WO1998049087A1 - Waste bin manipulator arm - Google Patents

Waste bin manipulator arm Download PDF

Info

Publication number
WO1998049087A1
WO1998049087A1 PCT/US1998/008351 US9808351W WO9849087A1 WO 1998049087 A1 WO1998049087 A1 WO 1998049087A1 US 9808351 W US9808351 W US 9808351W WO 9849087 A1 WO9849087 A1 WO 9849087A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
extension
manipulator
bin
manipulator arm
Prior art date
Application number
PCT/US1998/008351
Other languages
French (fr)
Inventor
Mark R. Gipple
Javier Luna
Ralph Harrison
Original Assignee
Wasteworks International Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wasteworks International Inc. filed Critical Wasteworks International Inc.
Priority to AU71606/98A priority Critical patent/AU7160698A/en
Priority to EP98918735A priority patent/EP0914290A1/en
Publication of WO1998049087A1 publication Critical patent/WO1998049087A1/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00Vehicles particularly adapted for collecting refuse
    • B65F3/02Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/048Linkages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65FGATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00Vehicles particularly adapted for collecting refuse
    • B65F3/02Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0223Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising elements for holding the receptacle
    • B65F2003/023Gripper arms for embracing the receptacle

Definitions

  • the present invention relates to an improved, simple construction
  • manipulators are available, and especially as are customized to operate with a
  • the waste collection vehicle carries an outwardly actuatable bottom portion.
  • the plastic hardens and can
  • manipulators are limited in the amount of lateral displacement which can be
  • manipulator system will also be
  • the manipulator arm of the present invention mounts over and under a
  • the manipulator arm is carried to the side of a waste
  • actuation of the arm is by a first control which extends the arm, a second
  • the third control is limited by a pair of cam operated limit valves 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
  • Figure 3 is a top view of the manipulator shown in Figures 1 & 2 in
  • Figure 4 is a view similar to that of Figure 2, but illustrating the
  • FIG 5 is a top view of the manipulator of Figure 4, and again
  • Figure 6 is a bottom view of the manipulator of Figure 5 before
  • Figure 7 is a bottom view of the extended portion manipulator of
  • Figure 8 is a side view of the extended portion of the manipulator of
  • Figure 9 is a front view of the manipulator similar to that of Figure 8.
  • Figure 10 is an exploded view of the hardware of the base support
  • Figure 1 1 is an exploded view of the hardware of the structural
  • Figure 12 is a side sectional view of the angle support upon which the
  • Figure 13 is a side view taken along line 13 - 13 of Figure 12 and
  • Figure 14 is an expanded view of the components of a vertical and
  • Figure 15 is a rear view of the back, or non engaging side of the
  • Figure 16 is a view of the symmetrical chain mechanism and its
  • Figure 17 is a view of the symmetrical chain mechanism as in Figure
  • Figure 18 is a side view of the symmetrical chain mechanism as in
  • Figure 19 is a rearward looking view along the chassis of the vehicle of
  • Figure 20 is a sectional view taken along lines 20 & 21 of Figure 19
  • Figure 21 is a sectional view similar to that of Figure 20, with the
  • Figure 22 is a top view looking down on the portions of the vehicle 13
  • Figure 23 is a bottom view looking upward of the same portion of the
  • Figure 24 is a second embodiment of the actuation structures useful
  • Figure 25 is a view of the underside of the actuation structures seen in
  • length of chain may be used with a moving sprocket to actuate the rotation
  • Figure 26 is a view of the underside of the actuation structures similar
  • Figure 27 illustrates a perspective view of a further embodiment of a
  • Figure 1 illustrates a manipulator 1 1 shown
  • the vehicle 13 will be a waste collection vehicle
  • Restrictors 17 and 19 sit atop a horizontal hinge 21 supporting
  • a triangular structural enhancement 25 is located above the top of a
  • the cylinder 33 is partially hidden behind a plate 36.
  • a strut 37 is seen which extends to engage a pivot 39 which pivots the strut
  • the strut 37 acts with the cylinder
  • the actuation structures 45 include a symmetrical rotation
  • extension member 27 is seen engaging the endmost portion of a first
  • a vertical pivot shaft 55 lies within a pair
  • a set of upper and lower end caps 58 act to both seal and hold the shaft 55 and bearings 57 in place.
  • structure 59 can be seen as having vertical depth as one method of achieving
  • end cap 67 which has an upper portion 69 welded to and covering the end of
  • Figure 2 also illustrates a lower support arm 72 having a lower end 73
  • hydraulic piston rod 79 is partially seen.
  • the lift fitting which has a top-heavy "3" side profile shape as seen
  • actuation structures 45 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
  • actuator chain 91 cooperates with actuator chain 91.
  • the actuator chains 91 and 92 cooperates with actuator chain 91.
  • the actuator chains 91 and 92 cooperates with actuator chain 91.
  • a pair of impact bladders including a lower bladder 93 and an upper
  • Upper bladder 95 has an shaker arm 97 which is
  • the shaker arm 97 will strike or bear against the side of the vehicle causing a
  • first extension member 53 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
  • the extension plate 41 connects the pivot 39 of the strut 37 with
  • the bin 109 typically has a hinge 11 1 to pivot a lid 1 13.
  • the bin 109 typically has a hinge 11 1 to pivot a lid 1 13.
  • wheel bins have a lift bar at the front which must be engaged in order to
  • the manipulator 11 can lift any type of bin 109
  • 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.
  • a bottom view of the manipulator 11 gives a
  • grabber sprockets 121 which are connected immediately adjacent the ends of
  • extension members 53 and 27 and the strut 37 to move upwardly operate as a
  • a base plate portion 128 is seen which is adjacent to plate 36 and
  • the lid 113 will not normally open until the bin 109 is in a
  • the bin 109 is tilted as the shaker arm 97 is
  • angle braces 65, and angled end cap 67 is
  • the bolt 76 is seen along with a securing nut
  • the bolt 76 enables a circular fitting 133 at the end of the hydraulic lift
  • the lower arm support is also a tubular structure
  • Sloped surface 63 also terminates in a cylindrical surface 139 and when the upper support structure 59 is brought into place
  • a "U” shaped reinforcement member 140 is
  • the angled portion 125 is seen as an "L" shaped fitting which will fit
  • the angled portion 125 has a
  • angled hinge member 23 is made of an angled length of bar stock
  • the hinge member has an "L" shape, of 90° and includes a horizontal leg 151 and a vertical leg 153.
  • This three inch long end area 155 is
  • 2.25 inch thread is about 2.0 inches deep to insure a good hold.
  • hinge member has to withstand a tremendous amount of stress force.
  • the vertical leg 153 has an end area 157 which matches the
  • outer locking nut 161 an inner locking nut 163, a spacer member 165, a
  • the beveled bearing 169 has a
  • the beveled bearing 169 will also have an inner portion which engages
  • beveled bearing 169 is a conical race ring 171.
  • the inside of the vertical hinge 85 need only be machined for a concentric
  • spacer 173 thus prevents interference with structures on the horizontal leg
  • elbow 175 or by providing other structures or keyed surfaces to insure proper
  • the horizontal camming elbow spacer 177 has a surface which
  • the horizontal camming elbow spacer 177 can also operate in
  • camming elbow spacer 177 would actuate the mechanically activated
  • washer 167 is another horizontal camming spacer
  • a pair of steel bands 189 extend from the second extension member 27
  • the pair of steel bands 189 extend through the
  • the pivot member 195 pivots within the end of the second attachment
  • the cylinder rod 31 is seen to have a
  • 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
  • hydraulic flow restrictor 17 carries an axially movable piston portion 221
  • camming spacer 179 will turn and either allow the movable piston portion
  • hinge member 23 is rotated upward or downward, the horizontal camming
  • elbow spacer 177 will turn and either allow the movable piston portion 231
  • the horizontal camming elbow spacer 177 is important.
  • FIG. 13 a side view of the components of Figure 12 also illustrates with an arrow the direction of upward pivot which the vertical
  • hinges 21 and 85 are shown, similar to that seen in Figure 12, but where the
  • the inside of the horizontal hinge has a pair of stepped
  • the pivot member is mounted about the bolt 199 and must have sufficient
  • each end of the chain 91 extends along the sides of the
  • 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
  • the wing segment 255 is displaced from the center line of the cylinder 89.
  • hydraulic actuation causes the piston 81 and wing segment 255 to move with
  • the chain 91 has two ends, each of which are terminated
  • Figure 16 shows a position where the piston 87 is retracted into the
  • Figure 17 shows the extension of the piston 87 out of the
  • the piston 81 is in the extended position.
  • wing segments 255 are translationally fixed to the cylinder 89 and have
  • piston 81 travels inside the cylinder 89 and the sprocket sets 121 & 251
  • the vehicle frame 15 is seen as a pair of
  • a detachable manipulator 300 is
  • frame 15 is a first outer bracket 301 having an end plate 303 attached to the
  • 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
  • An angle brace 309 is seen which extends toward the through plate 305
  • the plate 305 when bolting is desired as a main structure
  • the plate 305 may be split into
  • 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 can remain on the vehicle 13 frame
  • a rearward aperture 321 is seen on the outer bracket 317, while a
  • bracket 301 is in alignment with the rearward aperture 321.
  • bracket 317 is fully inserted into the first outer bracket 301, all four
  • brace 309 In this configuration, the plate 305 will be bolted to the frame 15
  • Figure 22 is a top view looking down on the portions of the vehicle 13
  • the locking pin has an expanded head portion 331 , and
  • 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
  • a portion of the second outer bracket 333 is
  • the end of the manipulator 300 illustrates an
  • a plate 341 supports most of the structures seen for
  • Plate 341 is connected to the second
  • a sprocket 343 is seen associated with rotation
  • the sprocket is sized to enable a chain 345 to perform at
  • Figure 25 is a view of the underside of the actuation structures
  • cylinder terminates in a bolt 353 and a nut 355 which secures a translation
  • the chain 345 is possibly a continuous length of chain.
  • 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.
  • 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
  • rotation members 49 and 50 are either up, apart and above the plate, or
  • the sprockets 343 and 346 are thus in a figure-8 relationship with
  • the moving sprocket linkage enables the figure-8 to be actuated by a motion
  • 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.
  • undercarriage or dolly is used to move the manipulator 300 on and off the
  • a bracket 400 includes a pair of tubular members 401 and 403.
  • end plate 407 may be welded to
  • the frame 15 is preferably welded to completely cover and exceed the
  • Abutment plate 415 is welded to the ends
  • tubular members 401 and 403 may also preferably be welded to
  • Bolting may also be accomplished of the abutment plate
  • a manipulator base plate 417 coextensive with the abutment plate 415 is a manipulator base plate 417.
  • abutment plate 415 and the manipulator base plate 417 enable additional
  • manipulator 300 is expected to handle increased loads.
  • manipulator arm which provides both a simpler actuation with three controls
  • the invention may

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).
PCT/US1998/008351 1997-04-25 1998-04-24 Waste bin manipulator arm WO1998049087A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU71606/98A AU7160698A (en) 1997-04-25 1998-04-24 Waste bin manipulator arm
EP98918735A EP0914290A1 (en) 1997-04-25 1998-04-24 Waste bin manipulator arm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US84611497A 1997-04-25 1997-04-25
US08/846,114 1997-04-25

Publications (1)

Publication Number Publication Date
WO1998049087A1 true WO1998049087A1 (en) 1998-11-05

Family

ID=25296985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1998/008351 WO1998049087A1 (en) 1997-04-25 1998-04-24 Waste bin manipulator arm

Country Status (3)

Country Link
EP (1) EP0914290A1 (en)
AU (1) AU7160698A (en)
WO (1) WO1998049087A1 (en)

Cited By (1)

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US5651654A (en) * 1995-03-28 1997-07-29 Mcneilus Truck And Manufacturing, Inc. Tilting bin handler
US5702225A (en) * 1996-06-05 1997-12-30 Amrep, Inc. Boomless automated side loader for refuse collection vehicle having lift arm with non-extendable upper end
US5720589A (en) * 1995-08-16 1998-02-24 Mcneilus Truck And Manufacturing, Inc. Swivel mounted container holding device
US5725348A (en) * 1996-03-11 1998-03-10 Drake; William K. Dumpster and vehicle mounted lifting arm therefor

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US3902614A (en) * 1971-08-27 1975-09-02 Alvin M Roberts Jack-actuated crane tongs
US4358147A (en) * 1980-11-25 1982-11-09 Esco Corporation Mounting and actuating apparatus for tongs
US4461607A (en) * 1982-09-22 1984-07-24 The Heil Co. Refuse container gripping apparatus
US4543028A (en) * 1984-01-13 1985-09-24 Bell Equipment Company Dump apparatus for trash containers
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2428623A2 (en) 2010-09-13 2012-03-14 Sogreah Consultants Mobile waste collection unit and method for implementing said unit
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EP2428623A3 (en) * 2010-09-13 2012-03-21 Sogreah Consultants Mobile waste collection unit and method for implementing said unit

Also Published As

Publication number Publication date
AU7160698A (en) 1998-11-24
EP0914290A1 (en) 1999-05-12

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