Patent Publication Number: US-6336786-B1

Title: Articulated arm for grasping odd-shaped objects

Description:
This application is a continuation of copending application Ser. No. 09/250,673 filed Feb. 16, 1999, now issued Aug. 29, 2000 as U.S. Pat. No. 6,109,859. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention generally relates to devices for moving objects and, more particularly, is concerned with an apparatus for grasping odd-shaped objects to relocate the same. 
     2. Description of the Prior Art 
     Landscaping and building materials can be oddly shaped, awkward and heavy. Objects may be piled together. It is often difficult to remove individual objects of a pile without disturbing other objects in the pile. Equipment may also be damaged in the process of moving objects from one location to another location. An object itself may be damaged in the process of being moved. It is also difficult to place objects precisely where desired. 
     Various devices have been developed over the years to more effectively move objects, such as landscaping and building materials. Some representative examples of such prior art devices are disclosed in U.S. Pat. No. 2,717,704 to Pilch, U.S. Pat. No. 2,870,925 to Bernad et al., U.S. Pat. No. 2,908,409 to Hinders et al., U.S. Pat. No. 3,817,567 to Lull, U.S. Pat. No. 4,131,210 to Everson, U.S. Pat. No. 4,285,628 to Jankowski, U.S. Pat. No. 4,466,494 to Hanson, U.S. Pat. No. 4,516,896 to Freebery, U.S. Pat. No. 4,808,062 to Bare and PCT CH89/00027 to Ruf. While these prior art devices may be satisfactory in operation under the specific conditions for which they were designed, none of them seem to provide an effective solution for the problems at hand. 
     Consequently, a need still exists for an apparatus which provides a solution to the aforementioned problems in the prior art without introducing new problems in place thereof. 
     SUMMARY OF THE INVENTION 
     The present invention provides an apparatus for grasping odd-shaped objects designed to satisfy the aforementioned need. The object grasping apparatus of the present invention is preferably provided as an attachment for fitting to a material handling vehicle which allows an operator of the vehicle to remove an individual object from a pile without disturbing other objects in the pile. The apparatus can be used to move individual objects without damaging equipment or the object itself. The apparatus allows for easy relocation and placement of objects precisely where desired. 
     Accordingly, the present invention is directed to an apparatus for grasping odd-shaped objects which comprises: (a) an elongated upright main frame having opposite upper and lower ends, the main frame being attachable to a material handling vehicle for maneuvering the main frame between different heights and locations by operation of the material handling vehicle; (b) a support member mounted to the main frame adjacent to the lower end thereof and being adapted for engaging an edge of an object; (c) an arm member mounted to the main frame adjacent to the upper end thereof so as to undergo pivotal movement relative to the main frame; (d) a tine mounting member mounted to the arm member so as to undergo pivotal movement relative to and independently of the arm member; (e) at least one tine having a substantially curved configuration and being mounted to and extending outwardly and downwardly from the tine mounting member; and (f) means for respectively pivotally moving the arm member relative to the main frame and the tine relative to the arm member through respective first and second arcuate paths toward and away from the support member and an object between the tine and support member such that the tine and support member together may grasp the object for relocating the object upon maneuvering of the apparatus by operation of the material handling vehicle. The apparatus preferably comprises a pair of the tines being spaced apart from one another and mounted to and extending outwardly and downwardly from the tine mounting member. The tines preferably extend in substantially parallel relationship to one another. 
     More particularly, the pivotally moving means includes a main actuation mechanism and an auxiliary actuation mechanism. The main actuation mechanism is mounted to the main frame and to the arm member and is extendable and retractable to pivotally move the arm member and tines therewith vertically through the first arcuate path relative to the main frame toward and away from the support member and an object disposed between the arm member and the support member. The auxiliary actuation mechanism is mounted to the arm member and to the tine mounting member and is extendable and retractable to pivotally move the tine mounting member and tines therewith vertically through the second arcuate path relative to the arm member toward and away from the support member and the object between the tines and the support member. 
     Also, the support member includes an upright portion and a base portion. The upright portion is mounted to the main frame and disposed in a transverse relationship thereto adjacent to the lower end of the main frame. The base portion is attached to the upright portion and extends outwardly therefrom so as to provide the support member in a generally L-shaped configuration in cross-section such that the upright portion can be placed against an edge of the object to be grasped and the base portion can be placed under the edge of the object to be lifted. 
     Further, the main frame has opposite lateral sides. The arm member has a pair of interconnected links disposed in substantially parallel relation to and spaced apart from one another. Each link has opposite outer and inner ends and is pivotally mounted at the inner end to one of the opposite lateral sides of the main frame at a location closer to the upper end than to the lower end of the main frame. The tine mounting member is pivotally mounted to the outer ends of the links of the arm member. 
     The apparatus further comprises a pair of upper and lower coupling members. The lower coupling member is fixedly mounted to the main frame at a location slightly higher than and on an opposite side of the main frame from the support member. The upper coupling member is spaced above the lower coupling member and fixedly mounted to the main frame at a location between and spaced from the lower and upper ends of the main frame. The upper and lower coupling members are adapted for attaching the apparatus to a lift mechanism of the material handling vehicle. 
     These and other features and advantages of the present invention will become apparent to those skilled in the art upon a reading of the following detailed description when taken in conjunction with the drawings wherein there is shown and described an illustrative embodiment of the invention. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     In the following detailed description, reference will be made to the attached drawings in which: 
     FIG. 1 is a perspective view of the odd-shaped object grasping apparatus of the present invention shown mounted to a lift or loader mechanism of a material handling vehicle and being maneuvered into a position for grasping an odd-shaped object. 
     FIG. 2 is another perspective view of the apparatus showing an object grasped between a support member and pair of tines of the apparatus. 
     FIG. 3 is a side elevational view of the apparatus with an arm member and tines of the apparatus being shown in opened positions. 
     FIG. 4 is a side elevational view of the apparatus with the arm and tines of the apparatus being shown in closed positions. 
     FIG. 5 is a side elevational view of the apparatus showing an object grasped between the support member and pair of tines of the apparatus. 
     FIG .  6  is an end elevational view of the apparatus on a reduced scale as seen along line  6 — 6  of FIG.  5 . 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring to the drawings and particularly to FIGS. 1 and 2, there is illustrated a material handling vehicle V with a front end loader or lift mechanism L supporting an odd-shaped object T grasping apparatus, generally designated  10 , of the present invention. Although not so limited, the apparatus  10  is particularly adapted for use in relocating odd-shaped objects T, such as large rocks and railroad ties, by lifting, moving and precisely placing the same. Basically, the grasping apparatus  10  includes an elongated upright main frame  12 , a shoe or support member  14 , and an articulated arm  15 . The articulated arm  15  includes an arm member  16 , a tine mounting member  18 , at least one and preferably a pair of tines  20 , and actuating means preferably in the form of a first or main actuation mechanism  22  and a second or auxiliary actuation mechanism  24 . 
     Referring to FIGS. 1 to  6 , the upright main frame  12  of the apparatus  10  includes opposite upper and lower ends  12 A,  12 B, and opposite lateral sides  12 C and opposite front and rear sides  12 D,  12 E extending longitudinally between the opposite upper and lower ends  12 A,  12 B. The main frame  12  has a mounting tab  26  attached at the upper end  12 A thereof and projecting upwardly and forwardly therefrom. By way of example only, the main frame  12  can be in the form of an elongated hollow tube having a substantially rectangular configuration in longitudinal and transverse cross-sections and measuring four by six inches in cross section. The length of the main frame  12  is substantially greater than the widths thereof. 
     Referring to FIGS. 3 to  5 , the apparatus  10  further includes a pair of lower and upper coupling members  28 ,  30 . The lower mounting member  28  is fixedly attached by the use of any suitable means such as by welding or fasteners at the rear side  12 E of and transversely disposed relative to the main frame  12  at a location slightly above the lower end  12 B of the main frame  12 . The upper coupling member  30  is spaced above the lower coupling member  28 , extends transversely relative to the main frame  12  and generally parallel to the lower coupling member  28 . The upper coupling member  30  is fixedly attached by the use of any suitable means such as by welding or fasteners at the rear side  12 E of the main frame at a location between and spaced from the upper and lower ends  12 A,  12 B of the main frame  12 . The upper and lower coupling members  28 ,  30  are configured and adapted for facilitating easy attaching of the apparatus  10  to and detaching of the apparatus  10  from the lift mechanism L of the material handling vehicle V. 
     Referring again to FIGS. 1 to  6 , the shoe or support member  14  of the apparatus  10  includes an upright portion  32  and a base portion  34 . The upright portion  32  is attached by any suitable means such as by the use of welding or fasteners to the front side  12 D of the main frame  12  at the lower end  12 B thereof and is disposed in a transverse relationship thereto. The upright portion  32  also is disposed below, on the opposite side of the main frame  12  from, and generally parallel to the lower coupling member  28 . The base portion  34  is attached to a lower edge  32 A of the upright portion  32  and extends outwardly therefrom so as to provide the support member  14  in a generally right-angle L-shaped configuration in cross section. The upright portion  32  has a width and a length approximately the same as the width and length of the base portion  34 . The upright portion  32  of the support member  14  is adapted to be placed against an edge portion P of the object T to be grasped while the base portion  34  of the support member  14 . is adapted to be placed under the edge portion P of the object T. By way of example only, the support member  14  can be in the form of a six inch by six inch by one-half inch angle iron. 
     Referring to FIGS. 2 and 6, the arm member  16  of the apparatus  10  is formed by a pair of elongated links  36  disposed in substantially parallel relation to and laterally spaced apart from one another. The links  36  are substantially identical to one another and rigidly interconnected to one another. By way of example only, the links  36  are spaced apart about six and one-half inches from one another. Each link  36  has opposite outer and inner ends  36 A,  36 B and a substantially rectangular configuration in longitudinal cross-section and in transverse cross-section. Each link  36  has a hole  38  defined therethrough spaced from and adjacent to the inner end  36 B thereof. The main frame  12  also has pins  40  fixedly attached to and extending outwardly from the opposite lateral sides  12 C and which extend through the respective holes  38  of the links  36 . Thus, the links  36  of the arm member  16  at their inner ends  36 B are pivotally mounted on the pins  40 . Each link  36  further has a mounting flange  42  mounted at its outer end  36 A. The arm member  16  also has a mounting plate  44  with a connector tab  46  thereon which overlies and is rigidly attached to the outer ends  36 A of the links  36 . The connector tab  46  is disposed between the links  36  and aligned with the tab  26  on the upper end  12 A of the main frame  12 . By way of example only, each link  36  can be in the form of a two inch by five inch rectangular tube. 
     Referring to FIGS. 2 to  5 , the tine mounting member  18  of the apparatus  10  can have a substantially duckbill-like configuration. The tine mounting member  18  is pivotally mounted to the outer ends  36 A of the links  36  making up the arm member  16 . The tine mounting member  18  is particularly pivotally mounted to the mounting flanges  42  on the outer ends  36 A of the link  36  of the arm member  16 . In such manner, the tine mounting member  18  is pivotally movable independently of the arm member  16 . The tine mounting member  18  defines a pair of laterally spaced passageways  48 . The passageways  48  are disposed in substantially parallel relation to one another and have an open end  48 A and a generally circular configuration. The tine mounting member  18  may be in the form of a one inch flat bar. 
     Referring to FIGS. 1 to  6 , the tines  20  of the apparatus  10  are disposed in substantially parallel relation to one another and are spaced apart from one another. While it is possible to employ only one tine  20 , the employment of a pair of the tines  20  is preferred. Each of the tines  20  has a substantially curved longitudinal configuration and a substantially rectangular configuration in transverse cross-section. Each tine  20  is fixedly mounted to and extends outwardly and downwardly from the tine mounting member  18  with an end portion of each tine  20  being retained within one of the passageways  48  of the tine mounting member  18  in any suitable manner, such as by fasteners. Each tine  20  extends from the open end  48 A of the one passageway  48 . Each tine  20  is preferably comprised of a spring steel material. 
     Referring to FIGS. 3 to  6 , each of the main and auxiliary actuation mechanisms  22 ,  24  of the apparatus  10  is preferably a hydraulic cylinder mechanism. Each of the hydraulic cylinder mechanisms includes a cylinder  22 A,  24 A and a piston rod  22 B,  24 B. The main actuation mechanism  22  is pivotally mounted to and extends between the tab  26  on the upper end  12 A of the main frame  12  and the connector tab  46  on the mounting plate  44  attached across the outer ends  36 A of the links  36  of the arm member  16 . The main actuation mechanism  22  is extendable and retractable to pivotally move the arm member  16  and the tines  20  therewith vertically through a first arcuate path F relative to the main frame  12  toward and away from the support member  14  and the object B between the arm member  16  and the support member  14 . The auxiliary actuation mechanism  24  of the apparatus  10  is pivotally mounted to and extends between the arm member  16  near the main frame  12  and a connector flange  50  on the tine mounting member  18 . The auxiliary actuation mechanism  24  is extendable and retractable to pivotally move the tine mounting member  18  and the tines  20  therewith vertically through a second arcuate path S relative to the arm member  16  toward and away from the support member  14  and the object B between the tines  20  and the support member  14  so that an operator of the vehicle V may hydraulically operate the first and second hydraulic cylinder mechanisms  22 ,  24  to cause and control pivotal movement of the arm member  16  in relation to the main frame  12  and pivotal movement of the tine mounting member  18  and therewith the tines  20  in relation to the arm member  16 . 
     Thus, by selected actuation of the first and second actuation mechanism  22 ,  24  and operation of the material handling vehicle V and of the lift mechanism L mounted thereon, the apparatus  10  when attached to the vehicle V can be maneuvered toward a position adjacent to the object T, as shown in FIG. 1 where the support member  14  is brought into engagement against and under a near side of the object T relative to the vehicle V. The arm member  16  can then be hydraulically lowered to a point where the ends of the tines  20  contact a far side of the object T relative to the vehicle V. Then, the tine mounting member  18  and tines  20  therewith are hydraulically pivoted downward and toward the support member  14  such that the tines  20  apply pressure to the far side of the object T as the support member  14  applies pressure to the near side of the object T so that the tines  20  and support member  14  together grasp the object T therebetween. The lift mechanism L is then operated in a well-known manner to lift the apparatus  10  and the grasped object T for movement to and placement at a desired location upon further operation of the material handling vehicle V. Once the desired location is reached, the lift mechanism L is again operated to lower the apparatus  10  and grasped object T in order to precisely place the object T at that position. It will be observed that only the base portion of the support member may actually extend a short distance under the object T so that there is only minimal interference by the apparatus  10  with the placement of the object T at a desired location on the ground or any other desired surface. The tines  20  and support member  14  together function in a way which substantially resembles two fingers and a thumb of a hand grasping the object T as it is lifted and separated from a pile thereof. 
     The apparatus  10  is a compact, light weight attachment that combines dexterity with brute force in carrying out its lifting and placing operations. The tines  20  allow the operator to sort through, choose the desired position, and then pick up and carry away a wide variety of different objects without gouging or disturbing their surfaces, limited only by the hydraulic lifting capabilities of the vehicle V to which the apparatus  10  is attached. The spring steel tines will resiliently flex to the contour of the object in the grasp or grip of the apparatus  10 . The object can easily be stacked, placed on a truck bed or simply stockpiled by the apparatus  10  without the apparatus  10  dumping the object or struggling to get from under it. 
     It is thought that the present invention and its advantages will be understood from the foregoing description and it will be apparent that various changes may be made thereto without departing from the spirit and scope of the invention or sacrificing all of its material advantages, the form hereinbefore described being merely preferred or exemplary embodiment thereof.