Waste disposal vehicle with a lifting and tipping device for picking up and emptying waste containers into a collection chamber of the waste disposal vehicle.

Abstract

Waste disposal vehicle (1) comprising at least one collection compartment (3) with at least one insertion opening (4) and at least one lifting and tilting device (6) associated with the insertion opening (4), for receiving and holding waste containers (5) in order to transfer each waste container into a raised and tilted discharge position with respect to the insertion opening (4) by means of a lifting and tilting movement; wherein the lifting and tilting device (6) comprises: - a movement device comprising at least one pivotable support arm (8) which has a device base attached to a mounting area of ​​the waste collection vehicle;- a mounting device (7) for receiving and holding the disposal containers (5), which has a coupling base (7a) fixedly or pivotably coupled to an end of the support arm (8) located away from the base of the movement device, wherein the mounting device further comprises at least one upper engagement device (10) for positive engagement with an engagement structure (5a) of a disposal container (5) and at least one lower engagement device (30) for positive engagement with an engagement structure (5b) of a disposal container (5), and - a control device associated with the movement device and the mounting device (7);- wherein the upper engagement device (10) has at least one upper receiving element (10) and the lower engagement device (30) has at least one lower receiving element (30), wherein the respective receiving element can be brought into positive engagement with an associated engagement structure of a disposal container by a receiving movement comprising a lifting movement of the holding device (7) in order to prepare for lifting the disposal container (5) by the lifting-tilting device (6); - wherein at least one (10, 30) of the upper and the lower engagement device is provided with at least one associated locking element (20; 40), which in a relative release or rest position with respect to the associated receiving element (10: 30) of the respective engagement device establishes the positive engagement of this receiving element with the associated engagement structure (5a;5b) of the disposal container (5) and allows the release of this positive engagement and secures a positive engagement of the receiving element (10; 30) with the associated engagement structure (5a; 5b) of the disposal container (5) against loosening in a relative securing position with respect to the associated receiving element (10: 30) of the engagement device concerned;- wherein of the at least one upper receiving element of the upper engagement device and the at least one lower receiving element of the lower engagement device, one, preferably the at least one upper receiving element (10), forms at least one stationary receiving element (10) which is firmly connected to the coupling base (7a) and fixed in a stationary position relative to it, and the other, optionally the at least one lower receiving element (30), forms at least one movable receiving element (30) which is movably connected to the coupling base (7a) and is adjustable between a receiving position and a holding or rest position relative to the coupling base (7a) by means of an associated actuator arrangement of the (30a) holding device;characterized in that the mounting device (7) is designed and, together with the movement device, is controllable by or via the control device, to receive and hold waste containers (5) having at least one upper engagement structure (5a) and at least one lower engagement structure (5b) in such a mounting configuration that the at least one upper receiving element (10) of the upper engagement device is in positive engagement with an associated upper engagement structure (5a) of the waste container (5), that the at least one lower receiving element (30) of the lower engagement device is in positive engagement with an associated lower engagement structure (5b) of the waste container (5) and assumes the holding or rest position, and that the at least one locking element (20, 40) assumes the relative locking position with respect to the associated receiving element (10; 30).

Description

The present invention relates generally to so-called disposal vehicles, which are also commonly referred to as refuse collection vehicles or waste collection vehicles, and specifically to a so-called lifting and tilting device for such a disposal vehicle, which serves to receive and hold disposal containers, which depending on their size may also be referred to as waste containers, garbage cans and refuse bins, in order to transfer them into a raised and tilted waste discharge position with respect to an insertion opening of the disposal vehicle. For general technical background, reference is made to DE 20 2017 003 320 U1, DE 10 2004 049 463 B4, DE 10 2021 133 817 A1 and DE 20 2024 106 685 U1. The most common type of waste container, colloquially known as a garbage can, has two wheels. However, garbage cans without wheels of a similar size are also available. Furthermore, waste disposal containers, colloquially known as garbage containers, of one type are common, which have four wheels. These types of waste bins and containers have recessed grips in their upper section that allow them to be picked up and held by a standard lifting and tipping device. These standard lifting and tipping devices typically feature a gripping comb and are designed to pick up, hold, and empty both these types of waste bins and containers into the collection compartment of a waste collection vehicle. Less common are smaller waste containers, colloquially known as garbage cans, which typically also have two wheels but are significantly lower than the previously mentioned garbage cans and waste containers. These smaller waste containers also have gripping structures in an upper area, which in principle also allow them to be picked up and held by a standard lifting and tipping device. In practice, however, this can lead to difficulties and damage to the material of the waste container, as discussed in DE 20 2024 106 658 U1. DE 20 2024 106 658 U1 proposes a technical solution: equipping the lifting and tipping device with an upper gripping device, intended only for the more common taller waste containers, and a lower gripping device, intended only for the less common shorter waste containers.Depending on the height of the respective disposal container, either the upper access device or the lower access device should be used. DOSTA GmbH (27793 Wildeshausen) offers a completely different type of waste container in the form of large collection containers of a so-called "underground waste system for side loader vehicles" under the allegedly protected name SUBWAVE, in the form of a type that is supposed to be compatible with conventional diamond mounts of standard lifting and tipping devices, and in the form of a type that is supposed to be compatible with conventional comb mounts of standard lifting and tipping devices. The type designed for emptying by means of comb-type lifting devices has an upper engagement structure on one side of the container that extends essentially across the entire side. According to a demonstration video available on the DOSTA GmbH website at https: / / www.dosta-consulting.de / videos / , a receiving comb of a mounting device held on a support arm of the lifting and tipping device engages into this upper engagement structure. The lower engagement structure, located further down the side of the container and also extending essentially across the entire side, shows a single receiving tine (or tooth) of the mounting device engaging into this lower engagement structure. This tine is positioned laterally next to a support of the mounting device that extends horizontally over a considerable area of ​​the side of the container and projects upwards beyond this support.It is likely that such a single receiving prong is provided at both ends of the support, extending essentially parallel to the receiving prongs (or receiving teeth) of the receiving comb of the mounting device arranged at a distance above it, and does not appear to be adjustable relative to the receiving comb, at least not by an actuator arrangement assigned to the two isolated receiving prongs next to the support. Since the receiving tines of the upper receiving comb of the mounting device on the one hand and the two isolated lower receiving tines of the mounting device on the other hand are essentially oriented in the same way and are not adjustable relative to each other during operation of the lifting and tipping device, the mounting device must be moved very precisely to the side wall of the disposal container in a well-defined position in which all these receiving tines extend essentially parallel to the side wall having the upper engagement structure and the lower engagement structure, before the mounting direction can then be given an arc-shaped receiving movement comprising a lifting movement.which brings the upper retaining comb into a positive engagement with the upper engagement structure of the container and brings the two spaced-apart lower receiving prongs into a positive engagement with a respective outer engagement section of the lower engagement structure in order to prepare the lifting and tilting movement of the container for its emptying. According to the demonstration video, the large collection container held by the mounting device is locked to the mounting device solely by a movable clamping strip associated with the upper mounting comb, adjustable by an actuator arrangement. This clamping strip secures the upper engagement structure between the mounting tines of the upper mounting comb and the clamping strip. The demonstration video shows that locking the two insulated lower mounting tines to the lower engagement structure by clamping or similar means is not provided for. Alternative large collection containers that can be used in an analogous application scenario as according to the concept of DOSTA GmbH have two separate, spaced-apart lower intervention structures instead of one lower intervention structure that extends essentially continuously across the side of the container. It is an object of the present invention to facilitate the safe and correct manufacture of the positive locking engagement of a holding device of a lifting and tipping device of a waste disposal vehicle, enabling the picking up, lifting and tipping, simultaneously with at least one upper engagement structure provided on one side of a waste disposal container designed as a large collection container and with at least one lower engagement structure provided on the side of the container. To solve this problem, for a waste disposal vehicle which has at least one collection chamber with at least one insertion opening and at least one lifting and tilting device associated with the insertion opening, for receiving and holding waste containers in order to transfer each waste container into a raised and tilted discharge position with respect to the insertion opening by means of a lifting and tilting movement, the following is further proposed: the lifting and tilting device comprises: - a movement device comprising at least one pivotable support arm, which has a device base attached to a mounting area of ​​the waste collection vehicle;- a mounting device for receiving and holding the waste containers, which has a coupling base fixedly or pivotably coupled to an end of the support arm located away from the base of the movement device, wherein the mounting device further comprises at least one upper engagement device for positive engagement with an engagement structure of a waste container and at least one lower engagement device for positive engagement with an engagement structure of a waste container, and - a control device associated with the movement device and the mounting device. The upper engagement device has at least one upper receiving element and the lower engagement device has at least one lower receiving element, wherein the respective receiving element can be brought into positive engagement by a receiving movement of the holding device comprising a lifting movement with an associated engagement structure of a disposal container in order to prepare for lifting the disposal container by the lifting and tilting device.At least one of the upper and lower engagement devices is designed with at least one associated locking element which, in a relative release or rest position with respect to the associated receiving element of the engagement device in question, allows the establishment of the positive engagement of this receiving element with the associated engagement structure of the disposal container and the release of this positive engagement, and, in a relative locking position with respect to the associated receiving element of the engagement device in question, secures a positive engagement of the receiving element with the associated engagement structure of the disposal container against release. Of the at least one upper receiving element of the upper engagement device and the at least one lower receiving element of the lower engagement device, one, preferably the at least one upper receiving element, forms at least one stationary receiving element, which is rigidly connected to the coupling base and fixed relative to it. The other, optionally the at least one lower receiving element, forms at least one movable receiving element, which is movably connected to the coupling base and adjustable between a receiving position and a holding or rest position relative to the coupling base by means of an associated actuator arrangement of the mounting device. Such a disposal vehicle is already known as such from DE 20 2024 106 658 U1, according to whose technical teaching depending on the height of a respective disposal container either only the upper access device or only the lower access device is used, but never both access devices. Surprisingly, it was discovered that the design of the holding device with at least one (lower or upper, preferably lower) movable receiving element significantly facilitates the safe and correct manufacture of the positive-locking engagement of the holding device enabling the picking up, lifting and tilting of a large disposal container, simultaneously with at least one upper engagement structure and at least one lower-positioned lower engagement structure. According to the invention, it is therefore further proposed for the provided waste disposal vehicle, according to a first independent aspect, that its mounting device is designed and, together with the movement device, is controllable by or via the control device, to receive and hold waste containers having at least one upper engagement structure and at least one lower engagement structure in such a mounting configuration that the at least one upper receiving element of the upper engagement device is in positive engagement with an associated upper engagement structure of the waste container, and that the at least one lower receiving element of the lower engagement device is in positive engagement with an associated lower engagement structure of the waste container and assumes the holding or rest position.and that at least one locking element assumes the relative locking position in relation to the associated receiving element. In a further development, it is proposed that, by means of the control device, in a first control operation, the movable receiving element can be brought into the receiving position by controlling the associated actuator arrangement of the lower and upper receiving elements, and subsequently, in a second control operation, the holding device can be given a receiving movement comprising a lifting movement by controlling the movement device, by means of the control device, by means of which the lower receiving element can be brought into positive engagement with the associated lower engagement structure of the disposal container, and the upper receiving element can be brought into positive engagement with the associated upper engagement structure of the disposal container, and subsequently, in a third control operation, the movable receiving element can be brought into the holding or rest position by controlling the associated actuator arrangement. Advantageously, the engagement device comprising the stationary receiving element can be designed with at least one associated movable locking element, which is movably connected to the coupling base and is adjustable between the release or rest position and the locking position by means of an associated actuator arrangement of the mounting device. Such a (upper) movable locking element is already known from DE 20 2024 106 658 U1. Prior to the first control operation, the movable locking element can be moved into the release position by means of the control device in a preparatory control operation by controlling the associated actuator arrangement, if it was previously (still) in the locking position. Furthermore, it is proposed that, following the second control operation by means of the control device, in a fourth control operation the movable locking element can be adjusted from the release or rest position to the locking position by controlling the associated actuator arrangement. It is envisaged that the third and fourth control operations can be carried out simultaneously, overlapping in time, or consecutively by means of the control device, with the fourth control operation starting after the third control operation or the beginning of the third control operation, or the third control operation starting after the fourth control operation or the beginning of the fourth control operation. Typically, the control device is designed with at least one manually operable control element, which enables an operator to trigger and / or control the sequence of one or more control processes.In this regard, it is understood that this triggering and / or the control of the sequence of a control operation or several control operations includes one or more or all of the following: - direct or indirect triggering of the preparation control operation; - direct or indirect triggering of the first control operation; - within the second control operation, control of the receiving movement comprising the lifting movement in order to bring the lower receiving element into positive engagement with the associated lower engagement structure of the waste container and to bring the upper receiving element into positive engagement with the associated upper engagement structure of the waste container; - direct or indirect triggering of the third control operation; - direct or indirect triggering of the fourth control operation; - triggering or controlling the lifting and tilting movement to transfer the waste container to the discharge position. It is proposed as particularly advantageous that the control device be configured to automatically perform at least one of the third and fourth control operations, preferably both of these operations, during the lifting and tilting movement for transferring the waste container into the discharge position, for example, from the moment a threshold lifting height for the waste container is reached. This relieves the operator of necessary active control interventions and ensures a very reliable and safe operating process, as potentially harmful and serious operating errors are reliably avoided.This makes it possible, for example, to ensure that an upper movable locking element is brought into the locking position in a timely and reliable manner relative to at least one upper stationary receiving element, and that at least one lower movable receiving element is brought into the holding or rest position in a timely and reliable manner before the received waste container has reached a lifting and tilting position in which a firm, secure and reliable hold of the waste container by means of the holding device is essential in order to reliably prevent an unintentional and very damaging detachment of the waste container from the holding device. Advantageously, the engagement device comprising the movable receiving element can be designed with at least one stationary locking element which, in the holding or rest position of the movable receiving element, assumes the relative locking position with respect to this movable receiving element. Such a (lower) stationary locking element is already known from DE 20 2024 106 658 U1. Preferably, both the movable locking element, which is preferably (but not necessarily) designed as the upper locking element, and the stationary locking element, which is preferably (but not necessarily) designed as the lower locking element, are provided together. Large-format disposal containers with at least one upper engagement structure and at least one lower engagement structure can be very heavy due to the items and materials they contain, so that multiple locking mechanisms, in particular clamping mechanisms, may be necessary. Furthermore, it is proposed that at least one of the upper and lower engagement devices (preferably at least the upper engagement device) be designed with a lateral boundary at its lateral end regions. This boundary, when the respective receiving element is in positive engagement with the associated engagement structure of the waste container (at least in its holding or rest position), is positioned laterally to this associated engagement structure and / or a side wall section of the waste container, thus securing the waste container against lateral slippage in the engaged state. This may also be urgently required for safety reasons, including to enable safe operation on a surface that is not perfectly horizontal. Advantageously, the upper engagement device may have a receiving comb as the upper receiving element, or at least two receiving comb sections spaced apart and having at least two receiving tines as upper receiving elements, or at least two receiving tines spaced apart as upper receiving elements. Advantageously, it can further be provided that the lower engagement device has a receiving comb as a lower receiving element, or has at least two separately spaced receiving comb sections having at least two receiving tines as lower receiving elements, or has at least two separately spaced receiving tines as lower receiving elements. Regarding the proposed side boundary, it is envisaged that it is formed by a side boundary element integral to or connected with the receiving element, wherein a side position of the side boundary element relative to the receiving element is preferably adjustable. It is advantageous to provide that the upper engagement device has at least one clamping strip as a securing element. It is advantageous to further provide that the lower engagement device has at least one clamping strip as a securing element. Advantageously, the motion device may have an actuator arrangement controllable by the control device, comprising at least one electromechanical, pneumatic or hydraulic actuator. It is advantageous to further provide that the actuator arrangement associated with the movable receiving element includes at least one electromechanical, pneumatic or hydraulic actuator. It is advantageous to further provide that the actuator arrangement associated with the movable locking element includes at least one electromechanical, pneumatic or hydraulic actuator. The waste disposal vehicle is preferably a multifunctional waste disposal vehicle in which the lifting and tilting device is suitable for receiving and holding waste containers of different types, in order to selectively transfer a waste container of each of these types into a raised and tilted discharge position with respect to the insertion opening by means of a lifting and tilting movement, whereby in particular three types of waste containers with two subtypes of one of these types are considered, without being limited to such types and subtypes, and without the lifting and tilting device for receiving and holding waste containers necessarily having to be suitable for all these types and subtypes. A first type of waste container, as envisioned, has at least one upper engagement structure at a predetermined first height on the supply container and at least one lower engagement structure at a predetermined second height on the supply container. These structures are designed to bring the at least one upper receiving element of the upper engagement device and the at least one lower receiving element of the lower engagement device into a positive engagement, enabling the respective waste container of this type to be moved, by means of the lifting and tilting device, into a raised and tilted discharge position relative to the insertion opening by means of a lifting and tilting movement. This container type can be such as the large collection container offered by DOSTA GmbH under the name SUBWAVE, or a container of this type. A second type of disposal container, which is being considered, has at least one engagement structure at a predetermined height on the disposal container, with which the at least one upper receiving element of the upper engagement device is to be brought into positive engagement in order to transfer a respective disposal container of this type by means of the lifting and tilting device by means of a lifting and tilting movement into a raised and tilted discharge position with respect to the insertion opening. A third type of disposal container, which is being considered, has at least one engagement structure at a predetermined height on the disposal container, which is significantly lower than the predetermined height of the at least one engagement structure on the disposal container of the second type, with which the at least one lower receiving element of the lower engagement device is to be brought into positive engagement in order to transfer a respective disposal container of this type by means of the lifting and tilting device into a raised and tilted discharge position with respect to the insertion opening by means of a lifting and tilting movement. Regarding the second type of waste container, particular consideration is given to a first subtype, which is a standard waste container with two wheels or without wheels, and to a second subtype, which is a significantly larger standard waste container with four wheels compared to the first subtype. As a further development, it is proposed that the control device, by means of at least one manually operable control element, provides a selection between different operating modes relating to different types or subtypes of disposal containers, in order to provide for the automatic triggering of at least one control process or the automatic suppression of at least one control process in the course of a predetermined type-dependent control sequence. For the waste disposal vehicle according to the first aspect of the invention, a further development is proposed, and, independently thereof, according to a second independent aspect of the invention, for the input vehicle defined at the outset, it is proposed according to the invention that the waste disposal vehicle is equipped with a cover, preferably also serving as a container stop, associated with the insertion opening and optionally designed as a cover hood, which is adjustable by means of an adjustment mechanism comprising an actuator arrangement between a basic position assumed during a journey of the waste disposal vehicle, in which the cover at least largely covers or closes the insertion opening at least in the upward direction, and several opening positions in which the cover exposes the insertion opening with different opening widths, preferably by pivoting upwards.so that different types of waste containers with differing dimensions can be transferred into the raised and tilted discharge position in relation to the insertion opening, which allows the respective waste container to be emptied through the insertion opening into the waste disposal vehicle. For this purpose, special consideration is given to ensuring that the actuator arrangement of the adjustment mechanism can be controlled by the control unit in such a way that the cover can be adjusted between the basic position and at least three different opening positions of varying opening widths. The actuator arrangement of the adjustment mechanism can be controlled by the control unit in such a way that the cover assumes a first opening position with a first opening width in which a standard disposal container with two wheels or without wheels can be transferred into the tilted discharge position by means of the lifting and tilting device. Furthermore, the actuator arrangement of the adjustment mechanism can be controlled by the control unit in such a way that the cover assumes a second opening position with a second opening width larger than the first opening width, in which a standard four-wheeled disposal container can be transferred into the tilted discharge position by means of the lifting and tilting device. Furthermore, the actuator arrangement of the adjustment mechanism can be controlled by the control device in such a way that the cover assumes a third opening position with a third opening width that is larger than the second opening width, in which a disposal container of the first type can be transferred into the tilted discharge position by means of the lifting and tilting device. It can be advantageously provided that the actuator arrangement has at least one group of at least three pneumatic or hydraulic cylinder-piston actuators of the double-acting type, which can be actuated pneumatically or hydraulically on the basis of control commands from the control device, and which can each be brought hydraulically or pneumatically into a selected state from the group of alternative states formed by a retracted state and an extended state, in which the respective piston is in a retracted end position orThe cylinder assumes an extended end position within its respective cylinder, with the cover between the home position and the three open positions being adjustable. This is achieved by pneumatically or hydraulically actuating at least three pneumatic or hydraulic cylinder-piston actuators in defined, different ways, such that the cylinder-piston actuators assume a defined combination of states from the group of alternative states, corresponding to each selected position between the home position and the at least three open positions. Since only piston end positions need to be pneumatically or hydraulically actuated, a very reliable and technically simple implementation of the control and hydraulic actuation of the cylinder-piston actuators is achieved. In this regard, particular consideration is given to the fact that the actuator arrangement has at least one group of three pneumatic or hydraulic cylinder-piston actuators of the double-acting type, which can be actuated pneumatically or hydraulically on the basis of control commands from the control device, by means of which the cover can be adjusted between the basic position and three different opening positions of varying opening widths. A particularly advantageous technical implementation is characterized by the fact that the adjustment mechanism includes a pivoting element, preferably in the form of a two-armed lever, which is pivotally mounted within the waste disposal vehicle by means of a pivot axis. A first cylinder-piston actuator can have a first linkage section that is pivotally connected to a first pivot point of the pivoting element at a radial distance from its pivot axis. A second cylinder-piston actuator can have a first linkage section that is pivotally connected to a second pivot point of the pivoting element at a radial distance from its pivot axis and an angular distance from the first pivot point.A third cylinder-piston actuator of the cylinder-piston actuators can be structurally connected in series with the first cylinder-piston actuator or integrated with it to form a two-stage cylinder-piston actuator. One of the second cylinder-piston actuators and the third cylinder-piston actuator, or the two-stage cylinder-piston actuator, may have a second pivoting section located remotely from the pivoting element, which is pivotally connected to a pivoting point on the cover or to an actuating element that is directly or indirectly coupled to the cover's movement or can be coupled to its movement. The other of the second cylinder-piston actuators and the third cylinder-piston actuator, or the two-stage cylinder-piston actuator, may have a second pivoting section located remotely from the pivoting element, which is pivotally connected to a stationary pivoting point provided within the service vehicle. Specifically, it can be provided that the second cylinder-piston actuator is pivotally articulated between the second pivot point of the swivel element and the stationary pivot point provided within the supply vehicle. The actuator arrangement of the cover's adjustment mechanism can advantageously be controlled by the aforementioned control unit. It is further proposed that the control unit automatically actuates the actuator arrangement of the adjustment mechanism depending on the selected operating mode, in order to move the cover from its home position to an opening position suitable for the respective type or subtype of the waste container to be emptied. The invention is explained in more detail below with reference to the non-limiting embodiments shown in the figures. Fig. 1 shows in part a) a waste disposal vehicle in a front oblique view from above onto one side of the vehicle, with a waste container in a raised and tilted discharge position relative to an inlet opening of the vehicle, and in part b) a front oblique view of the other side of the vehicle without the waste container, in which a lifting / tilting device of the waste disposal vehicle is shown more schematically, without all relevant details being recognizable.Figure 2 shows, in part a), a top-down oblique view of the front of a support device of such a waste disposal vehicle, which serves to receive and hold a waste container, and in part b), a top-down oblique view of the rear of this support device, which, together with a movement device comprising at least one pivotable support arm, forms a lifting / tilting device of the waste disposal vehicle. Figure 3 shows a top view of the front of the support device. Figure 4 shows, in parts a) and b), side views of the support device from opposite lateral directions, in a state of the support device corresponding to Figures 2 and 3.Figure 5 shows another side view of the holding device according to Figure 4b), illustrating the adjustability of an upper locking clamping bar with respect to an upper receiving comb of the holding device and the adjustability of a lower receiving comb of the holding device having two spaced-apart receiving comb sections. Figure 6 shows, in a side view, the lifting and tipping device of the waste disposal vehicle with a waste container having an upper engagement structure and a lower engagement structure shortly before the waste container is received, in a state of the holding device in which the movable upper locking clamping bar assumes a release or rest position and the lower receiving comb assumes a receiving position. Figure 7 shows, in a view corresponding to Figure 6, the transition from the situation of Figure 6.6 to a state in which the receiving container is picked up and brought into a slightly raised and tilted position, the lower retaining comb assumes a holding rest position, and the movable upper locking clamping element assumes a locking position. Fig. 8 shows the state of the lifting and tilting device with the retaining device and the slightly raised and tilted disposal container according to Fig. 7 alone, including an enlarged view of the retaining device and its engagement with the engagement structures of the disposal container. Fig. 9 shows, in a perspective view from an oblique front, a cover of the disposal vehicle, which can also be called a dust cover, including two adjustment mechanisms on opposite sides of the cover, which also serves as a container stop, for adjusting it between a rest position and several open positions. One of these adjustment mechanisms is also shown enlarged.Figure 10 shows the cover in a fully open pivoted position relative to the body of the waste collection vehicle in a perspective view largely corresponding to Figure 9. Figure 11 shows a side view of the cover, including the adjustment mechanism on one side, in different positions: the basic position assumed during a journey of the waste collection vehicle and three different open positions with varying opening widths. Figure 12 shows a view corresponding to Figure 11 of the cover in its basic position. Fig. 1 shows two views of a waste disposal vehicle 1, also known as a refuse collection vehicle, with a driver's cab 2 and a collection container 3 preferably mounted on a chassis in a tiltable manner, in which collected waste material, i.e., refuse, waste, and the like, is transported from the point of collection to a treatment plant or landfill. The collection container 3 can have one collection compartment or be divided into several collection compartments by means of partitions and has a tipping opening at the rear, closed by a flap 3a. The collection container also has a loading opening 4 into which the contents of a disposal container 5, also known as a waste container, are tipped. In the case of several compartments, each compartment can have its own loading opening 4, which can also be called a feed opening or waste feed opening. To save space when emptying the waste into the collection container 3, the waste disposal vehicle 1 can be equipped with at least one shredding and / or compaction unit. The collection container 3, or each compartment of the collection container, can be provided with an upstream discharge container 3b, through which the waste can be fed to the shredder or compactor, or more generally, to a shredding and / or compaction unit. This discharge container can advantageously be located directly below the inlet opening 4. To empty waste into the collection container 3 or its discharge container 3b, the waste collection vehicle has a lifting and tipping device 6 for waste containers 5, with which the contents of the waste container 5 can be unloaded through the inlet opening 4, in particular into the aforementioned upstream discharge container. Such a lifting and tipping device 6 comprises a movement device arranged on the collection container or chassis of the waste collection vehicle with a mounting device 7, preferably pivotably arranged thereon, for the waste container 5 or several smaller waste containers arranged side by side. The lifting and tilting device 6 is attached to one side of the waste disposal vehicle 1 in a so-called side loader, as shown in Fig. 1, and has at least one support arm 8 belonging to the movement device, possibly forming it, and which is at least partially pivotable, at the end of which the mounting device 7 is mounted further away from the waste collection vehicle. The support arm 8 can be multi-sectioned with several arm sections that can be pivoted relative to each other by an actuator arrangement 8d, for example, as shown in Figures 6, 7 to 8, with an arm section 8a located away from the mounting device 7, an arm section 8b rigidly connected to a coupling base 7a of the mounting device 7, and an arm section 8c pivotably connecting these two sections relative to each other. The actuator arrangement can be pneumatic, hydraulic, or electromechanical. In Figures 6, 7 to 8, pneumatic or hydraulic pressure-medium cylinder-piston actuators can be seen, which serve to pivot the middle arm section 8c relative to the arm section 8a and to pivot the arm section 8b with the mounting device 7 relative to the middle arm section 8c.By means of the actuator arrangement, these arm segments, and thus the mounting device 7 which is fixedly attached to the arm segment 8b at its coupling base 7a, can be pivoted relative to each other with vertical and horizontal movement components in a lifting-tilting direction. The coupling end of the middle arm segment 8c, which is closer to the disposal container 5 and to which the arm segment 8b carrying the mounting device 7 is articulated, moves along a circular arc. The vehicle-side or vehicle-adjacent arm section 8a can be attached to a slide assembly, telescoping assembly, or the like of the motion device in order to adjust the support arm 8 laterally by means of an associated pneumatic, hydraulic, or electromechanical lateral movement actuator assembly. The arm section 8a can be fixedly attached to the slide assembly or telescoping assembly without being pivotable relative to it. The mounting device 7 can have a frame 9, optionally multi-part, that is rigidly connected to or encompasses the coupling base 7. A receiving comb 10 is attached to this frame, which is hereinafter also referred to as the upper or stationary receiving comb 10. The receiving comb 10 also has gripping units 11, which can also be called receiving tines or simply tines. These gripping units 11 project vertically or obliquely upwards, depending on the current pivot position of the mounting device 7, before receiving a waste container 5. These gripping units 11 are designed to interact with an engagement or lifting structure of the respective waste container 5, namely to engage with the engagement structure in a form-fitting manner. The receiving comb 10 is associated with a locking device which has a clamping strip 20 extending parallel to the receiving comb, adjustable between a locking position (also called holding position or clamping position) and a release or rest position, which can be pivoted between these positions by means of an associated actuator arrangement 20a. One could provide a continuous clamping strip 20 extending essentially along the entire length of the receiving comb 10, which can be directly engaged with the engagement or lifting structure of the respective disposal container 5. In the illustrated embodiment, however, the clamping strip 20 has spaced-apart clamping elements 20b associated with the receiving comb 10, which exert the clamping forces on the engagement or lifting structure of the respective disposal container 5. The actuator arrangement can be pneumatic, hydraulic, or electromechanical. Figures 2b), 4, and 5 show two pneumatic or hydraulic pressure-medium cylinder-piston actuators 20a of this actuator arrangement. In the clamping position shown in Figure 8, the clamping strip 20 secures the received disposal container 5 by clamping it to the receiving comb 10. The release or rest position of the clamping strip 20 is shown in Figure 6, as well as in Figures 2 and 4. The transition between the release or rest position and the clamping position is shown in Figure 5. The mounting device 7 further comprises a lower receiving comb 30, which has a plurality of gripper units or receiving tines 31. In the example shown, the lower receiving comb 30 has a receiving comb section formed by two receiving tines 31 at opposite ends, with a large gap between them. Alternatively, the lower receiving comb 30 could also have a continuous row of receiving tines 31, or more than two receiving tines in the respective receiving comb section, or even just one receiving tine 31 at each receiving comb end. The lower receiving comb 30 can be pivoted relative to the frame 9 and thus the coupling base 7a by means of a pneumatic, hydraulic, or electromechanical actuator assembly 30a. In Fig. 2 b), Fig. 4, and Fig. 5, two pneumatic or hydraulic pressure medium piston-cylinder units 30a of this actuator assembly can be seen. The frame 9 carries an elongated stop pad 45 on one front side, which extends substantially over the entire side dimension of the mounting device 7 and serves to laterally support a received waste container 5. Furthermore, a stationary lower clamping strip assembly 40 is attached to the frame 9, which forms a securing device for the lower receiving comb 30. The clamping strip assembly could be formed by a continuous clamping strip extending substantially along the entire length of the receiving comb 30, or, as in the embodiment shown in Fig. 3, it could have two separate clamping strip elements 40, which are spaced apart from each other and each extend only along one of the two receiving comb sections having the receiving prongs 31.The two separate terminal strip elements 40 are supported by a continuous strip, which together with its terminal strip elements could be referred to as terminal strip 40, analogous to the terminology used for the upper terminal strip 20. In a holding or rest position pivoted into frame 9, the receiving tines or gripper units 31 of the lower (movable) receiving comb 30 extend essentially parallel to the receiving tines or gripper units 11 of the upper (stationary) receiving comb 10, as can be seen in Figs. 2, 3, 4 and 8. In this holding or rest position, an engagement structure of a disposal container 5, which engages with the tines 31, is clamped by means of the respective stationary clamping strip 40. In a receiving position detached from the frame 9, the receiving tines or gripper units 31 of the lower (movable) receiving comb 30 extend obliquely vertically upwards, relative to a substantially vertically oriented position of the receiving tines or gripper units 11 of the upper (stationary) receiving comb 10 as shown in Figs. 4 and 5. This receiving position of the lower receiving comb 30 can be seen in Fig. 6. The transition from the receiving position to the holding or rest position is shown in Fig. 5. In Fig. 2b, Fig. 4 and Fig. 5 pivot lever units 32 can be seen, which support the lower receiving comb 30 relative to the frame 9 and to which the pressure medium cylinder piston actuators 30a are articulated at one end, which are articulated at the other end to the frame 9. The upper clamping strip 20 is provided with a pouring strip 20c projecting transversely from it, over which the waste material slides when tipped into the collection container 3 or the upstream disposal container, so that the waste material is introduced as completely as possible through the insertion opening 4. The upper receiving comb 10 can be provided at its end regions with side limiting elements 47, preferably adjustable in the longitudinal direction of the receiving comb, by which a received disposal container 5 is also secured against lateral slippage in the longitudinal direction of the receiving comb 10. This securing is effective even before the clamping action is initiated by means of the upper clamping strip 20. All the aforementioned actuator arrangements 8d, 20a, 30a, including the side movement actuator arrangement of the movement device, are controlled by a control unit of the disposal vehicle 1 on the basis of a pressure medium provided by a pressure medium unit of the disposal vehicle, for example by actuating pressure medium valves, which is designed with a manually operable operating arrangement comprising at least one manually operable control element, preferably several manually operable control elements, such as switches, buttons, joystick, touchscreen and the like. The control arrangement could be configured, for example programmed, to allow different types of waste containers to be picked up and emptied. In this regard, consideration is also given to the possibility of using either only the stationary upper receiving comb 10 or only the lower movable receiving comb 30, depending on the container height, as is known from DE 20 2024 106 658 U1. To accommodate such lower disposal containers using only the lower receiving comb 30, it could expediently be designed with a continuous row of receiving tines 31, as is the case in the known solution of DE 20 2024 106 658 U1. In contrast, the following discussion focuses primarily on taller, large-format waste containers 5 that have at least one upper engagement structure and at least one lower engagement structure, as shown as a non-limiting example in Figures 6, 7 to 8. The at least one upper engagement structure and the at least one lower engagement structure are arranged at different heights on one side of the container. Reference is made to the detailed enlargements in Figures 6 and 8, which show a cross-sectional view of an upper engagement structure 5a and a lower engagement structure 5b of the waste container. These engagement structures are designed such that the engaging receiving tines 11 of the upper receiving comb 10 and the engaging receiving tines 31 of the lower receiving comb 30, respectively, engage at an upper boundary of the upper receiving structure 5a and 5b.The lower engagement structure 5b is attacked, and in doing so, a boundary of the engagement structure, which is spaced away from the container wall and projects downwards from the upper boundary, is engaged behind it. This double-action engagement results in the disposal container 5 being picked up and lifted by means of the holding device 7 and being secured against slipping off the receiving tines 11 and 31, respectively. These upper (5a) and lower (5b) engagement structures of such disposal containers 5 can be structures extending across the entire width of the container or structures spaced apart from one another. With regard to the upper engagement structure 5a, a continuous structure is primarily envisaged into which all the receiving tines 11 of the upper receiving comb 10 engage. Such a continuous engagement structure can also be realized in the case of the lower engagement structure 5b. However, it can also involve lower engagement structures 5b spaced apart from one another, for example, engagement structures arranged at a considerable distance from one another, which are dimensioned according to the two receiving tines 31 in the two end regions of the lower receiving comb 30, so that the receiving tines 31 at one end of the comb engage in one engagement structure 5b and the two receiving tines 31 at the other end of the comb engage in the other engagement structure 5b. The preparation for the manufacture of the engagement of the receiving combs 10 and 30 with the engagement structures 5a, 5b of such a disposal container 5 and its reception and the commencement of the lifting and tipping movement for emptying the container is illustrated in Fig. 6 , Fig. 7 and Fig. 8. Fig. 6 shows the preparation for the engagement of the receiving tines 31 of the lower receiving comb 30 and the receiving tines 11 of the upper receiving comb with the respective engagement structure 5b and 5a. For this purpose, the lower receiving comb 30 has been brought into the pivoted receiving position, which is inclined relatively strongly relative to the vertical direction, and the receiving tines 11 of the upper receiving comb 10 have been slightly inclined relative to the vertical by bringing the holding device 7 into a corresponding slightly inclined pivot position. In these inclined positions, with a slight inclination of the receiving tines 11 of the upper support comb 10 relative to the vertical and a greater inclination of the receiving tines 31 of the lower support comb 30 relative to the vertical, the engagement of both receiving combs with the respective engagement structure 5a or 5b of the disposal container 5 and the subsequent picking up and lifting and tilting movement of the support device 7 with the disposal container 5 is significantly simplified and achieved particularly reliably, despite the movements carried out or executable by the support arm 8 and especially its middle arm member 8c, which in themselves are not ideal for container pickup.The coupling end of the middle support arm member 8c, to which the support arm member 8c is articulated with the holding device 7, can only perform a circular movement. Therefore, without pivoting the lower receiving comb 30, it would be difficult to engage both receiving combs with the upper and lower engagement structures 5a and 5b simultaneously. This is further complicated in typical large-format waste containers 5, as shown in Figures 6, 7 to 8, because the upper and lower engagement structures 5a and 5b are not aligned vertically, but are offset horizontally, so that the upper engagement structure 5a projects slightly further towards the waste collection vehicle 1 than the lower engagement structure 5b. Fig. 8 then shows a state in which the disposal container 5 has already been picked up and lifted. The upper clamping strip 20 assumes its clamping position with respect to the upper receiving comb 10, so that the upper engagement structure 5a of the disposal container 5 is clamped, and the lower receiving comb 30 assumes its holding or rest position, in which the lower clamping elements 40 assume their relative clamping position with respect to the lower receiving comb 31, so that the lower engagement structure 5b or lower engagement structures 5b of the disposal container 5 are clamped. The transition from the state of Fig. 6 to the state of Fig. 8 is further illustrated in Fig. 7. The actuator arrangement 20a of the upper clamping strip 20 with its clamping elements 20b and the actuator arrangement 30b of the lower receiving comb 30 are preferably automatically controlled by the control device during the lifting and tilting movement of the holding device, i.e., during the transition from the state of Fig. 6 to the state of Fig. 8, in order to move the upper clamping strip 20 into its locking or clamping position with respect to the upper receiving comb 10 according to Fig. 6 and the lower receiving comb 30 into its holding or rest position according to Fig. 8. Following the state shown in Fig. 8, the disposal container 5 then undergoes a further lifting and tilting movement into the discharge position with respect to the insertion opening 4, in which the disposal container 5 is emptied into the collection chamber 3 or its discharge vessel. This discharge position can be seen in Fig. 1a). The disposal container 5 is then lowered and tilted back to its original position. The upper clamping strip 20 is preferably automatically returned to its release or rest position by the control device, as shown in Fig. 6, and the lower receiving comb 30 is preferably automatically returned to its receiving position (now serving as the release position) by the control device, as shown in Fig. 6. Regarding other operational scenarios for the waste disposal vehicle 1, it is envisaged that only the upper receiving comb 10 is used for picking up and emptying waste containers of various types, which have either one upper engagement structure or several upper engagement structures at a suitable height on the respective waste container. In this case, the lower receiving comb 30 remains in its holding or rest position, i.e., in the position folded against the frame 9, as shown in Figures 2, 3, and 4, throughout the entire operating process. The holding device 7 can then be used in the usual way to empty waste containers into the collection container 3 of the waste disposal vehicle 1, as if the lower receiving comb 30 were not present at all.This refers primarily to standard waste containers with two wheels or without wheels, of which several (especially two) can be picked up and emptied simultaneously, as well as to the significantly larger standard waste containers with four wheels, which are also called garbage containers. The picking up and lifting-tipping motion for emptying the respective container is type-dependent and follows a predefined control sequence, which can be selected by the operator, typically the driver of the waste collection vehicle, via the control panel. However, automatic container type recognition by the control unit based on image processing or electronic detection of a wireless identification signal, which could, for example, originate from a transponder on the waste container, should not be ruled out. The present concept focuses primarily on corresponding operating and control sequences for the following types of waste containers: Large-format waste containers with at least one upper engagement structure and at least one lower engagement structure, for example as shown in Figs. 6, 7 to 8, which are picked up by means of the upper receiving comb 10 and the lower receiving comb 30; standard waste containers with two wheels or without wheels, which are picked up solely by means of the upper receiving comb 10; and standard waste containers in container form, which have four wheels and are also picked up solely by means of the upper receiving comb 10. For the operational and control process, it is considered particularly advantageous that the waste disposal vehicle 1 is first driven into a suitable position relative to the relevant waste container, and that the relevant container type is entered by the operator using the control panel or automatically recognized, that the holding device 7 is then moved into a ready position to receive the waste container at a suitable height by appropriate control (typically based on manual control commands, for example by means of a joystick; however, automatic control should not be excluded), and that the lifting and tipping movement is then triggered for automatic execution by the control device or manually controlled (e.g. by means of the joystick).The initial engagement with the relevant engagement structure of the disposal container, which is not yet fully established, is primarily due to a lifting component of the lifting-tilting movement. This is followed by the subsequent lifting-tilting movement for emptying the container. The necessary additional controls for moving the upper clamping strip 20 into the clamping or locking position by means of the associated actuator arrangement 20a, and, in the case of disposal containers with at least one additional lower engagement structure 5b, for moving the lower receiving comb 30 into the holding or rest positions pivoted back against the frame 9, are preferably carried out automatically by the control unit. This relieves the operator of the need to input control commands and ensures reliable and safe operation.without it being dependent on the timely input of control commands by the operator. Such waste disposal vehicles 1 typically have a cover that covers or closes the insertion opening 4, preferably in the form of a cover hood 50, which can also be called a dust hood. Such a cover hood 50 can also expediently serve as a stop for the respective waste disposal container in the discharge position. It is known to adjust such cover hoods 50 between a basic or closed position assumed when the waste disposal vehicle is driving and several open positions of different opening widths, in particular to pivot them, by means of an associated pneumatic or hydraulic actuator arrangement. In principle, an electromechanical actuator arrangement is also suitable for these adjustments. In Fig. 1, the cover 50 assumes the open position for the large-format waste containers 5 with the upper and lower engagement structures. This position is designated S1 in Figs. 10 and 11. Figs. 11 and 12 show sectional views of an insertion area of ​​the waste collection vehicle with the insertion opening 4 and the cover 50. In the case of the aforementioned large, container-shaped waste containers with four wheels, the cover 50 assumes the position S2 shown in Fig. 11. In the case of the standard waste containers with two wheels (or without wheels), the cover 50 assumes the position S3 shown in Fig. 11. The basic position, which essentially closes the insertion opening, is designated S4 in Figs. 9, 11, and 12. The adjustment of the cover 50 between these positions and, if necessary, a further position which could be assigned to the low disposal containers to be picked up solely by means of the lower receiving comb 30, should position S3 be unsuitable or less suitable for this purpose, is effected by a hydraulic, pneumatic or electromechanical actuator arrangement controllable by the control device.The present, non-limiting embodiment uses a hydraulic or pneumatic actuator arrangement 52, which has two partial actuator arrangements 52a and 52b, which are provided on opposite sides of the cover 50 in the longitudinal or driving direction of the vehicle and are jointly controlled by the control device, preferably fully automatically depending on the container type detected or specified by the operator in the course of the control sequence described above, so that the respective set opening position reliably matches the disposal container picked up and to be emptied. An advantageous embodiment of the actuator arrangement 52 can be seen in Figures 9, 10 to 11. Hydraulic or pneumatic double-acting cylinder-piston actuators are used, which in the positions S1, S2, S3 and S4 each assume an end position with the piston fully retracted or fully extended. This enables very simple and reliable control of the actuator arrangement 52 with safe and reliable adjustment of the currently required position of the cover 50. Specifically, the actuator arrangement 52 or its partial actuator arrangements 52a and 52b can be realized using a two-stage cylinder-piston actuator 54 and a single-stage cylinder-piston actuator 56, replacing two separate, structurally connected (single-stage) cylinder-piston actuators connected in series, which are articulated on the one hand between a pivoting element, for example designed as a two-armed lever 57, rotatably held on a linkage and support arrangement 60 of the collection chamber 3 or its discharge vessel 3a, and on the other hand on a support of the linkage and support arrangement 60 or an actuating arm 58 of the cover 50.Specifically, in the illustrated embodiment, the two-stage cylinder-piston actuator 54 is linked between one arm of the two-armed lever 57 and the actuating arm 58 of the cover 50, and the single-stage cylinder-piston actuator 56 is linked between the other arm of the two-armed lever 57 and the support of the linkage and support assembly 60. Reference is made to Fig. 2 and the enlarged view in Fig. 9. Of course, it is possible to arrange the single-stage cylinder-piston actuator between the actuating arm 58 and the first-mentioned arm of the two-armed lever 57, and the two-stage cylinder-piston actuator between the second-mentioned arm of the two-armed lever 57 and the support of the linkage and support arrangement 60, if necessary by adjusting the relative angular position of the two arms of the two-armed lever 57. Like the other pneumatic or hydraulic actuator assemblies of the waste disposal vehicle 1, the actuator assembly 52, or its sub-actuator assemblies 52a and 52b, is controlled by the control unit of the waste disposal vehicle 1 based on the pressure medium supplied by the pressure medium unit, for example by actuating pressure medium valves. During the control sequences described above, i.e., during the picking up, emptying, and returning of a respective waste container, the actuator assembly 52, and thus the adjustment of the cover 50 between its different predefined positions, is preferably controlled fully automatically, without the need for the input of additional manual control commands. A corresponding process, without the (in principle possible) automatic detection of the waste container type, can be as follows: 1. The waste collection vehicle 1 is already at the waste container (or is on its way there and the type of waste container is already recognizable). 2. Selection of the waste container type and thus the appropriate control sequence from several predefined control sequences using the operating controls. 3. Automatic adjustment of the cover 50 to the position assigned to the respective container type (S1, S2 or S3). 4. In the case of the waste container 5 with lower and upper engagement structures: Pivoting of the lower receiving comb 30 into the receiving position. 5. Control of the lifting and tilting device 6 via a joystick to "grip" the waste container or, if applicable, two adjacent waste containers using the upper receiving comb 10 or using the upper receiving comb 10 and the lower receiving comb 30.As soon as at least one waste container is gripped and the lifting and tipping device 6 reaches a certain height during its upward movement to tip it into the collection chamber 3 or its discharge vessel 3b (possibly press chamber 3b), the upper clamping bar 20 is moved into the locking position to secure the upper receiving comb 10. If it was previously in the receiving position, the lower receiving comb 30 is moved into the holding or rest position, with the lower holding comb 30 being locked by the stationary clamping bars 40. The further lifting and tipping movement and the emptying process can then be carried out automatically by the control unit or under operator control, e.g., via the joystick, possibly partially automated. 5. Once the at least one waste container is emptied, it is automatically removed by the control unit or under operator control, e.g., via the joystick, possibly partially automated.The waste container is partially automatically returned to its original position. The unlocking of the upper retaining comb 10 and, in the case of the waste container 5 with upper and lower engagement structures, the unlocking of the lower receiving comb 30 by pivoting it forward, can occur fully automatically, for example, from approximately the same height at which the locking mechanism was previously engaged. 6. As soon as the lifting and tilting device has returned to its home or departure position and the driver wants to drive off, the cover is automatically lowered back to its home position S4, either automatically or upon a manual control command. The above explanations are of a limited nature only. Utility model protection is defined by the attached claims. QUOTES INCLUDED IN THE DESCRIPTION This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature DE 20 2017 003 320 U1

[0002] DE 10 2004 049 463 B4

[0002] DE 10 2021 133 817 A1

[0002] DE 20 2024 106 685 U1

[0002] DE 20 2024 106 658 U1 [0006, 0016, 0020, 0026, 0074, 0075] Cited non-patent literature https: / / www.dosta-consulting.de / videos /

[0008]

Claims

Waste disposal vehicle (1) comprising at least one collection compartment (3) with at least one insertion opening (4) and at least one lifting and tilting device (6) associated with the insertion opening (4), for receiving and holding waste containers (5) in order to transfer each waste container into a raised and tilted discharge position with respect to the insertion opening (4) by means of a lifting and tilting movement; wherein the lifting and tilting device (6) comprises: - a movement device comprising at least one pivotable support arm (8) which has a device base attached to a mounting area of ​​the waste collection vehicle;- a mounting device (7) for receiving and holding the disposal containers (5), which has a coupling base (7a) fixedly or pivotably coupled to an end of the support arm (8) located away from the base of the movement device, wherein the mounting device further comprises at least one upper engagement device (10) for positive engagement with an engagement structure (5a) of a disposal container (5) and at least one lower engagement device (30) for positive engagement with an engagement structure (5b) of a disposal container (5), and - a control device associated with the movement device and the mounting device (7);- wherein the upper engagement device (10) has at least one upper receiving element (10) and the lower engagement device (30) has at least one lower receiving element (30), wherein the respective receiving element can be brought into positive engagement with an associated engagement structure of a disposal container by a receiving movement comprising a lifting movement of the holding device (7) in order to prepare for lifting the disposal container (5) by the lifting-tilting device (6); - wherein at least one (10, 30) of the upper and the lower engagement device is provided with at least one associated locking element (20; 40), which in a relative release or rest position with respect to the associated receiving element (10: 30) of the respective engagement device facilitates the formation of the positive engagement of this receiving element with the associated engagement structure (5a;5b) of the disposal container (5) and allows the release of this positive engagement and secures a positive engagement of the receiving element (10; 30) with the associated engagement structure (5a; 5b) of the disposal container (5) against loosening in a relative securing position with respect to the associated receiving element (10: 30) of the engagement device concerned;- wherein of the at least one upper receiving element of the upper engagement device and the at least one lower receiving element of the lower engagement device, one, preferably the at least one upper receiving element (10), forms at least one stationary receiving element (10) which is firmly connected to the coupling base (7a) and fixed in a stationary position relative to it, and the other, optionally the at least one lower receiving element (30), forms at least one movable receiving element (30) which is movably connected to the coupling base (7a) and is adjustable between a receiving position and a holding or rest position relative to the coupling base (7a) by means of an associated actuator arrangement of the (30a) holding device;characterized in that the mounting device (7) is designed and, together with the movement device, is controllable by or via the control device, to receive and hold waste containers (5) having at least one upper engagement structure (5a) and at least one lower engagement structure (5b) in such a mounting configuration that the at least one upper receiving element (10) of the upper engagement device is in positive engagement with an associated upper engagement structure (5a) of the waste container (5), that the at least one lower receiving element (30) of the lower engagement device is in positive engagement with an associated lower engagement structure (5b) of the waste container (5) and assumes the holding or rest position, and that the at least one locking element (20, 40) assumes the relative locking position with respect to the associated receiving element (10; 30).Waste disposal vehicle according to claim 1, characterized in that, by means of the control device, in a first control operation, the movable receiving element (30) can be brought into the receiving position by controlling the associated actuator arrangement (30a) of the lower and upper receiving elements, and subsequently, by means of the control device, in a second control operation, a receiving movement comprising a lifting movement can be imparted to the holding device (7) by controlling the movement device, by means of which the lower receiving element (30) can be brought into positive engagement with the associated lower engagement structure (5b) of the waste disposal container (5), and the upper receiving element (10) can be brought into positive engagement with the associated upper engagement structure (5a) of the waste disposal container (5).and subsequently, by means of the control device, in a third control process, the movable receiving element (30) can be brought into the holding or rest position by controlling the associated actuator arrangement (30a). Disposal vehicle according to claim 1 or 2, characterized in that the engagement device (10) having the stationary receiving element (10) is designed with at least one associated movable locking element (20) which is movably connected to the coupling base (7a) and is adjustable between the release or rest position and the locking position by means of an associated actuator arrangement (20b) of the mounting device (7). Disposal vehicle according to claim 2 and claim 3, characterized in that, prior to the first control operation by means of the control device, the movable locking element (20) is adjustable to the release or rest position by actuating the associated actuator arrangement (20a) in a preparatory control operation. Disposal vehicle according to claim 2 and according to at least one of claims 3 and 4, characterized in that, following the second control operation by means of the control device, in a fourth control operation the movable locking element (20) can be adjusted from the release or rest position to the locking position by controlling the associated actuator arrangement (20a). Disposal vehicle according to claims 2 and 5, wherein the third control operation and the fourth control operation can be carried out simultaneously, overlapping in time or successively by means of the control device, wherein, if desired, the fourth control operation begins after the third control operation or the beginning of the third control operation, or the third control operation begins after the fourth control operation or the beginning of the fourth control operation. Waste disposal vehicle according to at least one of claims 2, 4, 5 and 6, characterized in that the control device is designed with at least one manually operable control element which enables an operator to trigger and / or control the sequence of one or more control processes, comprising one or more or all of: - direct or indirect triggering of the preparatory control process; - direct or indirect triggering of the first control process; - within the scope of the second control process, control of the receiving movement comprising the lifting movement in order to bring the lower receiving element (30) into positive engagement with the associated lower engagement structure (5b) of the waste container (5) and to bring the upper receiving element (10) into positive engagement with the associated upper engagement structure (5a) of the waste container (5); - direct or indirect triggering of the third control process;- direct or indirect triggering of the fourth control operation; - triggering or controlling the lifting and tilting movement to transfer the waste container (5) into the discharge position.; Waste disposal vehicle according to at least one of claims 2, 4, 5, 6 and 7, characterized in that the control device is configured to automatically perform at least one of the third and fourth control operations, preferably both of these control operations, during the lifting and tilting movement to transfer the waste disposal container (5) into the discharge position. Disposal vehicle according to one of claims 1 to 8, characterized in that the engagement device (30) having the movable receiving element (30) is designed with at least one stationary locking element (40) which assumes the relative locking position in relation to this movable receiving element (30) in the holding or rest position. Waste disposal vehicle according to one of claims 1 to 9, characterized in that at least one of the upper engagement device (10) and the lower engagement device (30) is provided in its lateral end regions with a respective side boundary (47), which in the state of positive engagement of the respective at least one receiving element (10) with the associated engagement structure (5a) of the waste container (5), with respect to the movable receiving element at least in its holding or rest position, is arranged laterally to this associated engagement structure (5a) and / or a side wall section of the waste container (5) and secures the waste container (5) in the received state against lateral slippage. Waste disposal vehicle according to one of the preceding claims, characterized in that the upper engagement device (10) has a receiving comb (10) as an upper receiving element (10) or has at least two separately spaced receiving comb sections having at least two receiving tines as upper receiving elements or has at least two separately spaced receiving tines as upper receiving elements and / or that the lower engagement device (30) has a receiving comb (30) as a lower receiving element (30) or has at least two separately spaced receiving comb sections having at least two receiving tines as lower receiving elements or has at least two separately spaced receiving tines as lower receiving elements. Disposal vehicle according to claim 11 and claim 10, characterized in that the side boundary (47) is formed by a side boundary element integral with or connected to the receiving element (10), wherein a side position of the side boundary element (47) relative to the receiving element (10) is preferably adjustable. Waste disposal vehicle according to one of the preceding claims, characterized in that the upper engagement device (10) has at least one clamping strip (20) as a locking element (20) and / or that the lower engagement device (30) has at least one clamping strip (40) as a locking element (40). Disposal vehicle according to one of the preceding claims, wherein the movement device has an actuator arrangement (8d) controllable by the control device, comprising at least one electromechanical, pneumatic or hydraulic actuator. Waste disposal vehicle according to one of the preceding claims, characterized in that the actuator arrangement (30a) associated with the movable receiving element (30) comprises at least one electromechanical, pneumatic or hydraulic actuator. Waste disposal vehicle according to one of the preceding claims, but in any case according to claim 3, characterized in that the actuator arrangement (20a) associated with the movable locking element (20) comprises at least one electromechanical, pneumatic or hydraulic actuator. Waste disposal vehicle according to one of the preceding claims, characterized in that the lifting and tilting device (6) is suitable for receiving and holding waste containers of different types in order to selectively transfer a waste container of each of these types by means of a lifting and tilting movement into a raised and tilted discharge position with respect to the insertion opening (4). Waste disposal vehicle according to claim 17, characterized in that a first type of waste disposal container has at least one upper engagement structure (5a) at a predetermined first height on the supply container (5) and at least one lower engagement structure (5b) at a predetermined second height on the supply container (5), with which the at least one upper receiving element (10) of the upper engagement device and the at least one lower receiving element (30) of the lower engagement device are to be brought into positive engagement together in order to transfer a respective waste disposal container of this type by means of the lifting and tilting device (6) by means of a lifting and tilting movement into a raised and tilted discharge position with respect to the insertion opening (4). Disposal vehicle according to claim 17 or 18, characterized in that a second type of disposal container has at least one engagement structure at a predetermined height on the disposal container, with which the at least one upper receiving element (10) of the upper engagement device is to be brought into positive engagement in order to transfer a respective disposal container of this type by means of the lifting and tilting device (6) by means of a lifting and tilting movement into a raised and tilted discharge position with respect to the insertion opening (4). Waste disposal vehicle according to claim 19, characterized in that the second type of waste container comprises a first subtype, which is a standard waste container with two wheels or without wheels, and a second subtype, which is a standard waste container with four wheels that is significantly larger than the first subtype. Waste disposal vehicle according to one of claims 17 to 20, characterized in that a third type of waste container has at least one engagement structure at a predetermined height on the waste container, which is preferably significantly lower than the predetermined height of the at least one engagement structure on the waste container of the second type, with which the at least one lower receiving element (30) of the lower engagement device is to be brought into positive engagement in order to transfer a respective waste container of this type by means of the lifting and tilting device (6) by means of a lifting and tilting movement into a raised and tilted discharge position with respect to the insertion opening (4). Waste disposal vehicle according to one of claims 15 to 21, related back to at least claim 7, characterized in that the control device provides, by means of the at least one manually operable control element, a selection between different operating modes relating to different types or subtypes of waste disposal containers in order to provide an automatic triggering of at least one control process or an automatic suppression of at least one control process in the course of a predetermined type-dependent control sequence. Waste disposal vehicle according to the preamble of claim 1 or according to one of claims 1 to 22, characterized by a cover (50) preferably also serving as a container stop, associated with the insertion opening, optionally designed as a cover hood (50), which is adjustable by means of an adjustment mechanism comprising an actuator arrangement (52) between a basic position (S4) assumed during a journey of the waste disposal vehicle, in which the cover (50) at least largely covers or closes the insertion opening (4) at least in the upward direction, and several opening positions (S1, S2, S3), in which the cover (50) exposes the insertion opening (4) with different opening widths, preferably by pivoting upwards,so that different types of waste containers with differing dimensions can be transferred into the raised and tilted discharge position with respect to the insertion opening (4) into the waste disposal vehicle (1), which enables the emptying of the respective waste container through the insertion opening (4). Disposal vehicle according to claim 23, characterized in that the actuator arrangement (52) of the adjustment mechanism can be controlled by the control device in such a way that the cover (50) can be adjusted between the basic position (S4) and at least three different opening positions (S1, S2, S3) of different opening widths. Disposal vehicle according to claim 24 and according to one of claims 17 to 21, characterized in that the actuator arrangement (52) of the adjustment mechanism can be controlled by the control device in such a way that the cover assumes a first opening position (S3) with a first opening width in which a standard disposal container with two wheels or without wheels can be transferred into the tilted discharge position by means of the lifting and tilting device (6). Disposal vehicle according to claim 24 or 25 and according to one of claims 17 to 21, characterized in that the actuator arrangement (52) of the adjustment mechanism can be controlled by the control device in such a way that the cover assumes a second opening position (S2) with a second opening width that is larger than the first opening width, in which a standard four-wheeled disposal container can be transferred into the tilted discharge position by means of the lifting and tilting device (6). Disposal vehicle according to one of claims 24 to 26 and according to one of claims 17 to 21, characterized in that the actuator arrangement (52) of the adjustment mechanism can be controlled by the control device in such a way that the cover assumes a third opening position (S1) with a third opening width larger than the second opening width, in which a disposal container of the first type can be transferred into the tilted discharge position by means of the lifting and tilting device (6). Waste disposal vehicle according to one of claims 19 to 22, characterized in that the actuator arrangement (52) has at least one group (52a, 52b) of at least three pneumatic or hydraulic cylinder-piston actuators of the double-acting type that can be actuated pneumatically or hydraulically on the basis of control commands of the control device, each of which can be brought hydraulically or pneumatically into a selected state from the group of alternative states formed by a retracted state and an extended state, in which the respective piston is in a retracted end position orassumes an extended end position within the respective cylinder, wherein the cover between the basic position (S4) and the three opening positions (S1, S2, S3) is adjustable by pneumatically or hydraulically acting on the at least three pneumatic or hydraulic cylinder-piston actuators in defined different ways, such that the cylinder-piston actuators assume a defined combination of states from the group of alternative states assigned to each selected position from the basic position and the at least three opening positions. Waste disposal vehicle according to claim 28, characterized in that the actuator arrangement (52) has at least one group (52a, 52b) of three pneumatic or hydraulic cylinder-piston actuators of the double-acting type that can be actuated pneumatically or hydraulically on the basis of control commands of the control device, by means of which the cover (50) is adjustable between the basic position (S4) and three different opening positions (S1, S2, S3) of different opening widths. Waste disposal vehicle according to claim 28 or 29, characterized in that the adjustment mechanism has a pivoting element (57) pivotably mounted within the waste disposal vehicle by means of a pivot axis, preferably in the form of a two-armed lever (57), wherein a first cylinder-piston actuator of the cylinder-piston actuators has a first pivoting section which is pivotably articulated to a first pivoting point of the pivoting element at a radial distance from its pivot axis, wherein a second cylinder-piston actuator (56) of the cylinder-piston actuators has a first pivoting section which is pivotably articulated to a second pivoting point of the pivoting element at a radial distance from its pivot axis and an angular distance from the first pivoting point.wherein a third cylinder-piston actuator of the cylinder-piston actuators is structurally connected in series with the first cylinder-piston actuator or integrated with it to form a two-stage cylinder-piston actuator (54), wherein one (54) has a second pivoting section arranged remotely from the pivoting element to the second cylinder-piston actuator (56) and the third cylinder-piston actuator or the two-stage cylinder-piston actuator (54), which is pivotably connected to a pivoting point of the cover or of an actuating element that is directly or indirectly coupled or capable of being coupled to the movement of the cover, and wherein the other (56) has a second pivoting section arranged remotely from the pivoting element to the second cylinder-piston actuator (56) and the third cylinder-piston actuator or the two-stage cylinder-piston actuator (54),which is pivotally mounted at a stationary pivot point provided within the supply vehicle. Disposal vehicle according to claim 30, characterized in that the second cylinder-piston actuator (569) is pivotably articulated between the second pivot point of the swivel element (57) and the pivot point provided stationary within the supply vehicle. Disposal vehicle according to one of claims 23 to 31, further referred back to at least claim 22, characterized in that the control unit automatically controls the actuator arrangement (52) of the adjustment mechanism depending on the selected operating mode in order to adjust the cover from the basic position (S4) to an opening position (S1; S2; S3) suitable for the respective type or subtype of the disposal container to be emptied.

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