Abstract:
A tool assembly using a fluid-powered actuator and including first and second tool members. The first tool member is pivotably connectable to a boom arm of a vehicle or stationary support platform for rotation about a first axis. The first tool member is also attached to a body of the actuator and the second tool members is attached to a shaft of the actuator so that operation of the actuator rotates the second tool member relative to the first tool member about a second axis spaced apart from the first axis and independent of rotation of the first tool member about the first axis. The second tool member is positioned to cooperatively engage the first tool member to assist in collection operations. The actuator has a generally cylindrical body with an output shaft rotatably disposed therein for rotation about the second axis. A linear-to-rotary transmission device disposed within the actuator body produces selective rotational movement of the shaft relative to the body and hence the second tool member relative to the first tool member. As the actuator goes through a range of motion the tool assembly moves between fully open and fully closed positions. In one embodiment, the actuator body is disposed in and attached to a protective support tube having the first tool member attached thereto. Other embodiments have further rotation and tilting assemblies to provide three orthogonal axes of rotation. Another attaches the tool members so that the first and second axes are coaxial.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. Utility patent application Ser. No. 09/448,311, filed Nov. 23, 1999, and issued Apr. 16, 2002, as U.S. Pat. No. 6,370,801. 
    
    
     TECHNICAL FIELD 
     The present invention relates generally to equipment using one tool member to collect and a second tool member cooperatively positioned to assist in collecting, and more particularly, to hydraulic powered tools mountable on a boom of a vehicle or stationary platform. 
     BACKGROUND OF THE INVENTION 
     Assemblies such as large grapples or buckets with a bucket extension or a lid have been employed in the past for collection and sorting of large and small objects or quantities of material. Many of these collection assemblies have two members such as a bucket and a bucket extension which are selectively operable to work together. The collection assembly is generally attached to a boom arm of a platform such as a vehicle. The two members of the collector assembly are positioned to cooperatively engage each other to assist in the collection operation. One member assists the other member by providing a complimentary function such as in the case of the bucket lid or extension providing the bucket with enlarged capacity extension in one position, or grasping therebetween materials scooped up by the bucket. In the case of a grapple, the two members grasp items therebetween. 
     Generally, means are provided to separately supply rotational torque to one or both members in order to move one member relative to the other member. The operational limitation of a particular collection assembly is directly dependent upon the maximum amount of torque that can be supplied to the members. If the torque is not sufficient, the object size or the quantity of the material collected is limited. 
     It will therefore be appreciated that there has long been a significant need for an improved collection assembly. It should include a torque-transmitting member which is able to reliably supply sufficient torque to perform rough work such as tearing down a building and more delicate work such as sorting bricks from wood for recycling. The present invention fulfills these needs and further provides other related advantages. 
     SUMMARY OF THE INVENTION 
     The present invention resides in a fluid-powered tool assembly usable with a stationary or movable support platform having an arm. The tool assembly includes an arm connection member pivotably connectable to the arm for rotation about a first axis. It also includes a first tool member, and a second tool member positioned to cooperate with the first tool member. The assembly includes a body having a longitudinal axis and one of the first and second members attached thereto for movement with the body. A shaft is rotatably disposed within the body in general alignment with the body axis for rotation about a second axis spaced apart from the first axis. The shaft has the other of the first and second tool members attached thereto for movement with the shaft. A linear-to-rotary torque transmission member is mounted for longitudinal movement within the body in response to selective application of pressurized fluid thereto. The torque-transmitting member engages the body and the shaft to translate longitudinal movement of the torque-transmitting member into rotational movement of the shaft relative to the body. The first and second tool members are rotatable relative to each other about the second axis by operation of the torque-transmitting member. The pivotal connection of the arm connection member to the arm allows rotation of the tool assembly as a unit about the first axis. 
     In some embodiments, the tool assembly includes a support housing sized to receive and support the body therein. In one embodiment the body has first and second end portions, and the first body end portion is attached to the support housing and the second body end portion is engaged by the support housing to restrict transverse movement of the second body end portion. The one of the first or second tool members attached to the body is indirectly attached to the body through the support housing in one embodiment. 
     In another embodiment, the tool assembly includes a lateral tilt assembly having an actuator operable to laterally tilt the first and second tool members relative to the arm. The arm connection member is attached to the lateral assembly. This embodiment may also include a rotation assembly to selectively rotate the tool assembly about a transverse axis. A disclosed embodiment uses a turntable bearing. 
     In certain embodiments, the shaft has first and second opposite shaft end portions with the other of the first and second tool members attached to both the first and second shaft end portions for movement with the shaft. 
     One embodiment of the invention further includes a vehicle frame to which the arm of the support platform is attached. The tool assembly is preferably attached to the arm. 
     Other features and advantages of the invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a left side elevational view of a backhoe vehicle shown with a tool assembly embodying the present invention having a bucket and a bucket extension for a collection operation. 
     FIGS. 2 a - 2   d  are enlarged, left side elevational views of the boom arm and the tool assembly of FIG. 1 removed from the vehicle, with the bucket shown in various rotational positions relative to the boom arm and the bucket extension shown in various rotational positions relative to the bucket. 
     FIG. 3 is an enlarged, front elevational, sectional view of the fluid-powered rotary actuator of FIG. 1 used to rotate the bucket extension relative to the bucket shown without attachment members for the boom arm. 
     FIG. 4 is an enlarged, front elevational, sectional view of the tool assembly of FIG. 1 shown removed from the boom arm using an alternative manner of attaching the bucket to the actuator body. 
     FIG. 5 is a front elevational view of the tool assembly of FIG.  4 . 
     FIG. 6 is a left side elevational view of the tool assembly of FIG.  5 . 
     FIG. 7 is a front elevational, sectional view of a first alternative embodiment of the tool assembly of FIG.  1 . 
     FIG. 8 is a left side elevational view of the tool assembly of FIG.  7 . 
     FIG. 9 is a front elevational, sectional view of a second alternative embodiment of the tool assembly of FIG.  1 . 
     FIG. 10 a  is a left side fragmentary, elevational view of the boom arm modified for use with a third alternative embodiment of the tool assembly of FIG. 1 showing only the rotary actuator thereof. 
     FIG. 10 b  is a right side fragmentary, elevational view of the third alternative embodiment of the tool assembly mounted to the boom arm coaxial with the bucket. 
     FIG. 10 c  is an enlarged, fragmentary, front view of the third alternative embodiment of the tool assembly shown in FIG. 10 b.    
     FIG. 11 a  is a left side elevational view of the boom arm and a fourth alternative embodiment of the tool assembly of FIG. 1 also providing lateral tilting and rotation of the tool assembly relative to the plane swept out by the boom arm. 
     FIG. 11 b  is a left side elevational view of the fourth alternative embodiment of the tool assembly of FIG. 11 a  with the bucket rotated 90°. 
     FIG. 11 c  is a left side elevational view of the fourth alternative embodiment of the tool assembly of FIG. 11 a  with the bucket rotated 180°. 
     FIG. 11 d  is a front elevational view of the fourth alternative embodiment of the tool assembly of FIG. 11 a  with the bucket laterally tilted. 
     FIG. 11 e  is a front elevational view of the fourth alternative embodiment of the tool assembly of FIG. 11 a  in the rotational position of FIG. 11 b.    
     FIG. 11 f  is a front elevational view of the fourth alternative embodiment of the tool assembly of FIG. 11 a  in the rotational position of FIG. 11 b  and with the bucket laterally tilted. 
     FIGS. 12 a  and  12   b  are left side elevational views of the boom arm and an alternative tool assembly embodying the present invention having first and second grapple members, with the first grapple member shown in various rotational positions relative to the boom arm and the second grapple member shown in various rotational positions relative to the first grapple member. 
     FIG. 13 is an enlarged, front elevational, sectional view of the alternative tool assembly of FIGS. 12 a  and  12   b  shown removed from the boom arm. 
     FIG. 14 is a left side elevational view of the alternative tool assembly of FIGS. 12 a  and  12   b  shown removed from the boom area. 
     FIG. 15 a  is a front elevational view of the first grapple member of the alternative tool assembly of FIGS. 12 a  and  12   b.    
     FIG. 15 b  is a left side elevational view of the first grapple member of FIG. 15 a.    
     FIG. 15 c  is a front elevational view of the second grapple member of the alternative tool assembly of FIGS. 12 a  and  12   b.    
     FIG. 15 d  is a left side elevational view of the second grapple member of FIG. 15 c.    
     FIG. 16 a  is a left side elevational view of the boom arm and a first alternative embodiment of the alternative tool assembly of FIGS. 12 a  and  12   b  providing lateral tilting and rotation of the alternative tool assembly relative to the plane swept out by the boom arm. 
     FIG. 16 b  is a front elevational view of the first alternative embodiment of the alternative tool assembly of FIG. 16 a  with the tool assembly rotated 90°. 
     FIG. 16 c  is a front elevational view of the first alternative embodiment of the alternative tool assembly of FIG. 16 a  in the rotational position of FIG. 16 b  and with the alternative tool assembly laterally tilted. 
     FIG. 17 is a left side elevational view of the boom arm and a second alternative embodiment of the alternative tool assembly of FIGS. 12 a  and  12   b  also providing lateral tilting and rotation to the alternative tool assembly relative to the plane swept out by the boom arm. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     As shown in the drawings for purposes of illustration, the present invention is embodied in a fluid-powered tool assembly, indicated generally by reference numeral  10 . As shown in FIG. 1, the tool assembly  10  is usable with a support platform shown as a vehicle  12 . The support platform may also be a stationary platform. The vehicle  12  has a first boom arm  14  which is pivotally connected by one end to a base member  16 . A pair of hydraulic cylinders  18  (only one being shown in FIG. 1) is provided for raising and lowering the first arm  14  in a generally vertical arm rotation plane with respect to the base member  16 . A second boom arm  20  is pivotally connected by one end to an end of the first arm  14  remote from base member  16 . A hydraulic cylinder  22  is provided for rotation of the second arm  20  relative to the first arm  14  in the same vertical arm rotation plane as the first arm operates. 
     The base member  16  is pivotally attached to the vehicle  12  for pivotal movement about a vertical axis so as to permit movement of the first and second arms  14  and  20  in unison to the left or right, with the first and second arms always being maintained in the arm rotation plane. It is noted that while the arm rotation plane is forwardly extending as shown in FIG. 1, as the base member  16  is pivoted the arm rotation plane turns about the vertical pivot axis of the base member and thus loses its forward-to rearward orientation, with the plane actually extending laterally should the base member be sufficiently rotated. When the tool assembly  10  is used by an excavator with a cab unit mounted by a turntable bearing to a tracked carriage, the cab and hence the arm rotation plane of the first and second arms  14  and  20  can rotate 360° relative to the carriage. 
     A rotation link  24  is pivotally connected through an interconnecting link  26  to an end portion  28  of the second arm  20  remote from the point of attachment of the second arm to the first arm  14 . A hydraulic cylinder  30  is provided for selective movement of the rotation link  24  relative to the second arm  20 . 
     As is conventional, a free end portion  31  of the second arm  20  and a free end portion  32  of the rotation link  24  each has a transverse aperture therethrough for connection of the second arm and the rotation link to a tool using selectively removable attachment pins  33   a  and  33   b , respectively. The attachment pins  33   a  and  33   b  are insertable in the apertures to pivotally connect a conventional tool to the second arm and the rotation link. When using a conventional tool, this permits the tool to be rotated about the attachment pin  33  of the second arm  20  upon movement of the rotation link  24  relative to the second arm as a result of extension or retraction of the hydraulic cylinder  30  to rotate the tool in the arm rotation plane defined by the first and second arms  14  and  20 . A quick coupler or other mounting means may be used to connect the tool to the second arm  20  and the rotation link  24 . In an alternative embodiment not shown, the links  24  and  26  are not used and the hydraulic cylinder  30  is directly attached to the tool to be rotated. 
     As illustrated in FIG. 1, the tool assembly  10  comprises a first tool which in the case of the illustrated embodiment is a bucket  34 . The bucket  34  has a forward working edge  35  extending laterally, generally transverse to the arm rotation plane. The bucket  34  further includes a first clevis  36  and a second clevis  38 . The first clevis  36  is located toward the bucket working edge  35  and is attached to the free end portion  31  of the second arm  20  with the attachment pin  33   a . The second clevis  38  is located rearwardly away from the first clevis  36  and is attached to the free end portion  32  of the rotation link  24  with the attachment pin  33   b . The first and second devises  36  and  38  are in general parallel alignment with the arm rotation plane of the bucket  34 . It should be understood the present invention may be practiced using other tools as work implements, and is not limited to buckets or other collection tools and devices. 
     The tool assembly  10  also includes a second tool which in the case of the embodiment illustrated in FIG. 1 is a lid or bucket extension  39 . As part of the tool assembly  10 , both the bucket  34  and the bucket extension  39  are connected to a rotary actuator  40  for pivotal movement relative to each other. This allows for the bucket extension  39  to rotate relative to the bucket  34  about an axis of rotation  41  of the rotary actuator  40  (see FIG.  3 ). The rotary actuator  40  provides rotational torque which causes the bucket extension  39  to rotate about the axis  41  of the rotary actuator  40  relative to the bucket  34 . 
     FIGS. 2 a - 2   d  illustrate four positions of the bucket  34  relative to the second arm  20 . In operation, the movement of the rotation link  24  relative to the second arm  20  causes the bucket  34  to be selectively rotated through the arm rotation plane about the attachment pin  33   a  of the second arm  20  as the rotation link is moved relative to the second arm  20  by the hydraulic cylinder  30 . FIGS. 2 a  and  2   c  show the bucket  34  rotated in a fully counterclockwise position relative to the second arm  20  with the hydraulic cylinder  30  in a fully retracted state. FIG. 2 b  shows the bucket  34  in a midway position relative to the second arm  20  with the hydraulic cylinder in a semi-extended state. FIG. 2 d  shows the bucket  34  rotated in a fully clockwise position relative to the second arm  20  with the hydraulic cylinder  30  in a fully extended state. 
     FIGS. 2 a - 2   d  also illustrate possible positions of the bucket extension  39  relative to the bucket  34  resulting from operation of the rotary actuator  40  causing the bucket extension to rotate about the axis  41  of the rotary actuator. The position of the bucket extension  39  relative to the bucket  34  produced by operation of the rotary actuator  40  is independent of the position of the bucket  34  relative to the second arm  20  produced by operation of the hydraulic cylinder  30 , although in certain positions of the bucket the presence of the second arm blocks full movement of the bucket extension through its full range of movement. FIG. 2 a  shows the bucket extension  39  in a fully counterclockwise closed position relative to the bucket  34 . FIG. 2 c  shows the bucket extension  39  in a fully clockwise open position relative to the bucket  34 . FIGS. 2 b  and  2   d  show the bucket extension  39  in a midway position relative to the bucket  34  with the bucket  34  and bucket extension grasping therebetween an object such as a large rock (FIG. 2 b ) or a culvert pipe (FIG. 2 d ). The bucket extension may also be selectively and delicately used to grasp chosen articles in cleanup or sorting processes. 
     The construction of the rotary actuator  40  is best shown in FIG.  3 . The rotary actuator  40  has an elongated housing or body  42  with a cylindrical sidewall  44  and first and second ends  46  and  48 , respectively. An elongated rotary drive or output shaft  50  is coaxially positioned within the body  42  and supported for rotation relative to the body  42 . The shaft  50  extends the full length of the body  42 , and has a flange portion  52  at the first body end  46 . The shaft  50  has an annular shaft nut  58  threadably attached thereto at the second body end  48 . The shaft nut  58  has a threaded interior portion threadably attached to a correspondingly threaded perimeter portion  60  of the shaft  50  and the shaft nut rotates with the shaft. The shaft nut  58  is generally locked in place against rotation relative to the shaft  50 . 
     Seals  62  are disposed between the shaft nut  58  and the shaft  50 , and between the shaft nut and the body sidewall  44  to provide a fluid-tight seal therebetween. Seals  64  are disposed between the shaft flange portion  52  and the body sidewall  44  to provide a fluid-tight seal therebetween. Radial bearings  66  and thrust bearings  68  are disposed between the shaft flange portion  52  and the body sidewall  44 , and between the shaft nut  58  and the body sidewall  44  to support the shaft  50  against radial and longitudinal thrust loads and to secure the shaft  50  in the body  42 . 
     The exterior end surfaces of the shaft flange portion  52  and the shaft nut  58  are flat and each have a plurality of apertures  70  and  72 , respectively, which threadably receive attachment bolts  74  (shown in FIGS. 2 a - 2   d ) to attach the bucket extension  39  to the shaft  50  for movement therewith relative to the body  42 . The first body end  46  also has a flange portion  76  with apertures  78  which receive attachment bolts  80  (shown in FIGS. 2 a - 2   d ) for attaching the body  42  of the rotary actuator  40  to the bucket  34 . 
     As shown in FIG. 3, an annular piston sleeve  82  is coaxially and reciprocally mounted within the body  42  coaxially about the shaft  50 . The piston sleeve  82  has outer splines, grooves or threads  84  over a portion of its length which mesh with inner splines, grooves or threads  86  of a splined intermediate interior ring gear portion  87  of the body sidewall  44 . The piston sleeve  82  is also provided with inner splines, grooves or threads  88  which mesh with outer splines, grooves or threads  90  provided on a portion of the shaft  50  toward the first body end  46 . It should be understood that while helical splines are shown in the drawings and described herein, the principle of the invention is equally applicable to any form of linear-to-rotary motion conversion means, such as balls or rollers. At least one pair of meshing splines, grooves or threads are helical to convert axial motion of the piston sleeve  82  to rotary motion of the shaft  50 . Alternatively, all the splines, grooves or threads can be helical and/or can be threaded in the same direction (e.g., left-handed or right-handed) or different directions, depending on the desired direction and amount of shaft rotation per unit of axial motion the piston sleeve  82 . It should be understood that while splines are shown in the drawings and described herein, the principle of the invention is equally applicable to any form of linear-to-rotary motion conversion arrangement, such as balls or rollers, and that the splines can include any type of groove or channel suitable for such motion conversion. 
     In the illustrated embodiment of the invention, the piston sleeve  82  has an annular piston head member  92  which has a threaded exterior portion  94  threadably attached to a second annular piston head member  96  by a correspondingly threaded interior portion  98  of the second annular piston head member  96 . The two piston head members  92  and  96  are thus joined to form a common piston head  99 . Seals  100  are disposed between the piston head member  92  and a smooth exterior wall shaft of the shaft  50  to provide a fluid-tight seal therebetween. Seals  102  are disposed between the piston head member  96  and the interior wall surface of the body-sidewall  44  to provide a fluid tight seal therebetween. A seal  104  is disposed between the piston head member  92  and piston head member  96  to provide a fluid tight seal therebetween. 
     As will be readily understood, reciprocation of the common piston head  99  within the body  42  occurs when hydraulic oil, air or any other suitable fluid under pressure selectively enters through one or the other of a first port P 1  which is in fluid communication with a fluid-tight compartment within the body to a side of the piston head toward the first body end  46  or through a second port P 2  which is in fluid communication with a fluid-tight compartment within the body to a side of the piston head toward the second body end  48 . As the piston head  99  and the piston sleeve  82 , of which the common piston head is a part, linearly reciprocates in an axial direction within the body  42 , the outer splines, grooves or threads  84  of the piston sleeve engage or mesh with the inner splines, grooves or threads  86  of the body sidewall  44  to cause rotation of the piston sleeve, where both the outer splines  84  and the inner splines  86  are helical. The linear and rotational movement of the piston sleeve  82  is transmitted through the inner splines, grooves or threads  88  of the piston sleeve to the outer splines, grooves or threads  90  of the shaft  50  to cause the shaft to rotate. The smooth wall surface of the shaft  50  and the smooth wall surface of the body sidewall  44  have sufficient axial length to accommodate the full end-to-end reciprocating stroke travel of the piston sleeve  82  within the body  42 . Longitudinal movement of the shaft  50  is restricted, thus most movement of the piston sleeve  82  is converted into rotational movement of the shaft  50 . Depending on the slope and direction of turn of the various splines, grooves or threads, there may be provided a multiplication of the rotary output of the shaft  50  and a high level of torque may also be provided. 
     The application of fluid pressure to the first port P 1  produces axial movement of the piston sleeve  82  toward the second body end  48 . The application of fluid pressure to the second body port P 2  produces axial movement of the piston sleeve  82  toward the body first end  46 . The rotary actuator  40  provides relative rotational movement between the body  42  and shaft  50  through the conversion of linear movement of the piston sleeve  82  into rotational movement of the shaft, in a manner well known in the art. The shaft  50  is selectively rotated by the application of fluid pressure, and the rotation is transmitted to the bucket extension  39  or other tool attached thereto through the flange portion  52  of the shaft  50  to selectively rotate the bucket extension about the axis  41  of the rotary actuator  40  relative to the bucket  34 . It is noted that operation of the rotary actuator  40  to move the bucket extension  39  relative to the bucket  34  is not only independent of the rotation of the bucket  34  relative to the second arm  20  by operation of the hydraulic cylinder  30 , but is also about the axis  41  which is different and spaced apart from the axis of rotation of the bucket about the attachment pin  33   a.    
     FIGS. 4-6 show the tool assembly  10  having an alternative manner of attaching the bucket  34  to the body  42  of the rotary actuator  40 . In particular, the opposing side walls  34   a  and  34   b  of the bucket  34  each have an aperture  34   c  therein which receives a corresponding one of the first and second body ends  46  and  48  of the body  42  therein. The first and second body ends  46  and  48  are welded to the corresponding side walls  34   a  and  34   b  of the bucket  34  by welds W. Thus, the attachment apertures  78  in the flange portion  76  of the first body end are not necessary. 
     FIGS. 7 and 8 depict a first alternative embodiment of the tool assembly  10  in which the rotary actuator  40  is removably positioned within a support housing or tube  105 . In this embodiment, the flange portion  76  of the first body end  46  uses the attachment bolts  80  to attach the actuator body  42  to a flange portion  106  of the support tube  105 . The second body end  48  of the rotary actuator  40  is snugly received in the support tube  105  in engagement with a cylindrical wall  108  thereof, but is not attached thereto. This limits transverse movement of the second body end  48  during operation of the tool assembly  10 . The support tube  105  also allows the actuator  40  to be slidably received coaxially within the support tube and protected from damage by the cylindrical wall  108  of the support tube. The support tube  105  further adds structural rigidity to the assembly  10 . The rotary actuator  40  is slidably removable from the support tube  105  for servicing of the actuator. In this embodiment, the bucket side walls  34   a  and  34   b  are welded to the support tube  105  by welds W, rather than to the first and second body ends  46  and  48 . 
     FIG. 9 depicts a second alternative embodiment of the tool assembly  10  in which the rotary actuator  40  does not extend the entire length of the support tube  105 . Like the embodiment of FIGS. 7 and 8, in the embodiment of FIG. 9, the actuator body  42  is attached to the support tube  105  only at the first body end  46  of the actuator and is slidably received in the support tube with the second body end  48  snugly received by the cylindrical wall  108 . In an alternative design, to improve alignment, rather than bolting the bucket extension  39  to the shaft  50 , the shaft may be terminated with straight splines which project axially outward and drivingly engage corresponding straight splines of a recess in the bucket extension coaxially aligned with the shaft of the rotary actuator  40 . Because the rotary actuator  40  used in FIG. 9 is shorter than the bucket  34  is wide, the bucket extension  39  is not attached directly to the shaft nut  58  as in the previously described embodiments. Instead, a pivot pin  109  is used to rotatably mount the bucket extension  39  to an end plate  110  closing the end of the tube support  105  at the end opposite the end to which the flange portion  76  of the first body end  46  is attached. The pivot pin  109  provides an axis of rotation aligned with the axis  41  of the rotary actuator  40 . 
     A third alternative embodiment of the tool assembly  10  is shown in FIGS. 10 a - 10   c  using a bucket lid  39 ′ instead of a bucket extension. In this embodiment the rotary actuator  40  is mounted to the second arm  20  in coaxial arrangement with the bucket  34  and the bucket lid  39 ′ for both rotation of the bucket relative to the second arm and rotation of the bucket lid relative to the bucket about the axis  41  of the rotary actuator. It is noted that with this arrangement the bucket lid  39 ′ is located laterally inward of the sidewalls  34   a  and  34   b  of the bucket  34 . 
     In this third alternative embodiment, the body  42  of the rotary actuator  40  has a pair of attachment flanges  43  by which the actuator body is securely attached to a pair of attachment flanges  21  projecting from the free end portion  31  of the second arm  20 . The attachment flanges  43  of the actuator body  42  and the attachment flanges  21  of the second arm  20  each have two transverse apertures therethrough. The one set of apertures of the attachment flanges  21  and  43  are aligned to accept a first pin  111   a  and the other set of apertures of the attachment flanges  21  and  43  are aligned to accept a second pin  111   b  to securely attach the rotary actuator  40  to the second arm  20  for movement therewith and to prevent rotation of the actuator body  42  relative to the second arm. To provide pivotal movement of the bucket  34  relative to the second arm  20  by operation of the hydraulic cylinder  30  using the links  24  and  26 , in the manner describe above, the attachment pin  33   a  is rotatably received in an aperture  50   a  extending longitudinally fully through the shaft  50  of the rotary actuator  40 . As before, the first clevis  36  of the bucket  34  receives the attachment pin  33   a  for rotation of the bucket thereabout in response to operation of the hydraulic cylinder  30 . To facilitate independent rotation of the bucket  34  on the attachment pin  33   a  from rotation of the shaft  50  of the rotary actuator  40 , the attachment pin  33   a  is rotatably supported in the shaft aperture  50   a  by bearings  50   b . To rotate the bucket lid  39 ′ relative to the second arm  20  attached to the actuator body  42 , and hence also the bucket  34 , the bucket lid is attached to the shaft flange portion  52  and shaft nut  58  of the shaft  50 , as described above, and rotates with the shaft in response to the linear reciprocation of the piston sleeve  82 . In this embodiment, the relative rotational movement of the bucket lid  39 ′ and the bucket  34  depends upon the operation of both the hydraulic actuator  30  and the rotary actuator  40 . 
     FIGS  11   a - 11   f  show a fourth alternative embodiment of the tool assembly  10  which allows the bucket  34 , bucket extension  39  and rotary actuator  40  to be tilted and rotated relative to the arm rotation plane defined by the first and second arms  14  and  20 . The rotary actuator based tiltable feature is fully disclosed in U.S. Pat. No. 5,487,230, Tool Actuator With Adjustable Attachment Mount, which is incorporated herein in its entirety. The first and second celvises  36  and  38  are used to removably attach the rotary actuator  40  and bucket  34  to a turntable bearing assembly  113 . The turntable bearing assembly  113  is also attached to a rotary actuator assembly  112  having a rotary actuator constructed generally as described above for rotary actuator  40  and arranged transverse to the rotary actuator  40 . The rotary actuator assembly  112  has a pair of clevis  112   b  which are attached to the free end portion  31  of the second arm  20  and to the free end portion  32  of the rotation link  24 . 
     The bucket  34 , bucket extension  39  and rotary actuator  40  can be selectively rotated or tilted about an axis of rotation  112   a  of the rotary actuator assembly  112  and selectively rotated about an axis of rotation  113   a  of the turntable bearing assembly  113 . The turntable bearing assembly  113  includes a turntable bearing with a first member  113   b  thereof to which the tool assembly  10  is attached using the first and second devises  36  and  38  for rotation therewith. The first turntable member  113   b  has a ring gear with internal teeth. A second turntable member  113   c  rotatably supports the first turntable member  113   b  therebelow and supports a hydraulic motor and brake unit  113   d  with a bull gear drivingly engaging the ring gear to selectively rotate the first turntable member  113   b  relative to the second turntable member  113   c  when the hydraulic motor  113   d  is powered. This provides 360° of continuous rotation. 
     The axis of rotation  112   a  of the rotary actuator assembly  112  is transverse to the axis of rotation  41  of the rotary actuator  40 , and the axis of rotation  113   a  of the turntable bearing assembly  113  is transverse to the axis of rotation  41  of the rotary actuator  40 . Further, the axis of rotation  112   a  of the rotary actuator assembly  112  is transverse to the axis of rotation  113   a  of the turntable bearing assembly  113 , to provide an orthogonal arrangement of axes of rotation  41 ,  112   a  and  113   a , and provide a degree of movement of the bucket  34  and bucket extension that significantly increases the efficiency and effectiveness of operation. The bucket  34 , bucket extension  39  and rotary actuator  40  are shown in the side view of FIG. 11 b  rotated as a unit by 90° about the turntable bearing axis of rotation  113   a  from the position shown in the side view of FIG. 11 a  by operation of the turntable bearing assembly  113 . In the side view of FIG. 11 c  the rotation is 180° from the position in FIG. 11 a . In the front view of FIG. 11 d , the bucket  34 , bucket extension  39  and rotary actuator  40  are shown in the same rotational position as shown in FIG. 11 a , but tilted laterally relative to the arm rotation plane by rotation about the rotational axis  112   a  of the rotary actuator assembly  112  by operation of the rotary actuator assembly  112 . 
     In the front views of FIGS. 11 e  and  11   f , the bucket  34 , bucket extension  39  and rotary actuator  40  are shown in the same rotational position as shown in FIG. 11 b , but in FIG. 11 f  they are tilted laterally relative to the arm rotation plane by rotation about the rotational axis  112   a  of the rotary actuator assembly  112  by operation of the rotary actuator assembly  112 . 
     FIGS. 12 a  and  12   b  show an alternative tool assembly  10 ′ which comprises a brush rake or grapple having a first grapple member  120  and an opposing second grapple member  122 . The first grapple member  120  is attached to the actuator body  42  by the attachment bolts  80  and the second grapple member  122  is attached to the shaft flange portion  52  by the attachment bolts  74 , much as described above for the embodiment of FIGS. 1-3. FIG. 12 a  shows the tool assembly  10 ′ in a fully open position and FIG. 12 b  shows the tool assembly in a closed position grasping a pipe. As viewed in FIGS. 12 a  and  12   b , the rotary actuator  40  rotates the second grapple member  122  in a counterclockwise direction relative to the first grapple member  120  when moving from an open position (FIG. 12 a ) to a closed position (FIG. 12 b ). 
     FIGS. 13 and 14 illustrate the tool assembly  10 ′ of FIGS. 12 a  and  12   b  as having a similar construction to the tool assembly  10  of FIG. 7 with the rotary actuator  40  slidably received into the support tube  105  and with the several fingers comprising the first grapple member  120  fixedly attached to the support tube. Two of the fingers comprising the second grapple member  122  are attached to the shaft flange portion  52  and shaft nut  58  of the rotary actuator  40  by the attachment bolts  74  for rotation with the shaft  50 . 
     FIGS. 15 a  and  15   b  illustrate the first grappling member  120  as having four grappling prongs or fingers  128  and cross members  130  extending through transverse apertures  132  in the grappling fingers and fixedly attached thereto. FIGS. 15 c  and  15   d  illustrate the second grappling member  122  as having grappling prongs or fingers  134  and cross members  136  extending through transverse apertures  138  in the grappling fingers and fixedly attached thereto. Two of the fingers  134  each have at one end a flange  140  and are spaced about to receive the rotary actuator  40  therebetween. The flanges  140  are attached to the flange portion  52  and the shaft nut  58  of the shaft  50  by the attachment bolts  74 . 
     FIGS. 16 a - 16   c  show a first alternative of the tool assembly  10 ′ of FIGS. 12 a  and  12   b  which allow the first and second grapple members  120  and  122 , and the rotary actuator  40  to be tilted and rotated relative to the arm rotation plane defined by the first and second arms  14  and  20 , much as in the embodiments of the tool assembly  10  shown in FIGS. 11 a - 11   f . As described above, the rotary actuator assembly  112  has a rotary actuator constructed generally as described above for rotary actuator  40  and is arranged transverse to the rotary actuator  40 . The first and second grapple members  120  and  122  and the rotary actuator  40  can be selectively rotated or tilted about the axis of rotation  112   a  of the rotary assembly  112  and selectively rotated about the axis of rotation  113   a  of the turntable bearing assembly  113 , as described above for the fourth alternative embodiment of the tool assembly  10  of FIGS. 11 a - 11   f . As described above, the rotary actuator  40 , the rotary actuator assembly  112  and the turntable bearing assembly  113  have an orthogonal arrangement of axes of rotation  41 ,  112   a , and  113   a  to provide a high degree of movement for the first and second grapple members  120  and  122  as a unit. 
     FIG. 17 shows a second alternative of the tool assembly  10 ′ of FIGS. 12 a  and  12   b  of a similar construction as shown in FIGS. 16 a - 16   c  but with the first grapple member  120  and the rotary actuator  40  fixedly attached to the first turntable member  113   b  whereas FIGS. 16 a - 16   c  depict attachment using the devises  36  and  38 . 
     It will be appreciated that, although specific embodiments of the invention have been described herein for purposes of illustration, various modifications may be made without departing from the spirit and scope of the invention. Accordingly, the invention is not limited except as by the appended claims. 
     All of the above U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and/or listed in the Application Data Sheet, are incorporated herein by reference, in their entirety.