dann in ihrer Ausgangsstellung. Zusätzlich kann noch ein optisches Merkmal der Bedienungsperson mitteilen, daß bezüglich des Ansetzens des Müllbehälters Probleme aufgetreten sind. Die Überwachung der vorgegebenen ersten und zweiten Zeitspanne lassen auch keine Manipulationen seitens des Bedienungspersonals zu. Wenn beispielsweise zuvor einer der Auslöseschalter bzw. Quittungssignalschalter zu einem früheren Zeitpunkt tätig bzw. von Hand festgestellt wird, können die vorgegebenen Zeitspannen nicht mehr eingehalten werden, was zur oben beschriebenen Unterbrechung des gesamten Hubvorgangs führt.It is therefore provided that the control device is designed to monitor a predetermined second time period between the actuation of at least two trigger switches. Only if the trigger switches are actuated within a predetermined period of time can it be assumed that the container is in its correct starting position on the tilting or lifting-tilting devices. If the predetermined second period of time is observed, the lifting device is started by the control device after actuation of the last trigger switch set. If the specified second period of time has not been observed, the lifting phase of the lifting and tilting device is not triggered, but the trigger switch has already been actuated. Both lifting and tilting devices then remain in their starting position. In addition, an optical feature can tell the operator that problems have arisen with regard to the placement of the garbage container. The monitoring of the predefined first and second time period also does not allow any manipulations on the part of the operating personnel. If, for example, one of the trigger switches or acknowledgment signal switches is activated at an earlier point in time or is determined manually, the specified time periods can no longer be observed, which leads to the above-described interruption of the entire lifting process.

Auch diese zweite Zeitspanne kann in die programmierbare Einrichtung eingebbar sein oder die programmierbare Einrichtung ist bereits derart ausgelegt, daß sie diese zweite Zeitspanne überwacht.This second time period can also be input into the programmable device or the programmable device is already designed in such a way that it monitors this second time period.

Gemäß einer weiteren Ausführungsform kann eine zweite Überwachungseinrichtung vorgesehen sein, die an die Steuereinrichtung angeschlossen ist und die nur dann ein Freigabesignal an die Steuereinrichtung abgibt, wenn zwischen der Betätigung von mindestens zwei Auslöseschaltern die vorgegebene zweite Zeitspanne eingehalten worden ist. Vorzugsweise liegt diese zweite Zeitspanne im Bereich von 0,4 bis 0,8 sek. Im Rahmen der Erfindung ist es auch möglich, die erste und die zweite Überwachungseinrichtung zu integrieren.According to a further embodiment, a second monitoring device can be provided, which is connected to the control device and which only emits an enable signal to the control device if the predetermined second time period has been observed between the actuation of at least two trigger switches. This second time period is preferably in the range from 0.4 to 0.8 seconds. In the context of the invention it is also possible to integrate the first and the second monitoring device.

Ein vollständiges Absetzen und Lösen des Behälters von der Greifeinrichtung nach Beendigung des Entleervorganges kann bei einer abschüssigen Straße zum Wegrollen des Behälters führen. Um dies zu verhindern, ist die Steuereinrichtung derart ausgebildet, daß sie das Absenken des Müllbehälters einer vorgegebenen Referenzhöhe unterbricht und daß eine zweite Handbetätigungseinrichtung vorgesehen ist, mit der manuell das vollständige Absenken des Behälters steuerbar ist. Diese Referenzhöhe kann der vorgegebenen Hubhöhe der Anhubphase entsprechen. In vorgegebener Referenzhöhe kann wiederum der Hubbegrenzungsschalter betätigt werden, der dadurch mit einer zusätzlichen Funktion ausgestattet ist. Das vollständige Absenken des Behälters unterliegt somit der Kontrolle der Bedienungsperson.A complete setting down and loosening of the container from the gripping device after completion of the emptying process can lead to the container rolling away on a downhill road. In order to prevent this, the control device is designed in such a way that it interrupts the lowering of the refuse container to a predetermined reference height and that a second manual operating device is provided with which the complete lowering of the container can be controlled manually. This reference height can correspond to the specified lifting height of the lifting phase. The stroke limit switch can be actuated at a predetermined reference height, which is therefore equipped with an additional function. The complete lowering of the container is therefore under the control of the operator.

Beispielhafte Ausführungsform der Erfindung der nachfolgend anhand der Zeichnungen näher erläutert.Exemplary embodiment of the invention which is explained in more detail below with reference to the drawings.

Es zeigen:

Figur 1
die schematische Darstellung der Vorrichtung mit einer Hub-Kipp-Vorrichtung,
Figur 2
die schematische Darstellung der Vorrichtung mit zwei Hub-Kipp-Vorrichtungen gemäß einer ersten Ausführungsform,
Figur 3
die schematische Darstellung der Vorrichtungen mit zwei Hub-Kipp-Vorrichtungen gemäß einer weiteren Ausführungsform und
Figur 4
die rückwärtige Ansicht eines Müllfahrzeuges mit einer Vorrichtung gemäß Figur 3.
Show it:
Figure 1
the schematic representation of the device with a lifting and tilting device,
Figure 2
the schematic representation of the device with two lifting and tilting devices according to a first embodiment,
Figure 3
the schematic representation of the devices with two lifting and tilting devices according to a further embodiment and
Figure 4
the rear view of a refuse collection vehicle with a device according to FIG. 3.

In der Figur 1 ist eine Vorrichtung zum Entleeren von Behältern schematisch dargestellt, die eine einzige Hub-Kipp-Vorrichtung 1 aufweist. Diese Hub-Kipp-Vorrichtung 1 besitzt in bekannter Weise Druckmittelmotore, die an einen Hydraulikschaltkreis und eine Druckmittelpumpe angeschlossen sind. Dieses Druckmittelantriebseinrichtung und die Verbindung mit der Hub-Kipp-Vorrichtung 1 ist durch die Bezugszeichen 6 bis 7 angedeutet.A device for emptying containers is shown schematically in FIG. 1, which has a single lifting and tilting device 1. In a known manner, this lifting and tilting device 1 has pressure medium motors which are connected to a hydraulic circuit and a pressure medium pump. This pressure medium drive device and the connection with the lifting and tilting device 1 are indicated by the reference numerals 6 to 7.

Die Hub-Kipp-Vorrichtung 1 ist mit einem Auslöseschalter 2 und einem Quittungssignalschalter 3 ausgestattet. Der Auslöseschalter 2 wird beim Heranbringen des Müllbehälters (nicht dargestellt) ausgelöst, wodurch ein Signal an die Steuereinrichtung 4 abgegeben wird, die eine programmierbare Einrichtung 5 aufweist. Nach dem Auslösen des Auslöseschalters 2 durch den zu entleerenden Behälter wird von der Steuereinrichtung 4 ein entsprechendes Signal an eines oder mehrerer Elemente der Druckmittelantriebseinrichtung 6 gegeben, so daß die Hub-Kipp-Vorrichtung 1 aus ihrer Ausgangsposition A nach oben bewegt wird, bis die vorgegebene Hubhöhe erreicht ist, die durch die Position B gekennzeichnet ist.The lifting and tilting device 1 is equipped with a trigger switch 2 and an acknowledgment signal switch 3. The trigger switch 2 is triggered when the refuse container is brought up (not shown), as a result of which a signal is emitted to the control device 4, which has a programmable device 5. After the trigger switch 2 has been triggered by the container to be emptied, the control device 4 emits a corresponding signal to one or more elements of the pressure medium drive device 6, so that the lifting and tilting device 1 is moved upward from its starting position A until the predetermined one Stroke height is reached, which is characterized by position B.

Während dieser Anhubphase aus der Position A in die Position B wird der zu entleerende Behälter von der Greifeinrichtung erfaßt, wobei z. B. der Behälterrand den Quittungssignalschalter 3 auslöst. Die vorgegebene Hubhöhe ist in der hier gezeigten Darstellung in die programmierbare Einrichtung 5 einprogrammiert, die zu einem bestimmten Zeitpunkt ein entsprechendes Signal an die Druckmittelantriebseinrichtung 6 abgibt, die dann die (nicht gezeigten) Druckmittelmotore der Hub-Kipp-Vorrichtung 1 anhält.During this lifting phase from position A to position B, the container to be emptied is gripped by the gripping device, z. B. the edge of the container triggers the receipt signal switch 3. In the illustration shown here, the predetermined lifting height is programmed into the programmable device 5, which at a specific point in time emits a corresponding signal to the pressure medium drive device 6, which then the pressure medium motors of the lifting and tilting device 1 stops (not shown).

Die programmierbare Einrichtung 5 übernimmt in der hier gezeigten Ausführungsform auch die zeitliche Überwachung der Zeitspanne zwischen dem Auslösen des Auslöseschalters 2 und dem Auslösen des Quittungssignalschalters 3. Falls die vorgegebene in der programmierbaren Einrichtung 5 eingegebene erste Zeitspanne nicht eingehalten wird, gibt die Steuereinrichtung 4 ein entsprechendes Signal an die Druckmittelantriebseinrichtung 6, die dann die Hub-Kipp-Vorrichtung 1 anhält. Zusätzlich kann die Steuereinrichtung 5 noch eine Warnlampe 20 in Gang setzen, die dem Bedienungspersonal anzeigt, daß Unregelmäßigkeiten während der Anhubphase aufgetreten sind.In the embodiment shown here, the programmable device 5 also takes over the temporal monitoring of the time period between the triggering of the trigger switch 2 and the triggering of the acknowledgment signal switch 3. If the predetermined first time period entered in the programmable device 5 is not adhered to, the control device 4 outputs a corresponding one Signal to the pressure medium drive device 6, which then stops the lift-tilt device 1. In addition, the control device 5 can also activate a warning lamp 20 which indicates to the operating personnel that irregularities have occurred during the lifting phase.

An die Steuereinrichtung 5 ist eine erste Handbetätigungseinrichtung 8 angeschlossen, mit deren Hilfe die Bedienungsperson nach Überprüfung des richtigen Sitzes des Müllbehälters auf der Greifeinrichtung der Hub-Kipp-Vorrichtung 1 den automatischen Entleervorgang auslösen kann. Die Steuereinrichtung 4 gibt dann ein entsprechendes Signal an die Druckmittelantriebseinrichtung 6, woraufhin die Hub-Kipp-Vorrichtung die Position B verläßt und je nach entsprechender Ausgestaltung der Mechanik der Kipp - oder Hub-Kipp-Vorrichtung 1 den Behälter weiter anhebt und dann in die Einschüttöffnung einkippt. Hierbei kann in der Entleerstellung der Hub-Kipp-Vorrichtung auch ein Rüttelvorgang oder ein Verweilen des Müllbehälters vorgesehen sein, wobei die Art des Bewegungsablaufs von der Steuereinrichtung 4 durch entsprechende Signale an die Druckmittelantriebseinrichtung 6 gesteuert wird.A first manual control device 8 is connected to the control device 5, with the aid of which the operator can trigger the automatic emptying process after checking that the refuse container is correctly seated on the gripping device of the lifting and tilting device 1. The control device 4 then sends a corresponding signal to the pressure medium drive device 6, whereupon the lifting and tilting device leaves position B and, depending on the corresponding design of the mechanics of the tilting or lifting and tilting device 1, further raises the container and then into the pouring opening tilts. In the emptying position of the lifting and tilting device, a shaking process or a lingering of the refuse container can also be provided, the type of movement sequence being controlled by the control device 4 by means of corresponding signals to the pressure medium drive device 6.

Nach Beendigung des Entleerens wird der Behälter zurückgeschwenkt und abgesenkt, wobei die Hub-Kipp-Vorrichtung 1 in einer vorgegebenen Referenzhöhe, die der Position B entsprechen kann, angehalten wird. Durch Betätigen einer zweiten Handbetätigungseinrichtung 9 die ebenfalls an die Steuereinrichtung 4 angeschlossen ist, kann der Müllwerker die vollständige Absenkung der Hub-Kipp-Vorrichtung 1 und damit des Behälters bewirken.After the emptying has been completed, the container is pivoted back and lowered, the lifting and tilting device 1 being stopped at a predetermined reference height, which can correspond to position B. By actuating a second manual control device 9, which is also connected to the control device 4, the garbage worker can bring about the complete lowering of the lifting and tilting device 1 and thus of the container.

In der Figur 2 ist eine Vorrichtung zum Entleeren von Behältern schematisch dargestellt, die über zwei Einzel-Hub-Kipp-Vorrichtungen 1a und 1b verfügt. Auch in dieser Darstellung ist die Druckmittelantriebseinrichtung 6 nur schematisch dargestellt und über die Verbindungsleitung 7a und 7b ist die Verbindung zwischen der Druckmittelantriebseinrichtung 6 und den Hub-Kipp-Vorrichtungen schematisch angedeutet. Jede Hub-Kipp-Vorrichtung 1a und 1b verfügt über einen Auslöseschalter 2a, 2b und einen Quittungssignalschalter 3a und 3b. Die Steuereinrichtung 4 verfügt auch in dieser Ausführungsform über eine programmierbare Einrichtung 5. Ebenfalls sind eine erste Handbetätigungseinrichtung 8 und eine zweite Handbetätigungseinrichtung 9 an die Steuereinrichtung 4 angeschlossen. Nachfolgend wird die Funktionsweise der Vorrichtung beim Entleeren eines Großbehälters beschrieben, der von den beiden Einzel-Hub-Kipp-Vorrichtungen 1a, 1b gemeinsam entleert wird. Beim Heranbringen des Großbehälters werden mehr oder weniger gleichzeitig die beiden Auslöseschalter 2a, 2b von der Behälter wand betätigt. Hierbei übernimmt die programmierbare Einrichtung 5 die Überwachung der zweiten Zeitspanne zwischen dem Auslösen der beiden Auslöseschalter 2a und 2b. Falls die vorgegebene zweite Zeitspanne zwischen dem Auslösen dieser beiden Auslöseschalter 2a und 2b überschritten wird, wird keine der Einzel-Hub-Kipp-Vorrichtung 1a oder 1b angehoben. Beide Einzel-Hub-Kipp-Vorrichtungen 1 a und 1b verbleiben dann in ihrer Ausgangsstellung A. Auch in diesem Fall kann die optische Anzeige 20 von der Steuereinrichtung 4 in Gang gesetzt werden, um die Bedienungsperson darauf hinzuweisen, daß diese zweite Zeitspanne nicht gehalten worden ist und somit Unregelmäßigkeiten zu erwarten sind.FIG. 2 schematically shows a device for emptying containers, which has two single-lift-tilt devices 1a and 1b. In this illustration, too, the pressure medium drive device 6 is only shown schematically and the connection between the pressure medium drive device 6 and the lifting and tilting devices is indicated schematically via the connecting line 7a and 7b. Each lifting and tilting device 1a and 1b has a trigger switch 2a, 2b and an acknowledgment signal switch 3a and 3b. The control device 4 also has a programmable device 5 in this embodiment. A first manual control device 8 and a second manual control device 9 are also connected to the control device 4. The mode of operation of the device when emptying a large container is described below, which is emptied jointly by the two individual lifting and tilting devices 1a, 1b. When the large container is brought up, the two trigger switches 2a, 2b are actuated more or less simultaneously by the container wall. Here, the programmable device 5 takes over the monitoring of the second period between the triggering of the two trigger switches 2a and 2b. If the predetermined second time interval between the triggering of these two trigger switches 2a and 2b is exceeded, none of the single-lift-tilting device 1a or 1b is raised. Both single lift and tilt devices 1 a and 1 b then remain in their starting position A. In this case too, the visual display 20 can be set in motion by the control device 4 in order to inform the operator that this second period of time has not been held irregularities are to be expected.

Wenn die vorgegebene zweite Zeitspanne zwischen dem Auslösen der beiden Auslöseschalter 2a und 2b eingehalten worden ist, werden die beiden Einzel-Hub-Kipp-Vorrichtungen 1a und 1b hochgefahren, was unabhängig voneinander erfolgen kann. Vor Erreichen der Position B werden - gegebenenfalls nacheinander - die Quittungssignalschalter 3a, 3b vom Behälterrand betätigt. Hierbei wird zusätzlich noch die Zeitspanne zwischen dem Auslösen des Auslöseschalters 2a und des Quittungssignalschalters 3a bzw. des Auslöseschalters 2b und des Quittungssignalschalters 3b überwacht. Wenn auch diese erste Zeitspanne für beide Einzel-Hub-Kipp-Vorrichtungen 1a und 1b eingehalten worden ist, dann kann die Bedienungsperson über die erste Handbetätigungseinrichtung 8 den automatischen Entleervorgang auslösen, wobei beide Einzelhub - Kippvorrichtungen 1a, 1b den Großbehälter gemeinsam entleeren. Die zweite Handbetätigungseinrichtung 9 dient auch bei dieser Ausgestaltung dazu, beide Einzel-Hub-Kipp-Vorrichtungen nach dem Entleeren des Behälters vollständig abzusenken.When the predetermined second period of time has elapsed between the triggering of the two trigger switches 2a and 2b, the two individual lift and tilt devices 1a and 1b are started up, which can be done independently of one another. Before position B is reached, the acknowledgment signal switches 3a, 3b are actuated from the container edge, one after the other. Here, the time period between the triggering of the trigger switch 2a and the acknowledgment signal switch 3a or the trigger switch 2b and the acknowledgment signal switch 3b is additionally monitored. If this first period of time has also been observed for both individual lifting and tipping devices 1a and 1b, the operator can trigger the automatic emptying process via the first manual operating device 8, both individual lifting and tipping devices 1a, 1b emptying the large container together. In this embodiment, the second manual actuation device 9 also serves to completely lower both single-lift-tilting devices after the container has been emptied.

In der Figur 3 ist eine weitere Ausführungsform dargestellt, wobei anstelle der programmierbaren Einrichtung 5 nunmehr eine erste Überwachungseinrichtung 10 und eine zweite Überwachungseinrichtung 11 zwischen den Auslöseschaltern 2a, 2b, den Quittungssignalschalter 3a und 3b und der Steuereinrichtung 4 angeordnet sind. Hierbei wird die Überwachung der ersten Zeitspanne von der ersten Überwachungseinrichtung 10 und die Überwachung der zweiten Zeitspanne von der zweiten Überwachungseinrichtung 11 übernommen, die bei Einhaltung der vorgegebenen Zeitspannen entsprechende Freigabesignale an die Steuereinrichtung 4 abgeben, die wiederum entsprechend die Druckmittelantriebseinrichtung 6 ansteuert. Die Verbindung der Druckmittelantriebseinrichtung 6 mit den Einzel-Hub-Kipp-Vorrichtungen 1a und 1b ist nicht dargestellt.A further embodiment is shown in FIG. 3, with a first monitoring device 10 and a second monitoring device 11 now being arranged between the trigger switches 2a, 2b, the acknowledgment signal switches 3a and 3b and the control device 4 instead of the programmable device 5. In this case, the monitoring of the first time period is carried out by the first monitoring device 10 and the monitoring of the second time period by the second monitoring device 11, which, when the predetermined time periods are observed, emit corresponding release signals to the control device 4, which in turn controls the pressure medium drive device 6 accordingly. The connection of the pressure medium drive device 6 with the individual lift-tilt devices 1a and 1b is not shown.

Im Bereich der Position B ist seitlich der beiden Einzel-Hub-Kipp-Vorrichtungen 1a und 1b jeweils ein Hubbegrenzungsschalter 12a und 12b angeordnet, der als Näherungsschalter ausgebildet sein kann. Dementsprechend besitzen die Einzel-Hub-Kipp-Vorrichtungen 1a und 1b entsprechende Kontaktelemente 13a und 13b, die bei Erreichen der Position B die Schalter 12a und 12b betätigen bzw. auslösen. Diese Hubbegrenzungsschalter 12a und 12b sind an die Steuereinrichtung 4 angeschlossen, die bei Vorliegen des entsprechenden Signals die Druckmittelantriebseinrichtung 6 zum Anhalten der Einzel-Hub-Kipp-Vorrichtungen 1a und 1b veranlaßt.In the area of position B, a stroke limiting switch 12a and 12b, which can be designed as a proximity switch, is arranged on each side of the two individual lift-and-tilt devices 1a and 1b. Accordingly, the individual lift-tilt devices 1a and 1b have corresponding contact elements 13a and 13b, which actuate or trigger the switches 12a and 12b when position B is reached. These stroke limit switches 12a and 12b are connected to the control device 4 which, in the presence of the corresponding signal, causes the pressure medium drive device 6 to stop the individual stroke and tilt devices 1a and 1b.

In der Figur 4 ist die rückwärtige Ansicht eines Müllfahrzeuges 15 dargestellt. Die Einzel-Hub-Kipp-Vorrichtungen 1a und 1b besitzen Greifeinrichtungen in Form von Aufnahmekämmen 18a und 18b, die auch zum Erfassen von Großbehältern ausgebildet sind. An diesen Greifeinrichtungen 18a und 18b sind an der Vorderseite jeweils ein Auslöseschalter 2a und 2b angebracht. Hinter den Greifeinrichtungen sind Quittungssignalschalter 3a und 3b angeordnet, die vom Behälterrand beim Aufsitzen auf den Greifeinrichtungen 18a und 18b betätigt werden. Diese Hub-Kipp-Vorrichtungen 1a und 1b werden mittels Schwenkarmen 19a und 19b betätigt, die an die Druckmittelantriebseinrichtung 6 angeschlossen sind, die in der hier gezeigten Darstellung nicht zu sehen ist.FIG. 4 shows the rear view of a garbage truck 15. The Single-stroke-tilting devices 1a and 1b have gripping devices in the form of receiving combs 18a and 18b, which are also designed for gripping large containers. A trigger switch 2a and 2b are attached to the front of each of these gripping devices 18a and 18b. Acknowledgment signal switches 3a and 3b are arranged behind the gripping devices and are actuated from the container edge when sitting on the gripping devices 18a and 18b. These lifting and tilting devices 1a and 1b are actuated by means of swivel arms 19a and 19b which are connected to the pressure medium drive device 6, which cannot be seen in the illustration shown here.

Am Müllfahrzeug 15 sind Hubbegrenzungsschalter 12a und 12b befestigt, die beim Verschwenken der Schwenkarme 19a und 19b in der vorgegebenen Hubhöhe (Position B) betätigt werden und zu einer Unterbrechung der Anhubphase führen. Der seitliche Bereich der beiden Hub-Kipp-Vorrichtungen wird durch zwei Schranken 14a und 14b abgesichert. Seitlich am Müllfahrzeug 15 ist erste Handbetätigungseinrichtung 8 und die zweite Handbetätigungseinrichtung 9 als Tastenschalter dargestellt. Durch Betätigen der ersten Handbetätigungseinrichtung 8, die erst wirksam ist, wenn die Position B erreicht ist und keine Störung gemeldet wurde, wird der automatische Entleervorgang ausgelöst, bei dem der zu entleerende Müllbehälter in die Einschüttöffnung 17 des Einschüttgehäuses 16 eingekippt wird. Mit Hilfe der zweiten Handbetätigungseinrichtung 9 wird nach dem Entleeren des Müllbehälters das vollständige Absenken des Müllbehälters und Absetzen auf der Straße bewerkstelligt.Stroke limit switches 12a and 12b are fastened to the garbage truck 15 and are actuated when the swivel arms 19a and 19b are pivoted at the predetermined lifting height (position B) and lead to an interruption of the lifting phase. The side area of the two lifting and tilting devices is secured by two barriers 14a and 14b. First manual control device 8 and second manual control device 9 are shown as buttons on the side of garbage truck 15. By actuating the first manual control device 8, which is only effective when position B is reached and no fault has been reported, the automatic emptying process is triggered, in which the refuse container to be emptied is tipped into the pouring opening 17 of the pouring housing 16. With the help of the second manual control device 9, after the garbage container has been emptied, the garbage container is completely lowered and set down on the street.

Claims (16)

  1. Device for emptying containers, in particular refuse containers into collection containers, having at least one tilting or lifting-tilting device which comprises a gripping device for gripping the refuse container, and having a pressure medium drive device with an electric control device which automatically controls at least part of the entire tilting or lifting-tilting process, at least one acknowledgment signal switch on the gripping device which checks the correct seating of the container on the gripping device being connected to the control device, characterised in that a trigger switch (2a, 2b), which can be actuated by the refuse container when mounted on the tilting or lifting-tilting device (1a, 1b), is connected to the control device, the trigger switch (2a, 2b) being formed merely for triggering the lifting phase of the lifting-tilting process; in that the control device is constructed so as to interrupt the lifting phase when the tilting or lifting-tilting device (1, 1a, 1b) reaches a predetermined lifting height at which the container to be emptied is completely gripped by the gripping device; and in that a first manual actuating device (8) for triggering the automatic emptying process following the lifting phase is connected to the control device (4), the manual actuating device (8) only being able to act on the control device (4) when the lifting phase has been interrupted.
  2. Device according to Claim 1, characterised in that the control device comprises a programmable device (5) into which the lifting height can be input.
  3. Device according to Claim 1, characterised in that a lift delimitation switch (12, 12a, 12b) which emits a signal to the control device (4) when the predetermined lifting height of the tilting or lifting-tilting device is reached and which can be triggered by the tilting or lifting-tilting device (1, 1a, 1b) is connected to the control device (4).
  4. Device according to any one of Claims 1 to 3, characterised in that the control device (4) comprises a timing element which emits a signal for interrupting the lifting phase when a predetermined period of time has elapsed.
  5. Device according to any one of Claims 1 to 4, characterised in that the control device (4) is constructed so as to monitor a predetermined first time interval between the actuation of the trigger switch (2, 2a, 2b) and of the acknowledgement signal switch (3, 3a, 3b).
  6. Device according to Claim 5, characterised in that the predetermined first time interval can be input into the programmable device (5).
  7. Device according to any one of Claims 1 to 4, characterised in that a first monitoring device (10) which only emits a release signal to the control device when a predetermined first time interval is observed between the actuation of the trigger switch (2, 2a, 2b) and of the acknowledgement signal switch (3, 3a, 3b) is connected to the control device (4).
  8. Device according to any one of Claims 5 to 7, characterised in that the time interval is less than 2 seconds.
  9. Device according to any one of Claims 1 to 8, characterised in that at least two trigger switches (2a, 2b) are provided which are connected to a second monitoring device (11) or to the control device (4).
  10. Device according to Claim 9, characterised in that the control device (4) is constructed so as to monitor a predetermined second time interval between the actuation of at least two trigger switches (2a, 2b).
  11. Device according to Claim 10, characterised in that the predetermined second time interval can be input into the programmable device (5).
  12. Device according to Claim 9, characterised in that the second monitoring device only emits a release signal to the control device (4) when a predetermined second time interval is observed between the actuation of at least two trigger switches (2a, 2b).
  13. Device according to any one of Claims 10 to 12, characterised in that this second time interval is 0.4 to 0.8 seconds.
  14. Device according to any one of Claims 10 to 13, characterised in that the at least two trigger switches are mounted on adjacent individual lifting-tilting devices which can be moved upwards independently of one another until the lift delimitation switch (12a, 12b) is actuated after the sending of a release signal.
  15. Device according to any one of Claims 1 to 14, characterised in that the control device (4) interrupts the lowering of the refuse container at a predetermined reference height; and in that a second manual actuating device (9) is provided by means of which the complete lowering of the container can be controlled manually.
  16. Device according to Claim 15, characterised in that the lifting-tilting device (1, 1a, 1b) actuates the lift delimitation switch (12, 12a, 12b) at the predetermined reference height.
EP92110097A 1991-08-30 1992-06-16 Device for emptying containers Expired - Lifetime EP0529219B1 (en)

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DE4128955 1991-08-30
DE4128955A DE4128955C1 (en) 1991-08-30 1991-08-30

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JP (1) JP3333240B2 (en)
KR (1) KR100228232B1 (en)
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JPH09156707A (en) * 1995-12-06 1997-06-17 Fukuoka Subaru Jidosha Kk Method of throwing garbage into garbage collector, garbage throwing-in device for garbage collector, and garbage collector
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KR102041201B1 (en) * 2019-06-21 2019-11-27 김성기 Food garbage pickup device

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DE2847259A1 (en) * 1978-10-31 1980-05-08 Zoeller Kipper LIFT-TILT OR TILT DEVICE FOR EMPTYING CONTAINERS OF DIFFERENT SIZES
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DE3405997C2 (en) * 1984-02-20 1987-01-08 Zöller-Kipper GmbH, 6500 Mainz Device for emptying containers, in particular waste containers into collection containers
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DE3910660A1 (en) * 1989-04-03 1990-10-04 Zoeller Kipper SAFETY SWITCH ARRANGEMENT FOR LIFTING OR TILTING DEVICES

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TR26165A (en) 1995-02-15
ES2071381T3 (en) 1995-06-16
HU9202783D0 (en) 1992-12-28
CZ285163B6 (en) 1999-05-12
EP0529219A2 (en) 1993-03-03
HU215865B (en) 1999-03-29
PL295765A1 (en) 1993-05-04
KR930004166A (en) 1993-03-22
SI9200175A (en) 1993-03-31
YU48493B (en) 1998-09-18
IE67326B1 (en) 1996-03-20
CZ211992A3 (en) 1993-03-17
CA2077174A1 (en) 1993-03-01
SK279434B6 (en) 1998-11-04
DE4128955C1 (en) 1992-11-05
RU2087395C1 (en) 1997-08-20
YU75892A (en) 1995-10-03
EP0529219A3 (en) 1993-05-19
JP3333240B2 (en) 2002-10-15
CA2077174C (en) 1997-12-02
JPH05208704A (en) 1993-08-20
US5322407A (en) 1994-06-21
ATE121700T1 (en) 1995-05-15
SI9200175B (en) 2001-02-28
DE59202017D1 (en) 1995-06-01
ZA926521B (en) 1993-04-28
PL169945B1 (en) 1996-09-30
SK211992A3 (en) 1995-02-08
KR100228232B1 (en) 1999-11-01
IE922554A1 (en) 1993-03-10
AU656788B2 (en) 1995-02-16
AU2068792A (en) 1993-03-04
HUT61942A (en) 1993-03-29

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