EP0914290A1 - Waste bin manipulator arm - Google Patents

Abstract

The manipulator arm (11) of the present invention mounts over and under a pair of beam shaped chassis members (15) in a vehicle, which typically extend rearwardly of a cab (13). The manipulator arm (11) is carried to the side of a waste collection vehicle and underneath the vehicle's waste collection bin (16). The actuation of the arm (11) is by a first control which extends the arm (11), a second control which induces a pair of grabber arms to swing down at a 45° angle to grasp the individual waste bin (109), and a third control to angularly and pivotally raise the extended arm (11) to and perhaps beyond a vertical position to dump the individual waste container (109) from a position over the vehicle's waste collection bin (16). The third control is limited by a pair of cam operated limit valves (17, 19) which cause the individual waste bin (109) to be slowed during its travel.

Description

WASTE BIN MANIPULATOR ARM

Field of the Invention

The present invention relates to an improved, simple construction,

three control, self velocity limiting manipulator for grasping and dumping

refuse containers which is extremely compact, simple to use, and can be

installed as a retro-fit on any vehicle.

Background of the Invention

Currently many different shapes and configurations of waste bin

manipulators are available, and especially as are customized to operate with a

similar wide variety of waste collection vehicles. The most commonly used

device is a chain lift device operating from a waste collection vehicle which

carries an outwardly actuatable bottom portion. The waste collection vehicle

operator must carefully drive, if possible, to approach an individual refuse

bin closely and stopping at the correct position as the driver actuates the

bottom of the lift device to come near the refuse bin. A wide pair of arms are

carried in the wide open position and are actuated to the closed position once

the bottom of the lift device is near the refuse bin. The grasping arms swing

shut in the horizontal plane and once closed on the individual waste bin it is lifted to the upper terminus of its travel where it is tilted to dump the refuse

into the waste collection vehicle. If the dump is not sufficient, the operator

re-operates the device to try to slam the refuse bin into giving up the trapped

refuse. Once the bin is sufficiently dumped, it is quickly returned to the

ground, typically with a crash in order to minimize the time spent in the

operation.

Where the refuse bin is mishandled or roughly handled it will break

and need replacement. Most refuse bins are made of high impact plastic, but

over time and with exposure to the elements, the plastic hardens and can

easily shatter if roughly treated. The cost of replacement is ultimately borne

by the resident taxpayer either directly or through government replacement

of the individual waste bins through the tax system.

Where the operator of the waste collection vehicle can, he will seek to

rush as quickly as possible to release the refuse container. If he has any type

of control over the speed of the operation or the timing of the release of the

containers or it will virtually always be manipulated to save time.

In addition, most conventional equipment may have many controls.

Operation of a high number of controls slows the process and adds to the

cost of the unit, and to the time which is required to manipulate the refuse

bin. In addition, with many conventional waste collection vehicle units, the

manipulation and positioning of the truck can be considered to be a part of

the manipulation where the truck has to be edged closer and closer to a waste bin, especially where restrictions are present. This is usually required where

there are obstructions around the waste bin, and most conventional

manipulators are limited in the amount of lateral displacement which can be

achieved in order to grasp the waste bin. In many cases, adjacent cars and

other obstructions force the waste collection vehicle operator to either skip

the difficult to reach bin, or to stop, leave the cab of the waste collection

vehicle and physically move the waste container to within range of the waste

collection vehicle's manipulator device.

What is therefore needed is a compact manipulator device which has

safety features to protect waste containers in their handling. The needed

device should be universally fittable on a wide variety of vehicles regardless

of waste collection bin size or available mounting space. The movement and

configuration should operate with minimum wasted motion and have the

ability to grasp waste bins located a considerable distance from the waste

collection vehicle.

What is also needed is a manipulator system which can be used as a

retrofit device to attach to older waste recovery vehicles to replace the worn-

out custom supplied manipulator supplied with the vehicle, or to use as an

attachment to a non waste recovery vehicle to add the capability of

manipulative waste bin loading. The manipulator system will also be

sufficiently compact as to enable the design of a waste recovery vehicle

having an enlarged refuse storage area, for more efficient waste collection and requiring less frequent dumping trips.

Summary of the Invention

The manipulator arm of the present invention mounts over and under a

pair of beam shaped chassis members in a vehicle, which typically extend

rearwardly of a cab. The manipulator arm is carried to the side of a waste

collection vehicle and underneath the vehicle's waste collection bin. The

actuation of the arm is by a first control which extends the arm, a second

control which induces a pair of grabber arms to swing down at a 45° angle to

grasp the individual waste bin, and a third control to angularly and pivotally

raise the extended arm to and perhaps beyond a vertical position to dump the

individual waste container from a position over the vehicles waste collection

bin. The third control is limited by a pair of cam operated limit valves which

cause the individual wast bin to be slowed during its maximum height of

travel and especially slowed during its return to the ground to provide

reduced noise handling and long life for the individual waste bins.

Brief Description of the Drawings

The invention, its configuration, construction, and operation will be

best further described in the following detailed description, taken in

conjunction with the accompanying drawings in which:

Figure 1 is a side view of the manipulator of the present invention mounted on a vehicle and in retracted position;

Figure 2 is a view taken along line 2 - 2 horizontally along the

manipulator of Figure 1, also in retracted position;

Figure 3 is a top view of the manipulator shown in Figures 1 & 2 in

retracted position;

Figure 4 is a view similar to that of Figure 2, but illustrating the

manipulator in extended position approaching an individual refuse container,

and with the grasping arms shown in their upright and intermediate positions

in phantom and in their final position surrounding the refuse container;

Figure 5 is a top view of the manipulator of Figure 4, and again

grasping the refuse container;

Figure 6 is a bottom view of the manipulator of Figure 5 before

actuation of the lift cylinder;

Figure 7 is a bottom view of the extended portion manipulator of

Figure 6, and looking into the side of a refuse collection vehicle, with the lift

cylinder fully extended;

Figure 8 is a side view of the extended portion of the manipulator of

Figure 7 and looking from a position from the front of a refuse collection

vehicle, and illustrating the refuse bin in full vertical extension;

Figure 9 is a front view of the manipulator similar to that of Figure 8

and illustrating the engagement of an automatic dumping lever on the side of

a container shown in phantom; Figure 10 is an exploded view of the hardware of the base support

which is attached to the chassis of a waste collection vehicle;

Figure 1 1 is an exploded view of the hardware of the structural

portions of the manipulator arm;

Figure 12 is a side sectional view of the angle support upon which the

manipulator swings vertically and horizontally and illustrating the cam

actuated limiting valves which operate on the manipulator during lift

actuation;

Figure 13 is a side view taken along line 13 - 13 of Figure 12 and

showing the cam valve engaged;

Figure 14 is an expanded view of the components of a vertical and

horizontal hinge from which the manipulator of the invention pivots;

Figure 15 is a rear view of the back, or non engaging side of the

grasping mechanism and illustrating the symmetrical chain mechanism and

partial view of the actuation cylinder;

Figure 16 is a view of the symmetrical chain mechanism and its

actuation cylinder in the retracted position and illustrating a pair of sprockets

which are connected to the cylinder with a chain;

Figure 17 is a view of the symmetrical chain mechanism as in Figure

16 and with the actuation cylinder is in the extended position;

Figure 18 is a side view of the symmetrical chain mechanism as in

Figures 16 - 17, and illustrating the use of two separate chains on each side of the mechanism;

Figure 19 is a rearward looking view along the chassis of the vehicle of

claim 1 and illustrating a variation in the mounting of the manipulator which

facilitates its easy removal;

Figure 20 is a sectional view taken along lines 20 & 21 of Figure 19

and which illustrate interfitting channels which facilitate easy removal and

illustrating a locking pin in place;

Figure 21 is a sectional view similar to that of Figure 20, with the

locking pin removed and with the interfitting channels partially displaced;

Figure 22 is a top view looking down on the portions of the vehicle 13

which were seen in Figures 19 - 21;

Figure 23 is a bottom view looking upward of the same portion of the

manipulator base as was seen in Figure 22;

Figure 24 is a second embodiment of the actuation structures useful

with the manipulator 1 1 of the present invention, and in which the piston is

operated longitudinally, in a direction parallel to the length of the vehicle;

Figure 25 is a view of the underside of the actuation structures seen in

Figure 24 and illustrating a double-figure eight arrangement where a single

length of chain may be used with a moving sprocket to actuate the rotation

members, which are shown in the closed position, actuator piston extended;

Figure 26 is a view of the underside of the actuation structures similar

to that seen in Figure 25 and wherein actuate the rotation members, which are shown in the open position, actuator piston retracted; and

Figure 27 illustrates a perspective view of a further embodiment of a

mounting bracket using a plate-to-plate engagement with bolted or welded

attachment between the bracket and vehicle frame to which it is affixed, for

bolted attachment and detachment .

Detailed Description of the Preferred Embodiment

The description and operation of the invention will be best described

with reference to Figure 1. Figure 1 illustrates a manipulator 1 1 shown

within the context of a vehicle 13 (shown in phantom), the vehicle 13 having

a rearwardly extending frame 15 from which the manipulator 13 depends

from support. Typically, the vehicle 13 will be a waste collection vehicle

and will also have some larger refuse collection body or container 16 lying

over the frame 15. Part of the utility of the manipulator 1 1 is its ability to

rest to the side of, beneath and out of the way of any such larger refuse

collection body, regardless of the shape or orientation of the container 16.

The details of the attachment to the frame 15 are obscured by a pair of

mechanically activated hydraulic flow restrictors 17 and 19 which operate by

cam action. Restrictors 17 and 19 sit atop a horizontal hinge 21 supporting

an angled hinge member 23.

A triangular structural enhancement 25 is located above the top of a

first extension member, not seen in Figure 1. A second extension member 27

pivots from the first extension member (not seen) by a pivot joint 29. Below the second extension member 27 a cylinder rod 31 extends from

a hydraulic cylinder 33 and pivotally engages the second extension member

27 at a pivot 35. The cylinder 33 is partially hidden behind a plate 36. The

other end of the cylinder 33 is supported at the base of the manipulator 11.

A strut 37 is seen which extends to engage a pivot 39 which pivots the strut

37 with respect to an extension plate 41. The strut 37 acts with the cylinder

rod 31 and hydraulic cylinder 33 to cause the manipulator 11 to extend upon

actuation of the cylinder 33 rather than cause the second extension member

27 to simply fold out to the side.

At the end of the second extension member 27, actuation structures 45

are supported. The actuation structures 45 include a symmetrical rotation

support 47 which support a first symmetrical rotation member 49 and a

second symmetrical rotation member 50. Each of the members 49 and 50

consists of an elongate curved portion 51 for grasping a refuse container, and

terminate in shaft portion 52 for rotatable engagement with the symmetrical

rotation support 47.

An expanded portion of the pivot 29 is shown in which the second

extension member 27 is seen engaging the endmost portion of a first

extension member 53 at the end of the second extension member 27. The

plate 36 is part of the first extension member 53 near the point where it

attaches for pivoting movement. A vertical pivot shaft 55 lies within a pair

of spaced apart bearings 57. A set of upper and lower end caps 58 act to both seal and hold the shaft 55 and bearings 57 in place.

Referring to Figure 2, a frontal view taken along line 2 - 2 of Figure 1,

show the flow restrictors 19 as a point of reference, and again shows the

manipulator 11 in its un-deployed, or traveling position. An upper support

structure 59 can be seen as having vertical depth as one method of achieving

the strength necessary to support the weight of the remainder of the

manipulator 1 1, and as will be shown is tubular in shape. Extending

downward from the junction of an upper surface 61 is a sloped surface 63 of

the upper support structure 59, and an angle brace 65 which is welded to the

sloped surface 63 and also bolted to the frame 15, shown in phantom. At the

right side of the upper surface 61 and extending downwardly is an angled

end cap 67 which has an upper portion 69 welded to and covering the end of

the tubular upper support structure 59, and a lower portion 71 which is

bolted to the frame 15.

Figure 2 also illustrates a lower support arm 72 having a lower end 73

from which one end of a hydraulic lifting cylinder 75 pivots and depends by

connection with a bolt 76. The cylinder 75 is seen connected to a pair of

hydraulic lines 77, which would normally be serially connected through the

hydraulic flow restrictors 17 and 19 both of which are seen in Figure 1. A

hydraulic piston rod 79 is partially seen.

The end of hydraulic piston rod 79 extending from the cylinder 75 is

pivotally connected to a lift fitting 81 made up of a pair of spaced apart plates. The lift fitting which has a top-heavy "3" side profile shape as seen

in Figure 2. Extension of the piston rod 79 from the cylinder 75 will cause

the lift fitting 81 to angularly rotate about a pivot point within the horizontal

hinge 21 which was seen in Figure 1. A corresponding vertical hinge 85 can

be seen just below and to the left of fitting 81 , and is partially accommodated

and surrounded by the plates of fitting 81.

Further details of the actuation structures 45 can be seen as including a

grabber actuator piston 87 shown displaced downwardly and to the left of a

grabber actuator cylinder 89. A portion of an actuator chain 91 is seen lying

along the side of the cylinder 89, as well as a short actuator chain 92 which

cooperates with actuator chain 91. The actuator chains 91 and 92 cooperate

with a mirror image of chain structures on the other side of the cylinder 89 to

cause simultaneous activation of the shaft portions 45.

A pair of impact bladders including a lower bladder 93 and an upper

bladder 95 are seen. Upper bladder 95 has an shaker arm 97 which is

attached to a plate (not immediately seen) which abuts one side of the upper

bladder 95. As will be seen, when the manipulator 1 1 is in position to dump,

the shaker arm 97 will strike or bear against the side of the vehicle causing a

refuse bin to shake, in order to remove as much refuse from the container as

possible.

Referring to Figure 3, a top view of the manipulator 1 1 is seen.

A better view of first extension member 53 is seen, and the hydraulic cylinder 33 which actuates extension of the second extension member 29 is

partially seen between the first extension member 51 and the second

extension member 29. Near the point of connection of the first extension

member 53 to the second extension member 27, the extension plate 41 is

better seen. The extension plate 41 connects the pivot 39 of the strut 37 with

the pivoting action of the vertical pivot shaft 55. Without the strut 37 and

plate 41 , actuation of the hydraulic cylinder 33 to extend the cylinder rod 31

would simply cause the second extension member to fold about the vertical

pivot shaft 55, and the actuation structures 45 would arc to a position

rearward of the vehicle 13. The strut 37 causes the second extension

member to extend directly away from the vehicle 13, as will be shown.

Also seen in Figure 3 attached to the second extension member 27 is

an extension dog 105 of a safety latch having an aperture 107. This enables

the manipulator 1 1 to be locked in place, into a closed position for long

travel periods.

Extension of the manipulator 11 is shown in Figure 4, and which is

taken generally from the same perspective as was seen in Figure 2. A refuse

bin 109 lies at the far left of Figure 4. As the hydraulic cylinder 33 is

actuated to push cylinder rod 31 outward, the actuation structures 45 remain

oriented away from the vehicle 13 due to an internal parallel maintenance

link (not seen in Figure 4) and which will be later described. As such, it

makes no difference whether the bin 109 is 3 feet away or located the full combined distance of both the first and second extensions members 53 and

27, the actuation structures 45 will always be in position to grasp the bin

109.

The bin 109 typically has a hinge 11 1 to pivot a lid 1 13. The bin 109

is shown with the hinge 111 oriented away from the manipulator 11.

Because the manipulator 11 uses a grasping motion to make its engagement

with the bin 109, the orientation of the bin 109 is unimportant. Most two

wheel bins have a lift bar at the front which must be engaged in order to

properly and safely lift it. The manipulator 11 can lift any type of bin 109

and in any orientation, regardless of the presence of a lift bar. Note that the

elongate curved portions 51 swing out and down around the bin 109 as is

shown in phantom. Rotation of the curved portions 51 is along the 45°

mounting of the axis of the shaft portions 52.

Referring to Figure 5, a top view of the manipulator 1 1 in substantially

the same position as was shown in Figure 4 is also shown without the

presence of the mechanically activated hydraulic flow restrictors 17 and 19,

for clarity. Other features can be seen including a connector plate 117 which

links the shaker arm 97 to the upper bladder 95. Additionally seen is a wheel

119 attached to the end of the shaker arm 97 to enable it to be rollably urged

against the vehicle 13, rather than scratching against the side. In addition,

the upper and lower bladders 95 and 93 help cushion any striking motion of the shaker arm 97 against the vehicle 13 for smoother, quieter operation.

Referring to Figure 6, a bottom view of the manipulator 11 gives a

clearer view of the grabber actuator cylinder 89 and illustrates a pair of lower

grabber sprockets 121 which are connected immediately adjacent the ends of

to the shaft portions 52. Grabber actuator cylinder 89 movement, from

hydraulic fluid lines 123, causes the chains 91 and 92 to turn the grabber

sprockets, one pair of which are grabber sprockets 121 and bring the

elongate curved portions 51 around the bin 109 simultaneously.

Also seen is an angled portion 125 which provides a pivot 127 for the

strut 37 to pivot. The angled portion 125 is attached to move with the fitting

81 to enable all of the structures connected with the first and second

extension members 53 and 27 and the strut 37 to move upwardly operate as a

unit. A base plate portion 128 is seen which is adjacent to plate 36 and

which forms a structure from which the cylinder 33 pivots about a pivot 129.

Referring to Figure 7, a view similar to the view of Figure 1 shows the

next sequence of action after the bin 109 of Figures 5 and 6 is grasped. The

extended articulating portion of the manipulator 1 1, brings the bin 109

straight upward in an arcing motion, pivoting about the horizontal hinge 21.

This is accomplished by actuation of the hydraulic lifting cylinder 75 which

brings the first and second extension members 53 and 27 to a vertical

position with the bin 109 firmly held by the actuation structures.

Referring to Figure 8, a view from the front of the vehicle as the bin 109 approaches the larger refuse bin 16. The wheel 119 of the shaker arm 97

approaches the side of the larger refuse bin 16 to provide leverage to tilt the

bin 109. The lid 113 will not normally open until the bin 109 is in a

horizontal position.

Referring to Figure 9, the bin 109 is tilted as the shaker arm 97 is

pressed by the pressure of the wheel 119. Note that the bin 109 is tilted

beyond the horizontal plane. If refuse is stuck within the bin 109, the

extended portion of the manipulator 1 1 , including first and second extension

members 53 an 27 can be cyclicly actuated to the left and right between the

positions of Figure 8 and 9, in order to loosen the refuse and eventually

dump it into the larger refuse bin 16.

Referring to Figure 10, an exploded view of the portions of the

manipulator 11 adjacent the frame 15 are illustrated and further details

revealed. As can be seen, the angle braces 65, and angled end cap 67 is

bolted to the to the frame 15. The bolt 76 is seen along with a securing nut

131. The bolt 76 enables a circular fitting 133 at the end of the hydraulic lift

cylinder 75. The end of the hydraulic piston rod 79 has a similar circular

fitting 135.

As can also be seen, the lower arm support is also a tubular structure

having a lower cylindrical surface 137 for fitting against a portion of the bolt

76, and an upper cylindrical surface 139 for fitting against a portion of the

horizontal hinge 21. Sloped surface 63 also terminates in a cylindrical surface 139 and when the upper support structure 59 is brought into place

with respect to the lower support arm 72, the cylindrical surface 139 is

continuous between the two members to enable space accommodation and fit

for the horizontal hinge 21. A "U" shaped reinforcement member 140 is

tack welded to the side of the lower support arm 72 it help support the bolt

76.

The angled portion 125 is seen as an "L" shaped fitting which will fit

around the angled hinge member at the side of the horizontal hinge 21

opposite the lift fitting 81 in order to provide a balanced support to the pivot

127 which will support the strut 101. The angled portion 125 has a

horizontal base portion 141 connected to a horizontal portion 143, the

horizontal portion 143 having a circular aperture 145 to accommodate the

angled hinge member 23. An edge 147 of the base member is attached to

cooperate with the lift fitting 81.

At the upper and left side of the Figure 10, the vertical hinge 85, hinge

member 23 and horizontal hinge 21 are shown in exploded fashion and

illustrates the bearing and camming surfaces members which are assembled

to make the manipulator 11 work quietly and smoothly over a large number

of cycles. The parts which comprise the internal workings of the hinges 21

and 85 enable quick and inexpensive manufacturing.

First, angled hinge member 23 is made of an angled length of bar stock

of about 2.5 inches in diameter. The hinge member has an "L" shape, of 90° and includes a horizontal leg 151 and a vertical leg 153. The horizontal leg

151 has an end area 155 which is about three inches long, measured from the

tip end of the horizontal leg 151. This three inch long end area 155 is

machined down into a slightly smaller diameter and two of the three inches

nearest the tip end of the end area 155 carries a 2.25 inch thread. Again, the

2.25 inch thread is about 2.0 inches deep to insure a good hold. The angled

hinge member has to withstand a tremendous amount of stress force.

Similarly, the vertical leg 153 has an end area 157 which matches the

end area 155 of horizontal leg 151.

Beginning at the lower left of Figure 10, the parts shown include an

outer locking nut 161, an inner locking nut 163, a spacer member 165, a

washer 167, and a beveled bearing 169. The beveled bearing 169 has a

series of preferably cylindrical bearings for maximum distribution of the

load. The beveled bearing 169 will also have an inner portion which engages

the outer part of the vertical leg 153 against which it will bear. Above the

beveled bearing 169 is a conical race ring 171. The use of a machined race

ring 171 prevents the need for forming a race surface on the inside of the

vertical hinge 85 and allows for the provision of a much harder race surface.

The inside of the vertical hinge 85 need only be machined for a concentric

step matching the race ring 171.

Above the vertical hinge 85, a matching set of structures, including

conical race ring 171, beveled bearing 169, and washer 167 is seen. Above the washer 167 is a vertical elbow spacer 173 for displacing the vertical

hinge 85, and the structures within it, downward slightly, otherwise the

washer 167 below the vertical elbow spacer 173 would come all the way up

to an inside elbow 175 of the angled hinge member 23. The vertical elbow

spacer 173 thus prevents interference with structures on the horizontal leg

151, and prevents the washer 167 fro rubbing directly on the horizontal leg

151. With proper spacing, the inner and outer lock nuts 161 and 163 can be

heavily tightened to insure that the vertical hinge 85 assembly will remain in

place.

To the right of the horizontal leg 151 is pictured a horizontal camming

elbow spacer 177. The interaction between the horizontal camming elbow

spacer 177 and the vertical elbow spacer 173 is a meeting bearing

relationship as pictured in the drawings. If one of the spacers 173 and 177 is

allowed to reach the inside elbow 175, the other of the spacers 173 and 177

would be blocked. This can be remedied by providing a stop at the inside

elbow 175 or by providing other structures or keyed surfaces to insure proper

placement. Horizontal camming elbow spacer 177 will be jammed against,

and move with the angled hinge member 23.

The horizontal camming elbow spacer 177 has a surface which

provides a concentric rise or dip for at least one portion of its circularity. It

operates in conjunction with the mechanically activated hydraulic flow

restrictor 19. When the first and second extension members 51 and 27 are extended, and begin to reach the end of their upward travel as shown in

Figures 8 and 9, the horizontal camming elbow spacer 177 actuates the

mechanically activated hydraulic flow restrictor 19 to slow the angular

movement of the manipulator 1 1. The same is true for the mechanically

activated hydraulic flow restrictor 17 as will be shown. However, which of

the two mechanically activated hydraulic flow restrictors 19 and 17 are used

to restrict upward travel is unimportant.

The horizontal camming elbow spacer 177 can also operate in

conjunction with the mechanically activated hydraulic flow restrictor 19 to

restrict flow when the first and second extension members 51 and 27 are

extended, and begin to reach the end of their downward travel approaching

the positions shown in Figures 4, 5, & 6. In this configuration, the horizontal

camming elbow spacer 177 would actuate the mechanically activated

hydraulic flow restrictor 19 to slow the angular movement of the manipulator

11 on its way down. Again, the downward motion could be configured to be

damped by the mechanically activated hydraulic flow restrictor 17.

This is an important feature in prolonging the life of the bins 109.

Most refuse collection units which use a hook or grabber enable or

encourage sharp treatment of the refuse bin 109 in conjunction with its

release. No better evidence of this, even with new bins 109, can be seen by

following a refuse collection vehicle 13 to see empty bins 109 which are

lying on their side near sidewalks and in streets. The bins are strewn about because they have been slammed downwardly and bounced around. In some

cases where the operator has control, this will be more dependent upon that

control. However, the longevity and care afforded to a smaller waste bin 109

should not depend upon the care of the operator, or whether he is in a mood

to exercise care or not. By utilizing flow restriction, the operator is

free to operate the manipulator 1 1 in as swift and time efficient manner as

possible but will be automatically limited against rough treatment of the bin

109. Similarly, the operator is not free to bang the manipulator 11 against

the top of the vehicle 13, to make undue noise and cause damage to either the

manipulator 1 1 or to the larger refuse bin 16.

Referring again to Figure 10 and continuing to the right, the other

components are the same as were described for the vertical hinge 85,

including washer 167, beveled bearing 169, and conical race ring 171. The

same members are repeated in reverse order on the other side of the

horizontal hinge 21, including conical race ring 171, beveled bearing 169,

and washer 167. Beyond washer 167 is another horizontal camming spacer

179. The orientation and surface of the horizontal camming spacer 179 will

operate the mechanically activated hydraulic flow restrictor 17. Again, either

of the hydraulic flow restrictors 17 and 19 can be set for limiting the upward

motion, with the hydraulic flow restrictors 17 and 19 set to operatively limit

the downward motion of the manipulator 1 1.

In addition, a bolt 180 joins the plates which make up the lift fitting 81. Referring to Figure 1 1 , an exploded view of the first and second

extension members 51 and 27 and their associated hardware is shown. From

the left, including the vertical hinge 85, the first extension member 51

extends to a pair of flanges including an upper flange 181 and a lower flange

183. These flanges fit within a pair of flanges of the second extension

member 27, including upper flange 185 and 187.

A pair of steel bands 189 extend from the second extension member 27

and are attached to the first extension member 53 to have a differential

displacement as the first extension member 51 pivots with respect to the

second extension member 27. The pair of steel bands 189 extend through the

second extension member 27 and terminate at an opening 191. The bands

attach to a pivot member 195 which has a pair of spaced apart band brackets

197. The pivot member 195 pivots within the end of the second attachment

member 27 in response to the bands 189 to keep the actuation structures 45

which pivotally depend from the pivot member 195 in an orientation normal

to the side of the vehicle 13. Bolt 199 and bearings 200 secure the pivot

member 195 at the end of the second extension member 27.

Below the flanges 185 and 187, the cylinder rod 31 is seen to have a

fitting 201, while its associated hydraulic cylinder 33 has a fitting 203. Bolts

205 attach the fittings 203 and 201 to the second extension member 27 and

the first extension member 53, respectively.

The strut 37 has a pair of end fittings 209 which enable bolts 21 1 to attach the strut 37 between the extension plate 41 and the pivot 127 of Figure 6.

The other components of the second extension member 27 are in a condition

as previously shown.

Referring to Figure 12, a partial sectional view of the horizontal and

vertical hinges 21 and 85 are shown in relationship to the mechanically

activated hydraulic flow restrictors 17 and 19. Mechanically activated

hydraulic flow restrictor 17 carries an axially movable piston portion 221

having a roller wheel 223 which bears upon the horizontal camming spacer

179. As the angled hinge member 23 is rotated upward, the horizontal

camming spacer 179 will turn and either allow the movable piston portion

221 to axially move in or out to provide a flow restriction between the two

ports 225 of the hydraulic flow restrictor 17. As such, the rotational

positioning of the horizontal camming spacer 179 is important.

Similarly, the Mechanically activated hydraulic flow restrictor 19

carries an axially movable piston portion 231 having a roller wheel 233

which bears upon the horizontal camming elbow spacer 177. As the angled

hinge member 23 is rotated upward or downward, the horizontal camming

elbow spacer 177 will turn and either allow the movable piston portion 231

to axially move in or out to provide a flow restriction between the two ports

235 of the hydraulic flow restrictor 19. As such, the rotational positioning of

the horizontal camming elbow spacer 177 is important.

Referring to Figure 13, a side view of the components of Figure 12 also illustrates with an arrow the direction of upward pivot which the vertical

hinge 85 experiences. This simple configuration provides maximum support

and long wear.

Referring to Figure 14, an expanded view of the horizontal and vertical

hinges 21 and 85 are shown, similar to that seen in Figure 12, but where the

structures of the horizontal hinge 21 are shown in partially exploded view.

As can be seen, the inside of the horizontal hinge has a pair of stepped

expanded bore portions 241 with which the conical race rings 171 are

accommodated. Also seen is the conical side profile of the washer 167. The

components are only partially slipped off of the horizontal leg 151. Other

components seen are as previously described, but are seen in greater detail

and for more understanding.

Referring to Figure 15, a closeup rear view of the actuation structures

45 are shown. The actuation structures 45 at the end of the second extension

member 27 can pivot with respect to the second extension member 27 by

using the pivot member 195. One of the band brackets 197 is shown

connected to one of the bands 189, with the other band 189 and band bracket

197 not seen. The bands 189 are seen at the right side of Figure 15 as

somewhat spaced apart and extending through the second extension member

27. All of the structures for actuation depend from the pivot member 195.

The pivot member is mounted about the bolt 199 and must have sufficient

strength to have good support. At the bottom of Figure 15, each the grabber sprockets 121 are seen to

take the chain 92 partially around a 360° path from a position at the end of

the grabber actuator cylinder 89, while a pair of grabber sprockets 251

engage the chains 91. At the tip of the grabber actuator cylinder 89 is a

structure 161 which holds the chain 91 at its mid-point fairly securely. From

structure 161, each end of the chain 91 extends along the sides of the

cylinder 89, wraps around the back side of the sprockets 121 then extends

partially toward the cylinder.

Chain 92 is actually two separate chain segments each of which have a

first end which attach to a wing segment 255 and a second end which

attaches to the sprockets 251 at a point along their periphery.

The wing segment 255 is displaced from the center line of the cylinder 89.

Since the piston 87 and wing segment 255 are connected together, and since

the cylinder 89 and sprockets 251 and 121 are anchored against translation,

hydraulic actuation causes the piston 81 and wing segment 255 to move with

respect to the cylinder 87 and the sprockets 121 & 251. This causes the

sprockets 121 and 251 to rotate.

Referring to Figure 16, the wing segment 255 attached to the cylinder

89 is better shown. The chain 91 has two ends, each of which are terminated

at attached to an associated one of the two sprockets 251 which lie behind

the sprockets 121 seen in the foreground of Figure 16. As can be seen, each

of the chain segments 92 terminate in a terminal link 257 on the sprockets 121. Each of the sprocket sets 121 & 251 will only need to rotate no more

than 180° and the use of terminal links 257 on sprocket 121 with chain 92

and terminal links (not seen) on sprocket 251 with chain 91 do not unduly

limit the required motion.

Figure 16 shows a position where the piston 87 is retracted into the

cylinder 89. Figure 17 shows the extension of the piston 87 out of the

cylinder 89. Since the sprockets 121 are translationally stationary with the

piston 87, movement of the cylinder causes both sprockets to turn

simultaneously in the opposite direction. This causes the first symmetrical

rotation member 49 and second symmetrical rotation member 50 and their

related elongate curved portions 51 to move around and grasp a smaller

refuse bin 109.

Referring to Figure 17, the piston 81 is in the extended position. The

wing segments 255 are translationally fixed to the cylinder 89 and have

moved up with respect to the sprockets 121 causing the sprockets 251 to be

pulled by the chain 91 and thus rotate. The movement of the cylinder 89

upward moves the wing segments 255 upward and allows the sprockets 121

to turn. Likewise when the piston 81 is actuated to release the bin 109, the

piston 81 travels inside the cylinder 89 and the sprocket sets 121 & 251

translate toward the end of the cylinder 89, the wing segments 255 hold the

ends of the chain 92 and pull the sprocket sets 121 and 251 in the opposite

direction. Referring to Figure 18, a side view shows the relationships of the

chains 91 and 92 as being not only separate segments, but completely

parallel oriented. Note that regardless of the position of the piston 81, the

orientation of the bottom of the piston 81 and the sprocket sets 121 & 251 do

not change.

Since the manipulator 11 is of such high utility due to its low profile

and ability to fit underneath an ordinary vehicle, such as a dump truck or

other utility vehicle, it would be advantageous to have a manipulator which

is readily removable. Removability is especially useful where a fleet of

trucks can have its entire manipulator changed out for routine maintenance

without tying up the vehicle for the period. In addition, when a business

uses different vehicles for different jobs, it can attach the manipulator to a

vehicle which best suits the job at hand.

Referring to Figure 19, the vehicle frame 15 is seen as a pair of

opposing "u" shaped channel members. A detachable manipulator 300 is

seen, many components in common with the manipulator 1 1. Overlying the

frame 15 is a first outer bracket 301 having an end plate 303 attached to the

end of the first outer bracket 301 and extending down and to the outside of

the frame 15 to the right, seen from the perspective of Figure 19. For

strength and stability, a pair of outer brackets are used, but only first outer

bracket 301 is visible from the viewpoint of Figure 19.

The other end of the first outer bracket 301 has a through plate 305. Both the through plate 305 and the end plate 303 are preferably attached with

bolts 307. It is intended that the first outer bracket 301, plates 303 and 305

will be permanently attached to each vehicle to avoid having to bolt and un

bolt these structures.

An angle brace 309 is seen which extends toward the through plate 305

at an upward angle. Structures to the left of the angle brace 309 are expected

to be equivalent to those already shown. Seen is a horizontal hinge 21,

vertical hinge 85, a portion of the first extension member 51, lifting cylinder

75 and lower support arm 72. Overlying the first outer bracket 301 is a bin

311 or other storage structure.

Also seen protruding through the first outer bracket 301 is a relatively

large diameter locking pin 313 which is secured by a cotter pin 315 to

prevent the end of the locking pin 313 from moving back inside the first

outer bracket 301. In most cases it may be expected that the locking pin 313

is used as a safety device with some significant bolting to be had to provide

secure attachment. The plate 305, when bolting is desired as a main structure

through which the manipulator 300 is to be attached, will be solidly

connected to the angle brace 309. Further, the plate 305 may be split into

sections with one section being permanently secured to the frame 15, and

another section attached with the angle brace 309.

Referring to Figure 20, a cross sectional view looking within the first

outer bracket 301 shows an inner bracket 317 sized to fit closely within the first outer bracket 301. The locking pin 313 is seen extending through both

the first outer bracket 301 and inner bracket 317. The locking pin 313

prevents disengagement of the inner bracket 317 from the first outer bracket

301, and when used in addition to the bolting of the plate 305 to the frame

15, is used as a safety reserve connection to insure that the manipulator 300

will not become dislodged from the vehicle 13 in the event that the bolts 305

loosen through vibration, negligent tightening and the like. In this

configuration, the first outer bracket 301 can remain on the vehicle 13 frame

15 and installation of the manipulator 300 is as simple as lifting the

manipulator 300 and its inner bracket 317 into the first outer bracket 301,

followed by insertion of the locking pin 313 and cotter pin 315, and possibly

bolting of the plate 305 to the frame 15.

Referring to Figure 21, a view with the inner bracket 317 partially

removed from the outer bracket 317, is shown with respect to the same

sectional relationship as seen in Figure 20. Since the view is looking

rearward, a rearward aperture 321 is seen on the outer bracket 317, while a

rearward aperture 323 is seen on the inner bracket 317. A corresponding

forward apertures on the inner bracket 317 is in alignment with the rearward

aperture 323, and a corresponding forward apertures on the first outer

bracket 301 is in alignment with the rearward aperture 321. When the inner

bracket 317 is fully inserted into the first outer bracket 301, all four

apertures, including the forward apertures and the rearward apertures 321 and 323 are in alignment, permitting the locking pin 313 to be inserted. The

plate 305, or section thereof shown is also seen as moving with the angle

brace 309. In this configuration, the plate 305 will be bolted to the frame 15

as a primary securing mechanism.

Figure 22 is a top view looking down on the portions of the vehicle 13

which were seen in Figures 19 - 21, with a broken away section illustrating

the engagement of the locking pin 313 with the first outer bracket 301 and

inner bracket 317. The locking pin has an expanded head portion 331 , and

main body. Beside and parallel to the first outer bracket 301 and inner

bracket 317 is a second outer bracket 333 and a second inner bracket 335.

The brackets 301, 317, 333 and 335 could be formed as one long bracket, but

the use of a pair of members to form a forked bracket works well. It

especially spreads the base from which front to rear bearing forces on the

frame 13 can be supported. A portion of the second outer bracket 333 is

shown broken away to reveal the surrounding relationships. An additional

large diameter locking pin 313 could be used with the second outer bracket

333 and a second inner bracket 335 for additional security, or in place of the

bolting on of plate 305.

Referring to Figure 24, the end of the manipulator 300 illustrates an

alternative embodiment in which a double figure- 8 orientation permits the

cylinder which actuates the grasping portion of the manipulator 300 to be

horizontally inclined along its axis and to apply sufficient power elongated curved portions 51. A plate 341 supports most of the structures seen for

grasping including the shaft portion 52 of the rotation member 50, as well as

its elongate curved portion 51. Plate 341 is connected to the second

extension member 27. A sprocket 343 is seen associated with rotation

member 50, and the sprocket is sized to enable a chain 345 to perform at

least one spiral about the sprocket, or in other words, the chain is wide

enough, and the sprocket 343 is narrow enough to enable the chain to make a

spiral path of travel around the sprocket 343 to complete a figure-8 or the

like.

Figure 25 is a view of the underside of the actuation structures

including plate 341. Also seen is a sprocket 346 associated with the first

cylindrical rotation member 49. At the upper portion of plate 341, a double

acting cylinder 347 is seen as fed by a first hydraulic fluid power line 349

and a second hydraulic fluid power line 351. The piston from the hydraulic

cylinder terminates in a bolt 353 and a nut 355 which secures a translation

plate 357 which supports a double sprocket 359. The double sprocket

includes side-by-side sprockets and may be freely rotatable with respect to

each other.

The chain 345 is possibly a continuous length of chain. An angled

anchor plate 361 is used to anchor one end of the chain 345. An adjustment

fitting 363 is provided to enable taughtness of the chain to be adjusted. A

second anchored angle plate 365 is located more closely adjacent the double acting cylinder 347 to secure the other end of the chain 345. The movement

of the double sprocket 359 to the left and to the right causes the chain to

cause the sprockets 343 and 345 to turn in opposite directions

simultaneously to cause the first and second symmetrical rotation members

49 and 50 to turn and come together or turn and open apart.

Referring to Figure 26, the first and second symmetrical rotation

members 49 and 50 arms having turned and come together. Note that the

angle of view from Figure 25 is such that the first and second symmetrical

rotation members 49 and 50 are either up, apart and above the plate, or

down, closed and below the plate 341 as seen in Figure 26. Also seen is the

piston 361 in extended position. Note that leftward movement of the double

sprocket 359 causes a pulling of the chain 345 away from the sprocket 345

causing it to turn clockwise, while at the same time pulling chain from

sprocket 346 to 343 and feeding chain to sprocket 343 cause it to turn

counterclockwise in exact time with the sprocket 346.

The sprockets 343 and 346 are thus in a figure-8 relationship with

respect to the chain 345. Rather than have another fixed sprocket linkage,

the moving sprocket linkage enables the figure-8 to be actuated by a motion

in parallel to a line between the two sprockets 343 and 346. This action adds

to the compactness of the manipulator 300, but without compromising the

force producible in the grasping portion of the manipulator 300. In addition,

the use of the double sprocket eliminates the possibility for changing tension in the chain 345 and eliminates the need for a gear which would use energy.

Referring to Figure 27, an alternate bracket arrangement is shown, and

which may be advantageously used to support a manipulator 300,

particularly where a shop may not have the clearance or equipment which

facilitates the withdrawing removal of the manipulator 300 for a significant

amount laterally. This is especially useful where a sufficient support

undercarriage or dolly is used to move the manipulator 300 on and off the

vehicle.

A bracket 400 includes a pair of tubular members 401 and 403. A bin

405 will be likely located over the bracket 400 and is seen ph phantom in

order to show the compactness and integrability of the bracket 400 with

respect to a frame 15 and bin 405. At the far end of the tubular members 401

and 403 is an end plate 407 which extends over the ends of the tubular

members 401 and 403, and downward and engaged to the adjacent frame 15

with bolts and nut sets 409. In addition, the end plate 407 may be welded to

the frame 15, and is preferably welded to completely cover and exceed the

peripheral edges of the tubular members 401 and 403.

The opposite ends of the tubular members 401 and 403 are likewise

covered by an abutment plate 415. Abutment plate 415 is welded to the ends

of the tubular members 401 and 403, and may also preferably be welded to

the near frame 15. Bolting may also be accomplished of the abutment plate

415 to the frame if it can be done with a low outer profile. Immediately adjacent the abutment plate 415, and shown almost

coextensive with the abutment plate 415 is a manipulator base plate 417.

Also shown are a series of bolt apertures 419 which align with similar bolt

apertures in the abutment plate 415, and where the plates 415 and 417 cover

the side of the frame 15, with bolt apertures in the frame 15. The use of the

abutment plate 415 and the manipulator base plate 417 enable additional

connective bolting to each other even if such bolting does not extend through

the frame 15. This is especially useful where the frame 15 area available is

so small that sufficient holding bolts would compromise the integrity of the

frame 15 for holding up the vehicle 13 in addition to the manipulator 300.

The use of multiple bolt apertures enables a more consistent fit and enables

the manipulator 600 to be more rigidly attached to the frame 15. This

arrangement is preferable for either larger sized manipulators or where ease

of detachability is not as important as structural integrity, or where the

manipulator 300 is expected to handle increased loads.

From the manipulator base plate 417, a pair of spaced apart struts 421

are connected to the horizontal hinge 21, the horizontal hinge 21 also

connected to the lower support arm 72. The other structures shown in Figure

27 are the same as was shown in the earlier figures.

The invention herein has been described with respect to a waste bin

manipulator arm which provides both a simpler actuation with three controls

and operation, as well as a gentler and quieter method of handling of refuse bins, to both extend bin life and save taxpayers money. The invention may

be applied to any situation where compact and simple handling is required

and which may be employed with original refuse collection vehicles and

equipment as well as in a retrofit use.

Although the invention has been derived with reference to particular

illustrative embodiments thereof, many changes and modifications of the

invention may become apparent to those skilled in the art without departing

from the spirit and scope of the invention. Therefore, included within the

patent warranted hereon are all such changes and modifications as may

reasonably and properly be included within the scope of this contribution to

the art.

Claims

WHAT IS CLAIMED:

1. A manipulator arm (11) comprising:

a base support (61, 65, 67);

a hinge structure (21, 23, 85) for providing pivoting in a horizontal

plane and in a vertical plane;

an extension arm (27, 53) having a first end connected to said hinge

structure (21, 23, 85) and a second end;

a grasping bin actuator (45) connected to the second end of said

extension arm (27, 53).

2. The manipulator arm (11) as recited in claim 1 wherein said

hinge structure (21, 23, 85) further comprises:

a horizontal hinge (21) connected to said base support (61 , 65, 67);

an angled hinge member (23) having a horizontal leg (151) pivotally

carried within said horizontal hinge (21) and a vertical leg (153);

a vertical hinge (85) supported by and pivotably rotatable about said

vertical leg, said vertical hinge (85) connected to said first end of said

extension arm (27, 53).

3. The manipulator arm (11) as recited in claim 1 wherein said

extension arm (27, 53) further comprises:

a first extension member (53) having a first end pivotally connected to

said hinge structure (21, 23, 85), and a second end; and

a second extension member (27) having a first end pivotally connected

to said second end of said first extension member (53), and a second end

connected to said bin actuator (45).

4. The manipulator arm (11) as recited in claim 1 wherein said bin

actuator (45) is attached to said second end of said extension arm (27, 53) to

remain oriented away from said base support (61, 65, 67) regardless of the

position of said extension arm (27, 53) with respect to said base support (61,

65, 67).

5. The manipulator arm (11) as recited in claim 1 wherein said bin

actuator (45) further comprises:

a symmetrical rotation support (47) connected to said second end of

said extension arm (27, 53);

a first symmetrical rotation member (49) pivotally supported about a

first axis by said symmetrical rotation support (47) and having a first

elongate curved portion (51) extending at an angle with respect to said first

axis; a second symmetrical rotation member (50) pivotally supported about a

second axis by said symmetrical rotation support (47) and having a second

elongate curved portion (51) extending at an angle with respect to said first

axis, and operable in concert with said first symmetrical rotation member

(49) to grasp an object, said angle enabling said first and second elongate

curved portion (51)s to assume an approximately horizontal position when

grasping, and an approximately vertical position when not grasping; and

a mechanical power source (87, 89) connected to said first and second

symmetrical rotation members (49 & 50) .

6. The manipulator arm (11) as recited in claim 5 wherein said

mechanical power source further comprises:

a hydraulic cylinder (89);

a first actuator chain (91) extending from a point secured by said

hydraulic cylinder (89);

a hydraulic piston (87) carried within and hydraulically actuated to

extend from said hydraulic cylinder (89);

at least a first sprocket (121) engaging said first actuator chain (91) to

turn when said hydraulic piston (87) is displaced out of said hydraulic

cylinder (89).

7. The manipulator arm (11) as recited in claim 6 wherein said mechanical power source (87, 89) further comprises:

a second actuator chain (92) having a first end connected to said

hydraulic piston (87), and a second end connected to at least a second

sprocket (251 ) rotationally linked to said at least a first sprocket (121) to

assist in turning said at least a first and said at least a second sprockets (251 ,

121) simultaneously.

8. The manipulator arm (11) as recited in claim 2 and wherein said

hinge structure (21, 23, 85) further comprises:

a first camming ring (177) carried on said horizontal leg of said angled

hinge and which rotates when said manipulator arm (11) is pivoted about an

axis of said horizontal hinge (85) ; and

a first mechanically activated hydraulic flow restrictor (19) which

restricts hydraulic flow in response to rotation of said first camming ring

(177).

9. The manipulator arm (11) as recited in claim 8 and wherein said

manipulator arm (1 1) further comprises a hydraulic lift cylinder (75) having

a first pivot end and a second end and a hydraulic lift piston (79) having a

first end within said second end of said hydraulic lift cylinder and a second

pivot end, and where one of said first and said second pivot ends is

connected to said base support (61, 65, 67) and the other of said first and said second pivot ends is connected to said extension arm (27, 53) for lifting said

extension arm (27, 53), wherein said hydraulic lift cylinder is in fluid

communication with said mechanically activated hydraulic flow restrictor

(19).

1 1. The manipulator arm (11) as recited in claim 1 and wherein said

base support (61 , 65, 67) further comprises:

an upper rectangular tube shaped structure (59) for fitting atop a

chassis member (15) of a vehicle and having a generally horizontal portion

and a downwardly sloping portion 63) terminating at a first end, and having

a second end;

a lower rectangular tube shaped structure (72) having a first end

adjacent said first end of said upper rectangular tube shaped structure (59)

and a second end; and

an end cap (67) covering said second end of said upper rectangular

tube shaped structure (59), and providing surface to facilitate attachment to

said chassis member (15), the first end of said lower rectangular tube shaped

structure (79) connected to the first end of said upper rectangular tube

shaped structure (59).

12. The manipulator arm (1 1) as recited in claim 3 and further

comprising: a strut (37) having a first end pivotally attached to said hinge structure

(21, 23, 85) and a second end pivotally attached to said second extension

member (27) adjacent but spaced apart from said second end of said first

extension member (53);

a hydraulic extension cylinder (33) having a first vertical pivot end and

a second end and a hydraulic extension piston (31 ) having a first end within

said second end of said hydraulic extension cylinder and a second vertical

pivot end, and where one of said first and said second vertical pivot ends is

connected to said hinge structure (21, 23, 85) and the other of said first and

second vertical pivot ends is connected to said second extension member

(27) and where actuation of said hydraulic extension cylinder (33) causes

said first and second extension member (27) to pivotally extend from said

base support (61, 65, 67).

13. The manipulator arm (1 1) as recited in claim 1 wherein said bin

grasping actuator (45) is resiliently pivotable with respect to said second end

of said extension arm (27, 53), to enable a back and forth motion of said

extension arm (27, 53) to pivotingly shake a bin held by said bin grasping

actuator (45).

14. The manipulator arm (11) as recited in claim 13 and further

comprising a shaker arm connected to said bin grasping actuator (45) and oriented to make contact with a surface when said bin is held in a position to

be emptied to enhance said shaking.

15. A manipulator arm (11) comprising:

a base support (61, 65, 67) for attachment to a chassis member of a

vehicle;

a hinge structure (21, 23, 85) for providing pivoting in a horizontal

plane and in a vertical plane independently of an angle of pivot in said

horizontal plane;

an extension arm (27, 53) having a first end connected to said hinge

structure (21 , 23, 85) and a second end, said extension arm (27, 53) limited

in speed of angular displacement in said vertical plane;

a bin grasping actuator (45) connected to the second end of said

extension arm (27, 53), to enable said extension arm (27, 53) to grasp a bin

and hold it through pivoting displacement to a vertical position.

16. The manipulator arm (11) as recited in claim 15 wherein said bin

grasping actuator (45) further comprises:

a pair of cooperating symmetrical rotation members (49, 50) actuatable

from a first approximately vertical position when not grasping to a second

approximately horizontal position when grasping; and

a mechanical power source (87, 89) connected to said pair of cooperating symmetrical rotation members (49, 50).

17. A removable manipulator arm (11) comprising:

a tube shaped outer bracket (301) having an inside, and attachable

adjacent a chassis member (15) of a vehicle;

an inner bracket (317) having an outer surface closely slidably fittable

within said inside of said tube shaped outer bracket (301);

a holding structure (305) for engaging said inner bracket with respect

to one of said chassis member (15) and said tube shaped outer bracket (301);

a hydraulic manipulator arm (11) having a hinge structure (21 , 23, 85)

for providing pivoting in a horizontal plane and in a vertical plane and

attached to said inner bracket (317);

an extension arm (27, 53) having a first end connected to said hinge

structure (21, 23, 85) and a second end; and

a bin grasping actuator (45) connected to the second end of said

extension arm (27, 53).

18. The removable manipulator arm (11) as recited in claim 17 and

wherein said outer bracket (301) has a first aperture and where said inner

bracket has a second aperture, positioned such that when said inner bracket is

engaged with said outer bracket (301), said first and said second apertures

align, and further comprising a locking pin (313) inserted through said first and said second apertures to hold said inner bracket in engagement with said

outer bracket (301).

19. The removable manipulator arm (1 1) as recited in claim 17 and

wherein said outer bracket (301) has a first end connected to a plate for

attachment of the outer bracket (301) to a vehicle frame, and a second end.

20. The removable manipulator arm (11) as recited in claim 17 and

wherein said inner bracket (317) has a first end for insertion into said outer

bracket (301) and a second end and wherein said holding structure further

comprises a plate (305) attached to said inner bracket (317) adjacent said

second end for facilitating attachment of said inner bracket (317) with

respect to said outer bracket (301).

21. A removable manipulator arm (11) comprising:

a hydraulic manipulator arm (11) having a hinge structure (21, 23, 85)

including a brace (309) for providing pivoting in a horizontal plane and in a

vertical plane and attached to said inner bracket (317);

an extension arm (27, 53) having a first end connected to said hinge

structure (21, 23, 85) and a second end;

a bin grasping actuator (45) connected to the second end of said

extension arm (27, 53); an inner bracket (317) having pair of parallel spaced apart inner

bracket members (335, 317) connected to and extending away from said

brace (309);

an outer bracket (301) having a pair of spaced apart tube shaped outer

bracket (301) members each having an inside, and attachable adjacent a

chassis member of a vehicle, each of said inner bracket members having an

outer surface closely slidably fittable within said inside of an associated one

of said outer bracket (301) members.

22. A manipulator for grasping and further comprising:

a rotation support (341);

a first symmetrical rotation member (49) pivotally supported about a

first axis by said rotation support and having a first elongate curved portion

(51) extending at an angle with respect to said first axis;

a first sprocket (346) connected to said first symmetrical rotation

member (49) and rotatable with said first symmetrical rotation member (49);

a second symmetrical rotation member (50) pivotally supported about a

second axis by said rotation support and having a second elongate curved

portion (51) extending at an angle with respect to said second axis;

a second sprocket (343) connected to said first symmetrical rotation

member (49) and rotatable with said first symmetrical rotation member (49),

said second symmetrical rotation member (50) operable in concert with said first symmetrical rotation member (49) to grasp an object;

a chain (345) surrounding said first and said second sprockets in a

figure-8 pattern; and

a mechanical power source (347, 361) powerably connected to one of

said first and said second symmetrical rotation members (49, 50).

23. The manipulator arm (1 1) as recited in claim 22 wherein said

mechanical power source (347, 361) further comprises:

a hydraulic cylinder (347);

a hydraulic piston (361) carried within and hydraulically actuated to

extend from said hydraulic cylinder (347); and

a link (357, 359) connecting said hydraulic piston (361) and said chain.

24. The manipulator arm (11) as recited in claim 23 wherein said

link (357, 359) further comprises:

a translation plate (357) connected to said hydraulic piston (361); and

a translation sprocket (359) rotatably supported by said translation

plate (357) and engaging said chain (345), said translation sprocket ( 359)

set to forcibly turn when said hydraulic piston (361) is actuated from said

hydraulic cylinder (347).

25. The manipulator arm (11) as recited in claim 24 wherein said chain (345) has a first end and a second end supported by said rotation

support (341), and wherein said translation sprocket ( 359) engages said

chain (341) near said first and second ends of said chain (345) such that said

translation sprocket (359) will turn as it is moved by said hydraulic piston.

26. A removable manipulator arm (11) comprising:

a bracket (400) further comprising:

a pair of spaced apart tubes (401, 403) each having a first end

and a second end;

an end plate (407) attached over the second ends of said pair of spaced

apart tubes (401, 403);

an abutment plate (415) attached over the first ends of said pair of

spaced apart tubes (401, 403);

a manipulator base plate (417) abutting and attachable to said abutment

plate (415); and

a hydraulic manipulator arm (1 1) having a hinge structure (21, 23, 85)

supported by said manipulator base plate (417) for providing pivoting in a

horizontal plane and in a vertical plane;

an extension arm (27, 53) having a first end connected to said hinge

structure (21, 23, 85) and a second end; and

a bin grasping actuator (45) connected to the second end of said

extension arm (27, 53).