US2770380A

US2770380A - Suspension manipulator for metal coils

Info

Publication number: US2770380A
Application number: US435700A
Authority: US
Inventors: Lysle V Anderson
Original assignee: Individual
Current assignee: Individual
Priority date: 1954-06-10
Filing date: 1954-06-10
Publication date: 1956-11-13
Anticipated expiration: 1973-11-13

Description

13 1956 V. ANDERSON lllii SUSPENSION MANIPULATOR FOR METAL. cons Filed June 10, 1954 2 Sheets-Sheet l svr/wv 8 i mm I I I I I /0 a 1 I /4/I A Pos/r/oA/A L J i -l I N I JNVEN'TOR. L VSLE MAAmE/Qso/v Unite This invention relates to an improved suspension manipulator for handling and positioning metal work pieces and particularly, work pieces having a hollow center, such as metal strip coils.

The structure of the Douglas Patent No. 2,630,93 represented an advance in this particular field, in that it made possible the effective mechanical handling of coils through the agency of an overhead hoist or conveyor. The present invention relates to a device for the same general purpose, but is devised to provide improved features of construction and operation. It provides a full manipulative control of a work piece or coil without the need for a magnetic brake, eliminates the need for mechanical gearing to operate its pick-up means, and has a more stable center of gravity which extends vertically through the unit and is not substantially changed or shifted by a position-change operation of the pick-up means when the latter is carrying a work piece.

The manipulator of my invention has a pick-up means or nose provided with a variable position pivot point which simplifies moving a work piece from a vertical to an oblique or a horizontal position, and vice versa. It is constructed to facilitate the introduction and removal of the nose from the center of the coil and at the same time, to assure a positive gripping of the coil immediately before and when it is being raised. It relies upon fluid means for its position changing operations and is so constructed that its supporting structure will normally be sustained by the overhead crane or hoist in a horizontal position. Like the Douglas construction, it can be used for transporting coils from the mill to the storage room, and vice versa, and to change the axis of the coil from a vertical to a horizontal positioning or to any intermediate oblique positioning desired.

It has thus been an object of my invention to provide an improved manipulator for metal work pieces or coils.

Another object has been to devise a more effective suspension manipulator whose operations are simplified and which assures full safety in its utilization.

A further object of my invention has been to provide a suspension type of manipulator whose coil pick-up position changing and carrying operations are controlled by fluid means, such as an hydraulically operated system.

A still further object of my invention has been to provide a manipulator whose pick-up means or nose may be moved or turned from a vertical, to an oblique, to a horizontal positioning, and vice versa, with a minimum of effort and in a simplified manner.

These and many other objects of my invention will appear to those skilled in the art from the drawings and the description thereof.

In the drawings;

Figure 1 is a side view in elevation of a device or apparatus constructed in accordance with my invention, showing how it is suspended from an overhead conveyor, crane or a hoist and further, illustrating the positioning of its parts or members when its pick-up means or nose States Patent Patented Nov. 13, 1956 part is moved from a vertical pick-up or discharge position A to a horizontal and normal carrying position B; these represent its two maximum or extreme positions and as will be apparent from the description, its pick-up means or nose part may be moved to and maintained at any intermediate position.

Figure 2 is an end view in elevation and partial section, on the scale of and taken along the line IIII of Figure 1; it shows the pick-up or nose part of the device in the fulLline horizontal positionB of Figure l. 0

Figure 3 is a somewhat diagrammatic or schematic diagram of electrical and fluid operating connections and parts as employed as a system in operating the construction of Figures 1 and 2; and

Figure 4 is an enlarged fragmental side section in elevation through the nose part of my construction and showing expander parts thereof.

In carrying out my invention, I provide a suspension manipulator 15 that is pivotally carried and may be carried by an overhead hoist, crane or conveyor, as represented by a hoist frame 12, a support pin 13 and a hook 14. The manipulator 15 is to be employed in lifting a metal work piece and essentially, a work piece having a hollow center such as a metal coil 10. My manipulator is constructed to enter the work piece 10, for example, when the latter is in a vertical position while resting on a floor 11 through the agency of mandrel part 31 of a pick-up means. The mandrel part 31, having a magnetic head 30 and energizing coil 33, is positioned in such a manner that it, itself, progressively assumes the weight of the work piece 10 during the manipulating operation from vertical position A to horizontal position B. In this connection, an expander roller or part 41 is employed, so that a smaller size mandrel for easy pick up may be provided and essentially, to center the work piece 10 in such a manner that the magnetic holding head part 30 of the pick-up means will have a full and positive magnetic holding action upon the work piece when the latter is to be moved from one position to another. In the latter sense, the expander roller 41 serves a a safety device in assuring that the workpiece or coil 10 is properly centered and positively, magnetically held in position on the pick-up means before the work piece is raised or tilted.

Also in accordance with my invention, I providea substantially horizontally-positioned support frame structure 16 which is carried by and on which a position change structure 20 is operatively mounted. The latter is directly suspended at its upper end portion from the hoist 12. In addition, the support structure carries a motor driven pump 57 (see Figures 1 and 3) for providing actuating fluid under pressure, a fluid motor 45 for moving the position change structure 20 with respect to the support structure 16, and valve means for controlling the operation of the motor 45 and an expanderoperating fluid motor 34 (see Figure 4).. The pick-up means is operatively mounted on a depending or vertical portion 16a of the frame structure 16 for relative movement with respect thereto and is operatively connected through linkage to the position change structure 20, in such a manner that an actuation of the position change structure will eifect a movement of the pick-up means be tween vertical, oblique and horizontal positions.

In my structure, see Figures 3 and 4, the expander part 41 of the pick-up means is positively actuated by a fluid motor 34 from main fluid pressure lines 5% and 59b and preferably, through a pressure reducer valve 60. Electrical meansfand a source of electrical energy (see electric power supply lines 70 and 71) are employed to control the fluid system, the manipulator, and the operation of its various parts. A position-maintaining switch 78 is utilized for the work piece holding magnet of the head part 30, as a safety feature, so that the coil 33 of magnet is always energized when the work piece is being moved from a horizontal to an oblique or vertical position. A three-way valve 53 is utilized for controlling the actuation of the fluid motor 45 for the position change structure 20 which valve is of a closed center type, so that when its solenoids 54a and 54b are not energized, it will return to a closed, intermediate position and positively maintain the fluid motor in the position to which 7 it has been actuated.

In other words, when one solenoid 54b is actuated by electrical push button means 74, for example, to energize and move the motor 45 to its extreme forward stroke position, the position change structure 20 will, if such holding is maintained fora suflicient period, he moved to down position A of Figure l, for a. shorter period of maintenance, to an intermediate oblique position between A and B. On the other hand, an actuation of the other solenoid 54a. by push button switch 72 will energize and move the motor 45 in its return stroke direction, and if maintained for a suflicient period, to the extreme up position B; if it is applied for a shorter period, then to an intermediate oblique position between B and A. However, if neither of the solenoids are actuated, the position change structure control valve 53, being of a closed-center balanced type will immediately return to its closed position, so as to shut off fluid flow to and from the motor 45 and positively retain the position change structure 20 in a desired intermediate or final position and until one or the other of the solenoids 54a or 5411 is again energized.

As to the pick-up means, I have provided a three-way balanced valve 61 (see also Figure 3) which is spring returned and is advanced by electrical solenoid means 62; valve 61 is a control valve for mandrel expander part 41. In its advanced position, positive fluid pressure is applied to a front end or head portion 34b of the fluid motor 34 (see Figure 4) by line 43 to actuate its piston rod 36 in its backward stroke and thus, move the expander roller or part 41 to its expanded or full line position D of Figure 4. When the solenoid 62 is deenergized, spring means 63 reverses the fluid connections to the motor 34 and causes positive fluid pressure to be applied through line 42 to a rear end or head portion 34a of its cylinder to forwardly advance its piston rod 36 and move the roller part 41 to its retracted or withdrawn dot and dash line position C of Figure 4. This method of operation has been found advantageous, since the roller part 41 does not have to bear the weight of the coil or work piece 10. and is employed primarily to properly position the work piece with respect to the magnet head 30, so that it is in a proper initial position on the mandrel part 31 and a full and positive magnetic holding action will be obtained when the coil is to be raised from position A towards B. I

' Referring particularly to Figures 1 and 2 of the drawings, I have shown a frame structure comprising a pair' of transversely spaced-apart frame members 16 of similar construction. Each of the frame members 16 has an upper and major portion which normally is positioned or extends in a horizontal relationship and a forwardly 'and downwardly vertically-extending portion 16a on which the pick-up means is mounted. As shown in Figure 1, the two parts of the structure 16 are secured together in a spaced relationship at their forward end pertions by a tie member or rod 17 and adjacent'their rearulator unit 15 in a suspended relationship from the crane or hoist 12. It will be noted that the pivot mounting 18 of the pick-up structure 20 is located at a lower portion thereof, so that the structure may be swung between positions A and B of Figure 1. Forward bottom end portions of the parts of the structure 20 carry a cross pivot pin 22 (see Figures 1 and 2) which is secured thereto and which carries a pair of spacer collars 21. A link arm 24 (see Figure 2) having upper spacer and bearing portions 23 is pivotally mounted at its upper end on the cross pin 22 to project downwardly therefrom.

A 10, er end portion of the link arm 24 has spacer and bearing portions 25 (see FigureZ) pivotally mounted on a second cross pivot pin 26 which extends across and is fixedly mounted in a pair of spaced-apart and opposed link arm parts 27 that are integral with the pick-up means, or in other words, are secured to the magnetic head portion 3!) thereof. As shown particularly in Figure 2, lower end portions 16a of the frame structure 16 are provided with bearing and spacer portions 29 for a third' cross pivot pin 28 which projects transversely through and is fixed to the arms 27 to pivotally mount the pick-up means on the frame structure 16.

The pick-up means has a head 30 provided withan electromagnet 33 (see Figures 1 and 3) and having

electrical terminals

32 and 32a. The nose part 31 is shown integral with the head 30 and as extending forwardly therefrom. It will be noted that the part 31 has a straight side 31a and a beveled or forwardly-converging side 31b. The mounting and operation of the manipulator is such that the side 31a is adapted to assume a portion of the Weight of the Work piece or coil 10 When the latter is moved from a vertical position A, see the dot and dash position of Figure l, to an intermediate oblique position or to a fully horizontal position B, see the full lines of Figure 1.

Referring particularly to Figures 1 and 4, the mandrel part 31 is shown provided with an opening or slot through its side 31b and within which the expander part 41 'is adapted to be operated' A box-like reinforcing portion 32 of the mandrel part 31 has amounting lug 32a on which the fluid motor 34 is rigidly secured by ears 35 and cross pin 35a. The motor has a rear head 34a and a forward head 34b and a piston rod 36. The latter is pivotally connected by pin and pivot means 37 to a toggle arm 33. The toggle arm 38 is'pivotally mounted by a fixed position pivot pin 39 within the walls of the mandrel 31 and at its lower end, has a pin '40 which piv otally or rotatably carries the expander part or roller 41. In Figure 4, the full line positioning shows'the expander part 41 in its expanded relationship, uch that its sur face 41a is in contact with the inner wall of the work piece 10, to thus center the pick-up unit and essentially its head 30 with respect to the workpiece. In the dot and dash position C, the expander part 41 has been withdrawn and the piston rod 36is'in its fully advanced forward position. On the other hand, when the expander part is in its expanded position D, the piston rod 36'is in its'withdrawn or rear position. It will be noted that a stroke of approximately six inches will provide a suitable amountof expansive action to take care of various sizes of coil centers.

Positive fluid pressure is supplied through line 42 to the rear head 42:: when the fluid motor 34 is to be advanced to its dot and dash position C and positive fluid pressure is applied to the line 43 to the forward head 34b when the expander part or roller 41is to'be moved to its full line position D. It will thus appear that the

lines

42 and 43 alternately serve as positive and return fluid secured by mounting ears Y46 and a transverse-pin-.46a.

between the parts of the frame structure 16. This motor has a rear end or head 45a and a forward end or head 45!] ant en respectively supplied with positive fluid pressure by

lines

51 and 52. Motor 45 has a piston rod 47 which is operatively secured to the position change structure 20 by a sleeve 48 and a transversely-extending pivot pin 49, see also Figure 2. It will be noted from the latter figure that spacers 50 project inwardly from the opposed parts of the structure 20 and securely mount the structure on the pin 49. In Figure l I have shown two maximum positions A and B of the piston rod 47 of this motor, the extreme forward position is position A of the structure and the maximum withdrawn position is position B. Corresponding positioning of the

linkage

24 and 27 is illustrated respectively by dot and dash and full lines in Figure 1.

As shown particularly in Figures 1 and 2, the frame structure 16 has a shelf 16b for valve 53 and a shelf 16c for a mandrel control valve 61 which are positioned behind a hydraulic fluid supply or storage tank 55. The tank 55 is made up of two parts secured along sides of the parts of the frame structure 16 and are connected by a common bottom pipe or conduit 5511, see Figures 1 and 3. Although not shown, a pressure reducing Valve 60 of Figure 3 may be mounted in a similar manner on one side of the frame structure 16 behind the tank structure 55. As shown in Figure 1, an electric motor 58 and pump 57 for providing suitable actuating fluid or liquid pressure are mounted as a unit on the front end of the structure 16 by bracket means 16d.

Referring particularly to Figure 3, I have shown an electric supply source consisting of supply lines 70 and 71, an up push button switch 72 for moving the position change structure 16 to advance the pick-up unit towards or into the horizontal position B, a down push button switch 74 for moving the position change structure 16 in an opposite direction and the pick-up means towards or into the vertical position A, an olf-balanced position maintaining or safety switch 78 for energizing the electromagnet 33 of the pick-up means, and a push button switch 79 for energizing the solenoid 62 of the valve 61 to apply positive fluid pressure to the head 34b of the motor 34 and ewand the expander part 41.

The push button switch 72 has terminals or contacts a and b connected to a common electric supply line 71, a contact 0 connected by a line 73 to the solenoid 54a of the valve 53, and a contact d connected to one side of the pump driving motor 58. The switch 72 which is springreturned upon release of pressure to an open position, when in a closed position, connects the electric supply line 71 to simultaneously energize the motor 53 and the solenoid 54a. The other terminal of the solenoid and the motor is directly connected to the other supply line 70. Thus, at this time, the motor 58 is energized to actuate the fluid pump 57 to supply positive fluid pressure. The solenoid 54a is energized to move the valve 53 to the left of Figure 3; this causes fluid to flow from the storage tank structure 55 through fluid supply line 56 to the inlet of pump 57. Fluid under positive pressure leaves the pump 57 through an outlet 59 and flows into

branch fluid lines

59a and 59b. Thus, a positive fluid flow from branch line 59a, passes through aligned passageways of valve 53 into line 52 and to the forward head 45b of the fluid motor 45. Fluid is, in turn, exhausted from rear head 45a, line 51, through aligned passageways of the valve 53 andline 65 to the tank 55. This causes the motor 45 to move backwardly to the left of Figures 1 and 3 and, in turn, to pivotally move the structure 20 with respect to the structure 16 towards the left-hand position B of Figure 1. At this time, the work piece is raised, at its maximum, to the horizontal position B of Figure 1. At the same time, fluid exhausts from the rear head 45a of the motor 45, line 51, through aligned passageways of valve 53, fluid line 65, and connection 66 into the tank structure 55.

When thepump 57 is being actuated by the motor 58, fluid under positive pressure also flows through branch line 59b and valve 60 into the expander bar control valve 61. When the switch 72 is released and the solenoid 54a is deenergized, the control valve 53 is spring loaded to return to its mid or intermediate, passageway-closing position, whereby the fluid motor 45 holds the pick-up means in the oblique or horizontal position to which it has been moved.

Push button switch 74 has two terminals or contacts a and b connected to electric supply line 71, a contact 0 connected through line 75 to the solenoid 54b, and a contact (1 connected to the electric supply line 76 for the electric motor 58. Thus, when the switch74 is pushed to its down position, current from the supply line 71 is introduced to energize the motor 58 and drive the pump 57, and to energize the solenoid 54b of the control valve 53 and move the valve to its right-hand position. In its right-hand position, valve 53 supplies positive fluid pressure from fluid line 59a through line 51 to the rear head 45a of fluid motor 45, causing the motor to advance its piston rod 47 forwardly towards position A of Figure l. Fluid is, in turn, exhausted from the forward head 45b of the fluid motor 45 and lines 52 and to the tank structure 55.

T 0 provide absolute safety of holding action when the work piece 14) is moved from the horizontal position B of Figure 1 towards the vertical position A, the push button switch 74 is provided with an extension finger 74a to move the magnet control switch 78 to its closed position, as shown in Figure 3. At this time, terminal or contact a of the switch 78 is connected to contact 12, so that current flows from supply line 71 and auxiliary line 32a to the electromagnet winding 33, thus energizing such electromagnet through electric line 3 2 and supply line 70. Even when the down switch 74 is released and moved to its dash position of Figure 3, the switch 78 will remain in its closed relationship, as it is of a position-maintaining type. Thus, switch 78 can only be opened by pressing its off-side handle 73a. It can be closed, independently of switch '74, by its opposite-side handle 78b.

The expansion bar push-button switch 7'9 has a terminal or contact a connected to electric supply line 71 and a contact I) connected to line 80 of the solenoid 62 of the control valve 61. Thus, the solenoid 62 is energized through lines 80 and to move it to its left-hand position, at which time, fluid under positive pressure flows frombranch line 5911, through the reducing valve 60, through aligned passageways of control valve 61, and line 43 to the forward head 34b of the fluid motor 34. Exhaust fluid, in turn, flows from the rear head 34a, through line 42 and aligned passageways of control valve 61, and through line 64 to the storage tank 55. This causes the expander part 41 to move from its dot and dash position C towards its expanded full-line position D of Figure 4. When the switch 79 is released and thus, spring-moved to its open position, the solenoid 62 is deenergized and the spring 63 causes the control valve 61 to return to its initial positioning, whereby positive fluid pressure applied through line 59b and valve 60 flows through aligned passageways of control valve 61, through line 42 and into the rear head 34a to cause the piston rod 36 of motor 34 to move to its forward dot and dash position of Figure 4 and retract the expander part 41 to position C. Exhaust fluid, in turn, flows from the forward head 3412, through line 43 and aligned passageways of valve 61, and through line 64 to storage tank 55. If no positive fluid pressure is applied through branch line 59b,

. the expander part 41 remains in position until positively means wherein, magnetic holding action is exerted on the work piece 10, at all times, when the switch 78 is in its closed position and essentially automatically, when the down switch 74 is closed, so that there is no danger of releasing the coil 10 when it is being lowered from a horizontal or oblique position to a vertical position. Also, since the expander part 41 does not carry the weight of the coil and is primarily employed for centering the coil with respect to the magnetic pick-up head 30, spring-loading means 63 is provided for automatically returning it employing valve 61 to its contracted position, at any time, when the switch 79 is open and positive fluid pressure is being supplied to branch line 59!). To simplify the con- 7 struction of the mandrelfoperating fluid motor 34, I

preferably provide the pressure reducing valve 60 which, of course, reduces strength and size requirements of fluid connections employed for actuating the motor 34. It will be noted that the exhaust from the motor 34 is carried through valve 61 and line 64 to the tank to the inlet 66 of the storage tank 55.

Another feature of my invention is that the frame structure 16 is so proportioned and constructed that when the position-change structure 20 is in position A and a work piece 10 is being carried, the center of gravity of the manipulator will extend substantially centrallyvertically of the device, through the structure 20. When the device picks up a work piece or coil at position A and is raised vertically by the hoist hook 14 to clear the work piece 10 from the floor 11, the center of gravity of the manipulator and the coil does not change. That is, substantially the same center of gravity is maintained when the manipulator, after being raised, is then actuated to move from position A towards an intermediate oblique position or to the maximum horizontal position B shown in Figure 1. Further, the pick-up means for the work piece is moved through a full 90 are on its pivot 28 by means of linkage between it and the structure and with a minimum of resistance. This is advantageous when heavy work pieces are being handled.

My manipulator can be moved to various positions, so as to provide work piece handling and positioning as indicated by Figures 7 to 11 of the Douglas patent, but unlike the structure shown in such patent, eliminates mechanical gearing and provides a better balanced device, one which facilitates the handling of the coil and provides a maximum of speed in such handling.

As to the fluid motors, valves, switches, etc., I have found that standard commercial equipment is available and suitable for this purpose. For example, I have successfully employed an Oilgear type of pump and motor unit (see its sales drawing DS-46602A of December 10, 1949) to provide about 3000 pounds positive pressure at 59, a Lindberg type 3H3 pendulum type mounted fluid motor 45 (see its Bulletin 701), Aeroquip hose for fluid connections, and an Oilgear balanced pilot, closedcenter type of valve 53 (such as indicated on its sales drawing 8010343 of December 10, 1949). The valve 61 may also be an Oilgear? conventional spring-loaded valve having acapacity of about 1000 pounds, assuming that the reducing valve unit 60 (of conventional construction) reduces the pressure from about 3000 to about 1000 pounds.

What I claim is:

l. A suspension manipulator for picking up and deliver-' ing a metal work piece such as a metal coil comprising, a support structure, a position change structure operatively mounted on and carrying said support structure, said it portion of said position change structure, means for holding a work piece on saidpick-up means, actuating means mounted on said support structure and operatively connected to said position change structure to move said.

pick-up means between vertical, oblique and horizontal positions, an actuating mechanism for said holding means operatively connected thereto to positively hold the work piece on said pick-up means and retain the positive holding action when said pick-up means is moved from a horizontal to an oblique and from an oblique to a vertical position.

2. A suspension manipulator for picking up and delivering a metal work piece such as a coil comprising, a frame structure, a position change structure operatively pivoted on and carrying said frame structure, said position change structure having means to pivotally suspend its upper end portion, a pick-up means for the work piece, linkage open. atively connecting said pick-up means to a lower end portion of said position change structure and actuated by movement of said position change structure on its pivot mounting, means for holding the work piece on said pick-up means, actuating means on said frame structure and operatively connected to said position change structure to move the latter about its pivot mounting and actuate said linkage, said linkage being connected to move said pick-up means between vertical, oblique and horizontal positions when said position change structure is moved about its pivot mounting by said actuating means, an actuating mechanism for said holding means operatively connected thereto to positively hold the work piece on said pick-up means and retain the positive holding action when said pick-up means is moved from a horizontal to an oblique and from an oblique to a vertical position. I

3. A suspension manipulator for picking up and delivering a metal work piece such as a metal coil comprising, a substantially horizontally extending frame structure, a position change structure having an intermediate portion thereof pivotally mounted on said frame structure, said position change structure having means to suspend its upper end portion, a pick-up means for the work piece pivotally mounted on a lower end portion of said frame structure, means for holding a work piece on said pick-up means, actuating means mounted on said frame structure and operatively connected to said position change structure intermediate its pivot mounting and its upper end portion to move it about said pivot mounting, and linkage pivotally connected between a lower end portion of said position change structure and said pick-up means and actuated by movement of said position change structure about its said pivot mounting to move said pick-up means between vertical, oblique and horizontal positions.

4. A suspension manipulator to be carried by a hoist for picking up and delivering a metal work piece such as a metal coil comprising, a frame structure having a substantially horizontally-extending portion and a substantially vertically-extending portion adjacent a rear end of said horizontally-extending portion, a position change structure pivotally mounted on the horizontal portion of said frame structure and adjacent its rear end and projecting upwardly therefrom, said position change structure having means to suspend its upper end-portion from the hoist, a pick-up means for the work piece operatively carried by the vertical portion of said frame structure adjacent a lower end thereof, actuating means mounted on said frame structure and operatively con nected to said position change structure to move it on its pivot mounting between oblique and vertical positions on said frame structure, and operating connections between said pick-up means and a lower portion of said position change structure to move said pick-up means between vertical, oblique and horizontal positions when said pickup means is moved on its pivot mounting by said actuating means. 1 I I 5. A suspension manipulator to be carried by a hoist for picking up and delivering a metal work piece such as a metal coil comprising, a frame structure, a position change structure operatively mounted on and carrying said frame structure and having means to suspend its upper portion from the hoist, a dual-acting actuating means mounted on said frame structure and operatively connected to said position change structure to move said position change structure back and forth with respect to said frame structure, and a pickup means for the work piece operatively carried by said frame structure and operatively connected to said position change structure for movement between vertical, oblique and horizontal positions When said position change structure is moved back and forth with respect to said frame structure by said actuating means.

6. A manipulator as defined in claim 5 wherein, said dual-acting actuating means is a fluid motor, means is provided for supplying fluid under pressure, a multi-acting valve mechanism is connected between said fluid pressure supplying means and said dual-acting motor to alternately supply fluid pressure to opposite sides of said motor for actuating it back and forth, and said valve mechanism has means for shutting off fluid flow to both sides of said motor to retain said pick-up means in a position to which it has been moved by said motor.

7. A manipulator as defined in claim 5 wherein, said pick-up means has a nose part and an expander part to enter the work piece, said nose part is positioned to carry the weight of the work piece when it is moved between vertical, oblique and horizontal positions, said expander is operatively mounted on said nose to move from a retracted position within said nose part to an expanded position in engagement with the work piece, and means is operatively connected to said expander part to move it from a retracted to an expanded position with respect to said nose part and return it to a retracted position with respect to said nose part.

8. A manipulator as defined in claim 7 wherein, said means for moving said expander part is a dual-acting fluid motor and is operatively connected to said expander part by a toggle, a control valve is operatively connected between said fluid motor and a source of fluid under pressure, said control valve has solenoid means for moving it to supply positive fluid pressure to actuate said fluid motor in one direction to expand said expander part, and said control valve has means for moving it to reverse the positive flow of pressure to said motor and actuate said motor in an opposite direction to withdraw said expander part.

9. A suspension manipulator to be carried by a hoist for picking up and delivering a metal work piece such as a metal coil comprising, a frame structure, a position change structure operatively mounted on and carrying said frame structure, said position change structure having means to suspend its upper end portion from the hoist, a pick-up means for the work piece operatively connected to said position change structure, means for holding a work piece on said pick-up means, actuating means mounted on same frame structure and operatively connected to said position change structure to move said pickup means between vertical, oblique and horizontal positions, actuating mechanism for said holding means for positively holding the work piece on said pick-up means, and said actuating mechanism being operatively connected with said actuating means to retain the positive holding action of said work piece holding means when said pickup means is moved from a horizontal to an oblique position and from an oblique position to a vertical position.

10. A manipulator as defined in claim 9 wherein, said work holding means is an electro-magnet, said actuating means is a fluid pressure means and has electrical means for supplying fluid under pressure thereto, said actuating mechanism is electrically operated, and electrical switch means is operatively connected to said electrical means and to said actuating mechanism.

11, A manipulator to be carried by a hoist or crane means for picking up and delivering a work piece such as a coil comprising, a support structure, a positionchange structure operatively mounted. with respect to said support structure for movement in opposite directions with respect thereto and having means to suspend it from the hoist, a pick-up means for the work piece, pivot means operatively connecting said pick-up means for pivotal movement with respect to said support structure, means for holding the work piece on said pick-up means, actuating means carried by said support structure and operatively connected to said pick-up means to move said pick-up means on said pivot means between vertical, oblique and horizontal positions, and dual-acting actuating means carried by said support structure and operatively connected between said support structure and said position-change structure to move said position-change structure back and forth with respect to said support structure.

References Cited in the file of this patent UNITED STATES PATENTS 1,868,562 Chubb et al. July 26, 1932 2,020,306 Fitch Nov. 12, 1935 2,329,008 Smith Sept. 7, 1943 2,495,658 Moseley Jan. 24, 1950 2,630,931 Douglas Mar. 10, 1953