Patent ID: 6336786
Filing Date: 2002-01-08
Classification: B66F,E02F

Abstract:
An articulated arm for grasping odd-shaped objects, comprising:(a) an arm member having spaced apart outer and inner ends, said inner end adapted for pivotally mounting said arm to a support structure such that said arm member extends outwardly from said support structure to said outer end of said arm member; (b) a tine mounting member mounted to said outer end of said arm member by a pivotal connection therewith so as to undergo pivotal movement relative to and independently of said arm member; (c) a tine structure having inner and outer ends, said tine structure being mounted at said inner end to said tine mounting member at a location spaced outwardly from said outer end of said arm member and disposed adjacent to and extending outwardly from a first side of said pivotal connection of said tine mounting member to said arm member, said tine structure extending outwardly from said tine mounting member to said outer end of said tine structure and being movable with said tine mounting member for engaging an object; (d) a main actuation mechanism having a first end adapted for pivotally mounting to the support structure and a second end pivotally mounted to said arm member, said main actuation mechanism being extendable and retractable to pivotally move said arm member and tine mounting member therewith through a first arcuate path relative to the support structure; and (e) an auxiliary actuation mechanism disposed below said main actuation mechanism and pivotally mounted to said arm member and to said tine mounting member and being located between the support structure and said pivotal connection of said time mounting member to said support arm and adjacent to a second side of said pivotal connection substantially opposite from said first side of said pivotal connection where said tine structure is located, said auxiliary actuation mechanism being extendable and retractable to pivotally move said tine mounting member and tine structure therewith vertically through a second arcuate path relative to said arm member.