EP3067163B1 - Vorrichtung und verfahren zur müllabfuhr und/oder behandlung - Google Patents

Vorrichtung und verfahren zur müllabfuhr und/oder behandlung Download PDF

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Publication number
EP3067163B1
EP3067163B1 EP16159787.7A EP16159787A EP3067163B1 EP 3067163 B1 EP3067163 B1 EP 3067163B1 EP 16159787 A EP16159787 A EP 16159787A EP 3067163 B1 EP3067163 B1 EP 3067163B1
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EP
European Patent Office
Prior art keywords
accessory
rotation
axis
unit
command
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English (en)
French (fr)
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EP3067163A1 (de
Inventor
SANTAROSSA Danilo
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Jurop SpA
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Jurop SpA
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
    • E03F7/10—Wheeled apparatus for emptying sewers or cesspools
    • E03F7/106—Accessories, e.g. hose support

Definitions

  • the present invention relates to the field of manufacturing fixed or movable apparatus that can be used for waste collection and/or treatment in the semi-solid, muddy, liquid or gaseous state.
  • the present invention relates to an apparatus for waste collection and/or treatment comprising a group of accessories for guiding and supporting pipes.
  • a tank truck comprises a vehicle on the frame of which a tank and a series of devices are mounted, designed for loading/unloading said products.
  • a tank truck typically comprises a suction assembly, through which the vacuum (pressure lower than the atmospheric) inside the tank is formed, and a high-pressure hydraulic pump typically used for generating a flow useful for washing the site of interest and/or for the fluidization of the products to be loaded.
  • a tank truck is provided with a main pipe, called suction pipe, through which the tank is connected to the site (basin, storm drain, sump, etc.) where the waste to be loaded is.
  • the pressure difference in addition to the airflow generated by the suction assembly allows filling the tank.
  • the main pipe is normally guided and supported by a revolving arm installed on the tank. According to known embodiments, opposite pairs of rollers can be installed on such an arm, between which the suction pipe is slidably inserted.
  • a tank truck also comprises a washing/fluidization pipe connected to the outlet of the high-pressure hydraulic pump and comprising a dispensing nozzle.
  • a washing pipe whose diameter is typically smaller than the suction pipe, is wound on a winding device, referred to as hose reel.
  • hose reel is rotatable about a vertical axis of rotation and is also referred to as " swivel hose reel " .
  • the movement of the suction pipe is controlled totally independently of that of the washing/fluidization pipe.
  • the two pipes are moved by an operator who decides the movement order, the movement speeds and the final positions for the two pipes.
  • the operator is faced with the need to rotate the two accessories so that the pipes associated with them are both in the vicinity of the site where the waste is. It is therefore clear that the accuracy and speed with which the two accessories are positioned, or ultimately, the intervention time and cost, only depend on the operator's skill and attention.
  • the operator only if particularly capable, in an attempt to reduce the intervention times, can move the two accessories (trunk arm and hose reel) simultaneously by actuating two different control devices that are electrically and mechanically independent.
  • the trunk arm and the hose reel are mechanically connected, such as by means of a Cardan shaft. It follows that the rotation of one of the two accessories determines a corresponding rotation of the other accessory, either synchronous or discordant, depending on the configuration of mechanical transmission.
  • the stiffness of the mechanical connection makes the group of accessories consisting of hose reel and trunk operationally little versatile since it can actually be used only where there are no obstacles and/or hindrance to the rotation of one and/or both accessories. In other words, in all those situations where it is not physically possible to move the hose reel, for example due to the presence of another vehicle, a wall or any other obstacles alongside the tank truck, the technical solution at issue cannot be used.
  • the main task of the present invention is to provide an apparatus for waste collection and/or treatment that allows overcoming the drawbacks described above.
  • a primary object of the present invention is to provide an apparatus that is extremely versatile, from an operational point of view, i.e. which can be used regardless of the presence of obstacles near the apparatus.
  • Another object of the present invention is to provide an apparatus provided with a group of accessories that can be positioned quickly and safely.
  • an object of the present invention is to provide an apparatus that is reliable and easy to be implemented in a cost-effective manner.
  • the present invention relates to an apparatus for waste collection and/or treatment comprising a group of accessories for guiding and supporting at least a first pipe and at least a second pipe.
  • the group comprises at least a first accessory, rotatable about a first axis of rotation, and a second accessory, rotatable about a second axis of rotation substantially parallel to said first axis of rotation.
  • the two axes of rotation keep a fixed position with respect to each other during the rotation of the first and/or the second accessory.
  • the group further comprises first actuating means configured to rotate the first accessory about the first axis of rotation and second actuating means configured to rotate the second accessory about the second axis of rotation.
  • the group according to the invention further comprises a first position sensor operatively associated with the first accessory and configured to detect the angular position of said first accessory.
  • the group also comprises a second position sensor operatively associated with the second accessory and configured to detect the angular position of the second accessory.
  • the apparatus according to the invention comprises a control and command unit connected to the actuating means of the two accessories and to said sensors.
  • the unit is configured to control and command the actuating means according to at least a first operating configuration in which the unit itself commands the actuating means of one of said accessories as a function of the angular position detected by the sensor operatively associated with the other of said accessories.
  • the first configuration of the control unit allows a synchronous rotation of the two accessories, and more precisely, the rotation is determined in terms of position and speed, by the rotation of the other.
  • the synchronism of the two accessories allows obtaining a faster and more accurate positioning of the two accessories, with the advantage of a reduction of the intervention times and irrespective of the operator's skills.
  • control and command unit is configured to control and command the actuating means of the two accessories also according to a second operating configuration.
  • the unit commands the actuating means of the first accessory independently of the actuating means of the second accessory.
  • the apparatus further comprises switching means for switching the unit to the first operating configuration or to the second operating configuration.
  • This further aspect of the invention allows having an apparatus in which the group of accessories is particularly versatile; in the context of use of the apparatus, if for example an obstacle is encountered which prevents or limits the rotation of one of the two accessories, an operator may advantageously intervene on the switching means for switching the control and command unit to the second operating configuration in order to rotate, for example, only the accessory that is actually free to move.
  • the apparatus for waste collection and/or treatment is generically indicated with reference numeral 3 and comprises a group of accessories for guiding and/or supporting pipes, in general indicated with reference numeral 1.
  • the apparatus according to the invention may be installed on a movable vehicle, such as a tank truck.
  • apparatus 3 comprises a tank 2 on whose back portion the group of accessories 1 is installed.
  • the apparatus may not necessarily be installed on a moving vehicle.
  • Group 1 comprises at least a first accessory 10 for guiding and supporting a first pipe 11 and at least a second accessory 20 for guiding and supporting a second pipe (not shown in the figures).
  • the first accessory 10 defines a prevailing extension direction 301.
  • the second accessory 20 defines a second prevailing extension direction 302.
  • the term " prevailing extension direction " of an accessory indicates a direction in which the accessory extends in a prevailing manner with respect to the others.
  • the prevailing extension direction 301 of the first accessory 10 is indicated by the expression “ first extension direction 301 "
  • the prevailing extension direction 302 of the second accessory 20 is indicated by the expression “ second extension direction 302 " .
  • the first accessory 10 is rotatable about a first axis of rotation 101 while the second accessory 20 is rotatable about a second axis of rotation 102.
  • the two axes of rotation 101 and 102 are parallel to each other and substantially vertical.
  • the two axes of rotation 101, 102 are independent during the rotation of one or both accessories 10, 20.
  • the first axis of rotation 101 and the second axis of rotation 102 do not change their position in space during the rotation of one or both accessories 10, 20.
  • the rotation of the first accessory 10 does not affect the position of the second axis of rotation 102 and similarly, the rotation of the second accessory 20 does not cause any change in the spatial position of the first axis of rotation 101.
  • Figures 1 and 2 illustrate a possible, and thus non-exclusive, embodiment of the first accessory 10 and of the second accessory 20.
  • the first accessory 10 is defined by an arm having a first rectilinear portion 10' and a second arched portion 10" which imparts a typical configuration called " trunk " to the arm itself.
  • the first accessory 10 mainly extends along direction 301 in which the rectilinear portion 10' extends.
  • means 16 for containing and guiding the first pipe 11 may be installed on the upper part of the trunk arm.
  • such a pipe 11 may coincide with a suction pipe which may be connected to tank 2 for the suction of the material to be collected into the tank itself.
  • the second accessory 20 comprises a hose reel 26, i.e. a substantially drum-shaped body around which a second pipe (not shown) is wound.
  • a second pipe consists of a hose which may be connected to the outlet of a hydraulic pump for the high-pressure washing of the site where the waste is and/or for the fluidization of the waste itself.
  • Apparatus 3 comprises a first frame 17 supporting the first accessory 10 and defining the first axis of rotation 101. Therefore, the expression “first frame 17 " generically indicates the group of components configured to support the first accessory 10 and to define the first axis of rotation 101 as well as the position of the same.
  • the first frame 17 comprises at least one connecting portion 19 for connecting the first accessory 10 to the tank 2.
  • Apparatus 3 also comprises a second frame 27 supporting the second accessory 27 and defining the second axis of rotation 102.
  • the second accessory 20 comprises a support body 27" supporting the hose reel itself.
  • the hose reel 26 is rotatably mounted to the support body 27" so as to rotate about a further axis 103 that is substantially orthogonal to the second axis of rotation 102 and thus to the first axis of rotation 101.
  • the hose reel 26 and the support body 27" are thus parts of the second accessory 20. Also the latter extends along a prevailing extension direction 302 which substantially coincides with the prevailing extension direction of the support body 27".
  • the support body 27" can be provided with means that allow changing/adjusting its extension along the prevailing extension direction 302.
  • the support body 27" is connected to the second frame 27 by means of connecting means defining the second axis of rotation 102.
  • the second frame 27 comprises two support portions 17" rigidly connected to the first frame 17.
  • the two support portions of the second frame 27 may be directly connected to tank 2.
  • the second accessory 20 would be connected to the tank 2 by the second frame 27, similarly to what provided for the first accessory 10.
  • the position of the second frame 27 may be varied so as to adjust, according to the needs, the position of the second axis of rotation 102 with respect to the first axis of rotation 101.
  • group 1 according to the present invention comprises first actuating means 14 configured to rotate the first accessory 10 about the first axis of rotation 101 and second actuating means 24 configured to rotate the first accessory 20 about the second axis of rotation. More precisely, the first actuating means 14 and the second actuating means 24 rotate the respective accessories 10, 20 with respect to apparatus 3 which keep a fixed position during the rotation (therefore, with respect to the first frame 17, to the second frame 27 and to tank 2).
  • the first and/or the second actuating means 14, 24 preferably consist of hydraulic actuators of the type normally used in the field. Alternatively, electric actuators may also be used.
  • the first actuating means 14 comprise a hydraulic motor (either electric or pneumatic) moving a worm screw. The latter engages with a motion fifth wheel coaxial to the first axis of rotation 101 and mechanically connected to the first accessory 10 so that the rotation of the worm screw translates into a corresponding rotation of the first accessory 10.
  • the second actuating means 24 have a configuration substantially similar to that of the first actuating means 14 just described.
  • FIG. 1 is a block diagram of a group 1 according to the present invention which comprises a first position sensor 12 configured to detect the angular position of the first accessory 10 and a second position sensor 22 configured to detect the angular position of the second accessory 20. Therefore, each of said sensors 12, 22 is operationally associated with a corresponding accessory 10, 20.
  • angular position means the angle between the extension direction 301, 302 of each accessory 10, 20 and a direction parallel to a reference direction 401 of a reference system associated with, for example, the first axis of rotation 101 of the first accessory 10.
  • the first sensor 12 and the second sensor 22 may consist each of an absolute multi-turn encoder that is installed on the shaft of the hydraulic motor (electric or pneumatic) of the corresponding actuating means 14, 24.
  • the position sensors 12, 22 may consist of a single-turn encoder attached to the axis of rotation 101, 102 of the corresponding accessory 10, 20.
  • the actuating means 14, 24 comprise each a hydraulic motor (electric or pneumatic)
  • the axis of each motor may be connected to a toothed wheel with two inductive sensors configured to detect the teeth and the slots of the same wheel in a non-synchronized manner. The square wave generated by the two inductive sensors will not be in phase, and thus the pulse count will provide the position, while the phase difference between the two waves will provide the direction of rotation of the corresponding accessory.
  • group 1 comprises a control and command unit 50 for controlling and commanding the first actuating means 14 and the second actuating means 24. Therefore, unit 50 is connected to said actuating means 14, 24 and also to the position sensors 12, 22. The latter have the function of sending a signal to unit 50 which is characteristic of the angular position reached by the first accessory 10 and by the second accessory 20, respectively.
  • each sensor 12, 22 provides unit 50 with the exact angular position of the corresponding accessory 10, 20 using, for example, a CAN Open protocol.
  • the unit 50 is preferably configured to continuously store the data provided by sensors 12, 22 even if group 1 is switched off.
  • unit 50 controls and commands the actuating means 14, 24 of the two accessories 10, 20 according to at least a first operating configuration for which the actuating means of one of the two accessories 10, 20 (hereinafter also referred to as “ driven accessory ”) are commanded as a function/on the basis of the angular position of the other accessory 10, 20 (hereinafter also referred to as “driving accessory ”) detected by the corresponding position sensor 12, 22.
  • the control of one of the two accessories 10, 20 in terms of angular position and speed, is carried out autonomously by unit 50 on the basis of a parameter (angular position) that is characteristic of the other accessory ( driving accessory ).
  • a parameter angular position
  • the movement of the two accessories 10, 20 takes place synchronously irrespective of the operator's skill and to the advantage of the intervention times, which can advantageously be contained.
  • control unit 50 is configured to control the actuating means 14, 24 of accessories 10, 20 also according to a second configuration for which the first actuating means 14 are controlled independently by the second actuating means 24.
  • each accessory 10, 20 rotates about the corresponding axis of rotation 101, 102 totally independently of the other.
  • the command unit 50 can command the rotation of one of the two accessories 10, 20, without providing any command to the other accessory, which can thus remain stationary (to this end, reference shall be made to figures 13 and 14 discussed hereinafter).
  • unit 50 may also command a simultaneous rotation of the two accessories 10, 20, but in terms of position and speed the two rotations are totally independent.
  • group 1 comprises switching means 40 connected to unit 50 for switching the same to the first operating configuration or to the second operating configuration.
  • switching means 40 are accessible to an operator who, depending on the needs, may decide which configuration unit 50 should be switched to. For example, if there is an obstacle that potentially prevents the free rotation of one of accessories 10, 20, the operator may decide, for example, to switch unit 50 to the second configuration. Alternatively, if there are not hindrances, the operator may switch unit 50 to the first operating configuration to obtain a substantially synchronous rotation of the two accessories 10, 20 and thus a reduction in the intervention times.
  • group 1 comprises first command means 61 and second command means 62, both accessible to an operator.
  • Such command means 61, 62 are provided for commanding the first accessory 10 and the second accessory 20, respectively.
  • they are connected to unit 50 to provide a command signal as a result of which the unit itself commands the rotation of the corresponding accessory 10, 20.
  • Unit 50 and/or the switching means 40 and/or the command means 61, 62 may be integrated into a control panel which may be installed on the apparatus for which group 1 is intended.
  • unit 50 and/or the switching means 40 and/or the command means 61, 62 may be integrated into a portable device 8 (such as a wired push-button panel or a remote control) available to the operator.
  • the switching means 40 and/or the command means 61, 62 may also comprise one or more switching elements, in the form of a key, a lever or any other functionally equivalent type.
  • Unit 50 is configured to command, when switched to said second operating configuration, the first actuating means 14 and the second actuating means 24 of group 1 as a function of the control signals sent by the first command means 61 and by the second command means 62, respectively.
  • Such command signals are thus determined by an operator's intervention.
  • the operator in the second operating configuration, the operator can activate the command means 61, 62 also simultaneously since the unit recognizes and manages the command signals independently.
  • unit 50 when unit 50 is switched to the first operating configuration, it commands the actuating means of one of the two accessories 10 or 20 ( driving accessory ) as a function of the command signal sent by the corresponding command means 61 or 62, while it commands the actuating means of the other accessory 20 or 10 ( driven accessory ) on the basis of a signal from sent by the position sensor 12 or 22 associated with the (driving) accessory commanded by means of the corresponding command means. Therefore, according to the present invention, unit 50 is configured to autonomously provide a command signal to the command means of the accessory that is not directly commanded by the operator.
  • the expression " operatively associated with an accessory" generically means that a command means and/or a sensor are provided for providing a command signal and/or for detecting a parameter referred to that accessory, respectively.
  • the accessory commanded by a command means is also referred to as “ driving accessory”, while that autonomously commanded by unit 50 by the expression " driven accessory ".
  • unit 50 can be configured in such a way that in the first operating configuration, the rotation of the driven accessory may be simultaneous or alternatively delayed with respect to that of the driving accessory.
  • the operator depending on the needs, may intervene on the first command means 61 or on the second command means 62.
  • unit 50 is configured so as to recognize as driving accessory that corresponding to the first command signal received. Therefore, in said first operating configuration, if for example unit 50 first receives the command signal sent through the first means 61, the unit itself excludes the command through the second means 62, and vice versa.
  • the first accessory 10 is schematically shown with a continuous line having an extension/length L measured along the first extension direction 301 (dashed with a point-dash line).
  • the second accessory 20 is schematically shown with a continuous line having an extension/length L N measured along the second extension direction 302 (dashed with a point-dash line).
  • the symbol a indicates the angular position taken by the first accessory 10 with respect to a first reference direction 401 of a reference system centered on the axis of rotation 101.
  • the symbol ⁇ indicates the angular position of the second accessory 20 with respect to a direction 402 intersecting the axis of rotation 102 of the same and parallel to said first reference direction 401. The angular position a is therefore detected by the first sensor 11, while the angular position ⁇ is detected by the second sensor 22.
  • unit 50 calculates the angular position to be reached by the driven accessory on the basis of the instantaneous angular position of the driving accessory (detected by the sensor associated with the driving accessory). More precisely, the position of the driving accessory is calculated by a predetermined formula. On the basis of such a calculation, unit 50 then sends a command signal to the actuating means of the driven accessory after which they rotate the accessory itself up to reaching the calculated angular position.
  • unit 50 Upon reaching the desired angular position for the driven accessory, unit 50 sends a rotation stop signal to the actuating means of the driven accessory. According to the invention, unit 50 is configured to continuously recalculate the angular position and the speed of driven accessory so as to maintain the synchronism of the system formed by the two accessories 10, 20.
  • Figures 11 to 14 are plan views of group 1 shown in Figures 1 and 2 and are intended to clarify the possible applications of group 1 according to the present invention.
  • figure 11 is a plan view showing group 1 in a reference mode corresponding to a minimum footprint configuration.
  • the two accessories 10, 20 (trunk arm 10 and swivel hose reel 20 in figures 1 and 2 ) occupy each the position most adjacent to the rear side of tank 2 (dashed), i.e. to the apparatus on which group 1 is installed.
  • each accessory 10, 20 is shown with the relative extension direction 301, 302.
  • Figure 12 refers to a condition for which the second accessory 20 (swivel hose reel) rotates synchronously with the first accessory 10 (trunk arm).
  • This condition can be achieved by switching unit 50 to the first operating configuration and subsequently commanding the rotation of the first accessory 10 by means of the corresponding first command means 61.
  • unit 50 recognizes the first accessory 10 as " driving accessory " and proceeds to calculate the angular position ⁇ of the second accessory 20, which is recognized as " driven accessory ".
  • the angular position a of the first accessory 10 is thus determined directly by the intervention of an operator on the first command means 61, while the second angular position ⁇ is calculated and commanded independently by the command and control unit 50, preferably on the basis of formula [1] shown and discussed hereinafter.
  • Figures 13 and 14 refer to two possible applications of group 1 allowed when unit 50 is switched to the second operating configuration.
  • the second accessory 20 (swivel hose reel) is rotated with respect to the reference position ( Figure 11 ), while the first accessory 10 (trunk arm) keeps the reference position.
  • the second accessory 20 takes an angular position ⁇ with respect to a direction 402 intersecting the axis of rotation 102 thereof and parallel to the reference direction 401.
  • Such an angular position ⁇ is determined by the operator's intervention who commands, through the second command means 62, the rotation of the second accessory 20 after switching, through the switching means 40, unit 50 to the second operating configuration, i.e. after having made the rotations of the two accessories 10, 20 independent.
  • the first accessory 10 (trunk arm) is rotated with respect to the reference position ( Figure 11 ), while the second accessory 20 (swivel hose reel) keeps the reference position.
  • the first accessory 10 takes an angular position a with respect to a reference direction 401.
  • Such an angular position a is determined by the operator's intervention who commands, through the first command means 62, the rotation of the first accessory 10 after switching, through the switching means 40, unit 50 to the second operating configuration.
  • parameters A and B depend on the installation conditions.
  • such parameters may be constants for formula [1].
  • parameter B for example, could represent a variable if the second accessory 20 was made movable, as in the diagram in figure 4 discussed hereinafter.
  • parameter L depending on the installation, may be a constant or a variable, as shown hereinafter in the comments to the schemes in Figures 7 and 8 .
  • unit 50 continuously recalculates the value of the angular position ⁇ of the second accessory 20 on the basis of formula [1] above, suitably adjusting the rotation speed of the second accessory 20 to the first accessory 10. In this case, therefore, the control unit 50 recognizes the first accessory 10 as driving accessory and the second accessory 20 as driven accessory.
  • unit 50 continuously recalculates the value of the angular position ⁇ of the second accessory 10 on the basis of formula [1] above and adjusting the rotation speed of the first accessory 20 to that of the second accessory 20 commanded by the operator.
  • the first accessory 10 and the second accessory 20 will be recognized as driven accessory and driving accessory, respectively.
  • the command and control unit 50 actually calculates an angular position ⁇ for the second accessory 20 (swivel hose reel in figure 12 ) such that the intersection between the second extension direction 302 and the first extension direction 301 coincide with end 111 of length L of the first accessory 10 (trunk arm in figure 12 ). From the operative point of view, this condition results in an alignment of pipes 11, 21 associated with the two accessories 10, 20 which allows an operator to easily arrange both at the waste collection sump/basin or the like, with considerable advantages in terms of practicality. More precisely, when the two accessories 10, 20 rotate synchronously according to formula [1], then the ends of the pipes associated with the two accessories 10 and 20 are advantageously aligned along a direction substantially corresponding to the second extension direction of the second accessory 20.
  • Figure 4 is a block diagram of a second possible embodiment of the present invention, which substantially differs from that in Figure 3 in that the position of the axis of rotation 102 of the second accessory 20 is adjustable/variable with respect to that of the axis of rotation 101 of the first accessory 10.
  • group 1 comprises displacement means 200 configured to change/adjust the position of the axis of rotation 102 in question between at least a first predetermined position (indicated by reference numeral 81) and a second predetermined position (indicated by reference numeral 82).
  • figure 16 is a plan view of a group 1 according to the invention in which the two accessories 10, 20 are configured as in the example shown in figures 1 and 2 (trunk arm and swivel hose reel, respectively).
  • reference numeral 205 indicates guiding means for displacing the second accessory 20 (swivel hose reel) between the two predetermined positions 81, 82.
  • the second accessory 20 is shown with a continuous line in the first predetermined position 81 and with a dashed line in the second predetermined position 82.
  • the displacement means 200 may be configured to displace the axis of rotation 102 of the second accessory 20 to any position along a displacement direction 201 between two predetermined positions 81, 82.
  • group 1 is provided with further command means 65, accessible to an operator for commanding the displacement means 200.
  • Such further command means 65 are connected to unit 50 so that the same directly commands the displacement means 200.
  • the latter may be commanded directly by the further command means 65 without the interface of unit 50.
  • further position sensor means 54 are provided, connected to unit 50 and configured to send a signal characteristic of the actual position of the axis of rotation 102 of the second accessory 20 to the unit itself.
  • unit 50 is configured to command, in said second operating configuration, a rotation in a direction according to or discordant with the rotation of the second accessory 20 according to the signal sent by the sensor means 54.
  • unit 50 may be configured to determine the direction of rotation of the second accessory 20 as a function of the predetermined position actually reached by the axis of rotation.
  • unit 50 is configured to determine the direction of rotation of the second accessory 20 as a function of the actual distance taken by the axis of rotation 102 thereof with respect to a reference position coincident, for example, with the position of the axis of rotation 101 of the first accessory 10.
  • unit 50 is configured to command, in said first operating configuration, a rotation of the second accessory 20 according to that of the first accessory 10 if the actual distance between the two axes of rotation 101, 102 is smaller than a predetermined value, discordant if such a value is greater than said predetermined threshold.
  • unit 50 is preferably configured to calculate the angular position ⁇ of the second accessory 20 according to formula [1] above and to command a rotation according to that of the first accessory 10 if the relation B ⁇ U2 is satisfied, in which parameters B and L coincide with those defined for formula [1].
  • unit 50 is also configured to command a rotation of the second accessory 20 discordant with that of the first accessory 10 if the following relationship is satisfied: B>L/2.
  • the predetermined minimum value ⁇ m indicates the first position in which the alignment of the ends of the pipes associated with accessories 10, 20 can be actually obtained, if the angular position ⁇ of the second accessory 20 is null.
  • Figure 7 is a diagram of a third possible embodiment of a group 1 which differs from that shown in Figure 3 in that the first accessory 10 is configured so as to extend along the first extension direction 301.
  • the trunk arm (first accessory 10) of group 1 shown in figures 1 and 2 may also be configured as telescopic.
  • group 1 therefore comprises third actuating means 34 configured to change the extension of the first accessory 10 along the first extension direction 301.
  • group 1 comprises third command means 63 operationally associated with the first accessory 10 to command the extension of the same. Also such third command means 63 are connected to unit 50, to which said third actuating means 34 are also connected.
  • group 1 also preferably comprises a first length sensor 32 connected to unit 50 and configured to detect the variation in the extension of the first accessory 10 along the first prevailing extension direction 301.
  • unit 50 is preferably configured to calculate the angular position of the second accessory 20 as a function of the angular position detected by sensor 12 operationally associated with the first accessory 10 and according to the actual extension of the first accessory 10 itself detected by the first length sensor 32.
  • unit 50 carries out a control of the second accessory 20 substantially on the basis of a signal sent by the first position sensor 12 and of a further signal sent by the first length sensor 32.
  • unit 50 is configured to calculate the angular position of the second accessory 20 on the basis of formula [1] above, in which L can therefore represent a variable whose value is consistently detected by the third sensor 32.
  • Figure 8 is a diagram of a further possible embodiment of a group 1 which differs from that shown in Figure 7 in that also the second accessory 20 is configured so as to extend along the prevailing extension direction 302 thereof. Still with reference to what is shown in the figures 1 and 2 , also frame 27 of the swivel hose reel 27 (second accessory 20) may be configured in a telescopic manner. According to the diagram in Figure 8 , group 1 therefore comprises fourth actuating means 44 configured to change the extension of the second accessory 20 along the prevailing extension direction 302 and fourth command means 64, operationally associated with the first accessory 10 to command the extension variation thereof. The fourth command means 64 are connected to unit 50, to which the fourth actuating means 34 are also connected.
  • group 1 also preferably comprises a second length sensor 42 connected to unit 50 and configured to detect the variation in the extension of the second accessory 20 along the second extension direction 302.
  • unit 50 is further configured to control a variation in the extension, along the corresponding extension direction 301 or 302, of accessory 10 or 20 installed in an upper position as a function of the actual length of accessory 20 or 10 installed in a lower position, wherein the upper and lower positions are evaluated with respect to a substantially vertical reference direction.
  • figure 9 is a diagram related to the embodiment shown in figures 1 and 2 in which the trunk arm (first accessory 10) is installed at a height H1 (upper position), while the second accessory 20 is installed at a height H2 (lower position) with respect to a horizontal reference plane 500.
  • reference numeral 550 indicates a waste collection basin.
  • unit 50 By calculating the angular position ⁇ of the second accessory 20 according to formula [1] above, unit 50 synchronizes the rotation of the two accessories so as to obtain an operating condition for which pipes 11, 21 (dashed in Figure 9 ) associated with the two accessories 10, 20 are both in the vicinity of the waste collection basin 550.
  • unit 50 actually prevents the collision of the two pipes 11, 21 since pipe 11 associated with the first accessory 10 (such as the suction tube associated with the trunk arm, in the embodiment in figures 1 and 2 ) will always be ahead with respect to pipe 21 associated with the second accessory 20 (washing pipe associated with the swivel hose reel, to continue with the example).
  • the "advance" condition is evaluated along the extension direction 302 of the second accessory 20.
  • the present invention also relates to a method for controlling a group of accessories for guiding and supporting pipes of an apparatus for waste collection and/or treatment. More precisely, the method according to the invention includes at least the following steps:
  • the control described in steps b), c) and d) is carried out by the command and control unit 50.
  • the method according to the invention provides for calculating the angular position ⁇ of said second accessory 20 through formula [1] above.
  • the method according to the invention therefore provides for detecting the distance between the axes of rotation of the two accessories and rotating the second accessory 20 according to said first accessory 10 if the relation B ⁇ U2 is satisfied, and discordant if the relation B>L/2 is verified, in which B indicates the distance between said axes of rotation 101, 102 detected along a first reference direction 401 and in which L is the extension of said first accessory 10 along said first extension direction 301.
  • the method further provides the steps of:
  • the apparatus and the method thus conceived allow achieving the tasks and objects set.
  • the group of accessories of the apparatus make it particularly versatile and easy to use, irrespective of the presence of obstacles adjacent to the working area.
  • the positioning of the apparatus accessories is quick and safe.

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Claims (15)

  1. Vorrichtung (3) zur Abfallsammlung und/oder -behandlung, mit einer Gruppe (1) aus Zubehöreinrichtungen zum Führen und/oder Tragen eines ersten Rohres (11) und eines zweiten Rohres, wobei die Gruppe (1) zumindest umfasst:
    - eine erste Zubehöreinrichtung (10), die das erste Rohr (11) führt und trägt, wobei die erste Zubehöreinrichtung um eine erste Rotationsachse (101) rotierbar ist;
    - ein erstes Betätigungsmittel (14), das derart konfiguriert ist, die erste Zubehöreinrichtung (10) um die erste Rotationsachse (101) zu drehen;
    - eine zweite Zubehöreinrichtung (20), die das zweite Rohr führt und trägt, wobei die zweite Zubehöreinrichtung (20) um eine zweite Rotationsachse (102) drehbar ist, die im Wesentlichen vertikal und parallel zu der ersten Rotationsachse (101) liegt, wobei die zweite Rotationsachse (102) in einem Raum in Bezug auf die erste Rotationsachse (101) zumindest während der Rotation der ersten Zubehöreinrichtung (10) und/oder der zweiten Zubehöreinrichtung (20) fixiert ist;
    - ein zweites Betätigungsmittel (24), das derart konfiguriert ist, die zweite Zubehöreinrichtung (20) um die zweite Rotationsachse (102) zu drehen,
    dadurch gekennzeichnet, dass sie umfasst:
    - einen ersten Sensor (12), der funktional der ersten Zubehöreinrichtung (10) zugeordnet und derart konfiguriert ist, die Winkelposition der ersten Zubehöreinrichtung (10) zu detektieren, und einen zweiten Sensor (22), der funktional der zweiten Zubehöreinrichtung (20) zugeordnet und derart konfiguriert ist, die Winkelposition der zweiten Zubehöreinrichtung (20) zu detektieren;
    - eine Steuer- und Anweisungseinheit (50), die mit dem Betätigungsmittel (14, 24) und den Sensoren (12, 22) verbunden ist, wobei die Einheit (50) derart konfiguriert ist, das Betätigungsmittel (14, 24) gemäß zumindest einer ersten Betriebskonfiguration zu steuern und anzuweisen, in der die Einheit (50) das Betätigungsmittel von einer der Zubehöreinrichtungen (10, 24) als eine Funktion der Winkelfunktion anweist, die von dem Sensor (12, 22) detektiert ist, der der anderen der Zubehöreinrichtungen (10, 20) funktional zugeordnet ist.
  2. Vorrichtung (3) nach Anspruch 1, wobei die Einheit (50) derart konfiguriert ist, dem Betätigungsmittel (24 oder 14) von einer der Zubehöreinrichtungen (20 oder 10) eine Rotation gemäß oder diskordant zu der der anderen der Zubehöreinrichtungen (10 oder 20) als eine Funktion der Distanz zwischen den Rotationsachsen (101, 102) anzuweisen, die entlang einer Bezugsrichtung (401) bewertet sind.
  3. Vorrichtung (3) nach einem der Ansprüche 1 oder 2, wobei die Einheit (50) derart konfiguriert ist, das Betätigungsmittel (14, 24) gemäß zumindest einer zweiten Betriebskonfiguration zu steuern und anzuweisen, in der die Einheit (50) das erste Betätigungsmittel (14) unabhängig von dem zweiten Betätigungsmittel (24) anweist, wobei die Gruppe (1) ein Schaltmittel (40) zum Schalten der Einheit (50) in die erste Betriebskonfiguration oder die zweite Betriebskonfiguration umfasst.
  4. Vorrichtung (3) nach einem der Ansprüche 1 bis 3, wobei die Gruppe (1) ein erstes Steuermittel (61), das funktional der ersten Zubehöreinrichtung (10) zugeordnet ist, und ein zweites Anweisungsmittel (62) umfasst, das funktional der zweiten Zubehöreinrichtung (20) zugeordnet ist, wobei das erste Anweisungsmittel (61, 62) und das zweite Anweisungsmittel (62) mit der Einheit (50) verbunden sind und ein Anweisungssignal an die Einheit (50) zur Rotation der ersten Zubehöreinrichtung (10) bzw. zur Rotation der zweiten Zubehöreinrichtung (20) senden.
  5. Vorrichtung (3) nach Anspruch 3, wobei die Einheit (50) derart konfiguriert ist, dass sie:
    - das erste Betätigungsmittel (14) und das zweite Betätigungsmittel (24), wenn sie in die zweite Betriebskonfiguration geschaltet ist, als eine Funktion der Steuersignale anweist, die von dem ersten Anweisungsmittel (61) bzw. dem zweiten Anweisungsmittel (62) gesendet sind;
    - das Betätigungsmittel von einer der Zubehöreinrichtungen (10 oder 20), wenn sie in die erste Betriebskonfiguration geschaltet ist, als eine Funktion des Anweisungssignals anweist, das von dem Anweisungsmittel (61 oder 62) gesendet ist, das der einen der Zubehöreinrichtungen (10 oder 20) zugeordnet ist, und das Betätigungsmittel der anderen Zubehöreinrichtung (20 oder 10) auf der Basis eines Signals anweist, das von dem Sensor (12 oder 22) gesendet wird, das der einen der Zubehöreinrichtungen (10 oder 20) zugeordnet ist.
  6. Vorrichtung (3) nach einem der Ansprüche 1 bis 5, wobei die Einheit (50) das Betätigungsmittel von einer der Zubehöreinrichtungen (10, 20) als eine Funktion der Winkelposition, die von dem Sensor (12, 22) detektiert ist, der funktional der anderen der Zubehöreinrichtungen (10, 20) zugeordnet ist, und gemäß der Formel anweist: β = ta n − 1 L ∗ sinα − A L ∗ cosα − B
    Figure imgb0013
     wobei:
    - β die Winkelposition der zweiten Zubehöreinrichtung (20) ist;
    - α die Winkelposition der ersten Zubehöreinrichtung (10) ist;
    - L die Erstreckung der ersten Zubehöreinrichtung (10) entlang der ersten Erstreckungsrichtung (301) der ersten Zubehöreinrichtung (10) ist;
    - B die Distanz, die entlang einer ersten Bezugsrichtung (401) gemessen ist, zwischen der Position der ersten Rotationsachse (101) und der Position der zweiten Rotationsachse (102) ist;
    - A die Distanz, die entlang einer zweiten Bezugsrichtung (402) orthogonal zu der ersten Bezugsrichtung (401) gemessen ist, zwischen der ersten Rotationsachse (101) und der zweiten Rotationsachse (102) ist.
  7. Vorrichtung (3) nach einem der Ansprüche 1 bis 6, wobei die Gruppe (1) ein Verstellmittel (200) umfasst, das derart konfiguriert ist, die Position der zweiten Rotationsachse (102) relativ zu der ersten Rotationsachse (101) zu ändern, wobei die Gruppe (1) ferner ein Sensormittel (54) umfasst, das mit der Einheit (50) verbunden und derart konfiguriert ist, die tatsächliche Position der Rotationsachse (102) Der zweiten Zubehöreinrichtung zu detektieren, wobei die Einheit (50) derart konfiguriert ist, dem Betätigungsmittel (24) der zweiten Zubehöreinrichtung (20) eine Rotation gemäß oder diskordant zu der der ersten Zubehöreinrichtung (10) als eine Funktion der Distanz zwischen den Rotationsachsen (101, 102) anzuweisen, die entlang einer ersten Bezugsrichtung (401) bewertet sind.
  8. Vorrichtung (3) nach Anspruch 7, wobei die Einheit (50) derart konfiguriert ist, dem zweiten Betätigungsmittel (24) der zweiten Zubehöreinrichtung (20) eine Rotation gemäß der der ersten Zubehöreinrichtung (10) anzuweisen, wenn die Beziehung B<L/2 erfüllt ist, und diskordant anzuweisen, wenn die Beziehung B>L/2 erfüllt ist, wobei B die Distanz zwischen den Rotationsachsen (101, 102) bezeichnet, die entlang der ersten Bezugsrichtung (401) berechnet sind, und L die Erstreckung der ersten Zubehöreinrichtung (10) entlang der ersten Erstreckungsrichtung (301) der ersten Zubehöreinrichtung (10) ist.
  9. Vorrichtung (3) nach Anspruch 8, wobei, wenn die Beziehung B<L/2 erfüllt ist, dann die Einheit (50) eine Rotation der ersten Zubehöreinrichtung (10) gemäß der der ersten Zubehöreinrichtung (10) nur dann anweist, wenn die Winkelposition (α) der ersten Zubehöreinrichtung (10) einen vorbestimmten Minimalwert (αm) überschreitet, der berechnet ist mit der Formel: α m = si n − 1 A L
    Figure imgb0014
     wobei A die Distanz zwischen den Rotationsachsen (101, 102) der Zubehöreinrichtungen (10, 20) ist, die entlang einer zweiten Bezugsrichtung (402) orthogonal zu der ersten Bezugsrichtung (401) bewertet sind.
  10. Vorrichtung (3) nach Anspruch 9, wobei, wenn die Beziehung B>L/2 erfüllt ist, dann die Einheit (50) eine Rotation der ersten Zubehöreinrichtung (10) diskordant zu der der ersten Zubehöreinrichtung (10) anweist, bis die folgende Beziehung erfüllt ist: α s = si n − 1 L N sin β s + A L
    Figure imgb0015
     wobei:
    - αs und βs augenblickliche Werte der Winkelposition der ersten Zubehöreinrichtung (10) bzw. der zweiten Zubehöreinrichtung (20) sind;
    - LN die Erstreckung der zweiten Zubehöreinrichtung (20) ist, die entlang der Erstreckungsrichtung (302) der zweiten Zubehöreinrichtung (20) bewertet ist.
  11. Vorrichtung (3) nach einem der Ansprüche 1 bis 10, wobei die Gruppe (1) ein drittes Betätigungsmittel (34) umfasst, das derart konfiguriert ist, die Erstreckung der ersten Zubehöreinrichtung (10) entlang der ersten Erstreckungsrichtung (301) zu ändern, wobei die Gruppe (1) einen ersten Längensensor (32) umfasst, der derart konfiguriert ist, die tatsächliche Erstreckung der ersten Zubehöreinrichtung (10) entlang der ersten Erstreckungsrichtung zu detektieren, und wobei die Einheit (50) in der ersten Betriebskonfiguration die Rotation der zweiten Zubehöreinrichtung (20) als eine Funktion der tatsächlichen Erstreckung der ersten Zubehöreinrichtung (10), die von dem ersten Längensensor (32) detektiert ist, anweist.
  12. Vorrichtung (3) nach Anspruch 11, wobei die Gruppe (1) ein viertes Betätigungsmittel (44) umfasst, das derart konfiguriert ist, die Erstreckung der zweiten Zubehöreinrichtung (20) entlang der zweiten Erstreckungsrichtung (301) zu ändern, wobei die Gruppe (1) einen zweiten Längensensor (42) umfasst, der derart konfiguriert ist, die tatsächliche Erstreckung der zweiten Zubehöreinrichtung (20) entlang der zweiten Erstreckungsrichtung (302) zu detektieren, und wobei, wenn die zweite Zubehöreinrichtung (20) in einer niedrigeren Position als die erste Zubehöreinrichtung (10) installiert ist, die Einheit (50) eine minimale Erstreckung (Lmin) für die erste Zubehöreinrichtung (10) gemäß der Formel berechnet: L min = L N sin β + A sinα + L S
    Figure imgb0016
     wobei:
    - LN die Erstreckung der zweiten Zubehöreinrichtung (20) entlang der zweiten Erstreckungsrichtung (302) ist;
    - α die Winkelposition der ersten Zubehöreinrichtung (10) ist;
    - β die Winkelposition der zweiten Zubehöreinrichtung (20) ist;
    - LS eine Konstante ist.
  13. Verfahren zum Steuern einer Gruppe von Zubehöreinrichtungen zum Führen und Tragen von Rohren einer Vorrichtung zur Abfallsammlung und/oder -behandlung, wobei die Gruppe (1) umfasst:
    - eine erste Zubehöreinrichtung (10) für das erste Rohr (11), wobei die erste Zubehöreinrichtung um eine erste Rotationsachse (101) rotierbar ist;
    - ein erstes Betätigungsmittel (14), das derart konfiguriert ist, die erste Zubehöreinrichtung (10) um die erste Rotationsachse (101) zu drehen;
    - eine zweite Zubehöreinrichtung (20) für das zweite Rohr, wobei die zweite Zubehöreinrichtung (20) um eine zweite Rotationsachse (102) rotierbar ist, die im Wesentlichen parallel zu der ersten Rotationsachse (101) ist, wobei die zweite Rotationsachse (102) in dem Raum in Bezug auf die erste Rotationsachse (101) zumindest während der Rotation der ersten Zubehöreinrichtung (10) und/oder der zweiten Zubehöreinrichtung (20) fixiert ist;
    - ein zweites Betätigungsmittel (24), das derart konfiguriert ist, die zweite Zubehöreinrichtung (20) um die zweite Rotationsachse (102) zu drehen;
    dadurch gekennzeichnet, dass das Verfahren die Schritte umfasst, dass:
    a) die erste Zubehöreinrichtung (10) um die erste Rotationsachse (101) gedreht wird;
    b) die Winkelposition (α) der ersten Zubehöreinrichtung (10) detektiert wird;
    c) die Winkelposition (β) der zweiten Zubehöreinrichtung (20) als eine Funktion der Winkelposition (α) der ersten Zubehöreinrichtung (10) berechnet wird; und
    d) die zweite Zubehöreinrichtung (20) als eine Funktion des Wertes der Winkelposition (β), die für die zweite Zubehöreinrichtung (20) berechnet ist, gedreht wird.
  14. Verfahren nach Anspruch 13, wobei die Winkelposition (β) der zweiten Zubehöreinrichtung (20) durch die Formel berechnet wird: β = ta n − 1 L ∗ sinα − A L ∗ cosα − B
    Figure imgb0017
     wobei:
    - α die Winkelposition der ersten Zubehöreinrichtung (10) ist;
    - L die Erstreckung der ersten Zubehöreinrichtung (10) entlang der ersten Erstreckungsrichtung (301) der ersten Zubehöreinrichtung (10) ist;
    - B die Distanz, die entlang einer ersten Bezugsrichtung (401) gemessen ist, zwischen der Position der ersten Rotationsachse (101) und der Position der zweiten Rotationsachse (102) ist;
    - A die Distanz, die entlang einer zweiten Bezugsrichtung (402) orthogonal zu der ersten Bezugsrichtung (401) gemessen ist, zwischen der ersten Rotationsachse (101) und der zweiten Rotationsachse (102) ist.
  15. Verfahren nach einem der Ansprüche 13 oder 14, wobei die Zubehöreinrichtungen (10, 20) in derselben Richtung rotieren, wenn die Beziehung B<L/2 erfüllt ist, und in einer diskordanten Richtung rotieren, wenn die Beziehung B>L/2 erfüllt ist, wobei B die Distanz zwischen den Rotationsachsen (101, 102) bezeichnet, die entlang der ersten Bezugsrichtung (401) berechnet ist, und L die Erstreckung der ersten Zubehöreinrichtung (10) entlang einer Erstreckungsrichtung (301) der ersten Zubehöreinrichtung (10) ist.
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