Grasping apparatus and collection vehicle

Claim 2

A grasping arm subassembly article having frame plate means; an inner arm member having first and second ends, said inner arm member being pivotally connected at the first end to said frame plate means; and an outer arm member having an inner end and an outer end, said outer arm member being pivotally connected between said inner and outer ends to the second end of said inner arm member; characterized in that said grasping arm subassembly article further comprises: linkage means comprising a first link, a middle link, and a second link, each of said links having a first end and a second end, said middle link first end being pivotally connected to said first link second end and said middle link second end being pivotally connected to said second link first end, said first link first end being pivotally connected to said frame plate means, said second link second end being pivotally connected to said inner end of said outer arm member, and said middle link being pivotally connected to said inner arm member between said first and second ends of said inner arm member and between said first and second ends of said middle link.

Claim 3

A grasping arm article as claimed in claim 1 wherein said arm further comprises extensible power means pivotally based on said frame means and pivotally connected to said inner arm between the first and second ends thereof.

Claim 4

A grasping arm article as claimed in claim 1 wherein said inner arm member has a surface for grasping an object inward relative to said grasping surface and said inner arm member has material for spacing said middle link away from the entire said grasping surface so that said linkage means lies entirely outward from said grasping surface and entirely outward from an imaginary straight line between said first and second ends of said inner arm member where said first and second ends are pivotally connected respectively to said frame plate means and said outer arm member.

Claim 5

A grasping arm article as claimed in claim 3 wherein said arm further comprises extensible power means pivotally based on said frame means and pivotally connected to said inner arm member at the same place where said middle link is pivotally connected to said inner arm member.

Claim 6

A grasping arm article as claimed in claim 3 wherein said spacing material is channel-shaped, said middle link is capable of turning inside said channel-shaped material, and said first and second links have respective lengths such that said linkage means causes said outer arm member to move graspingly in response to motion of said inner arm member.

Claim 7

A grasping arm article as claimed in claim 5 wherein said inner arm member has a channel-shaped cross-section along its entire length.

Claim 8

A grasping device article comprising a plurality of grasping arm subassembly articles each being as claimed in claim 1; and boom means, said grasping arm subassembly articles being attached to said boom means at said frame plate means.

Claim 9

A grasping device comprising in combination a frame, extensible power means, and a plurality of arm members connected to said frame, at least one of said arm members comprising an inner arm having first and second ends, said inner arm being pivoted at the first end in said connection to said frame; an outer arm having an inner end and an outer end, said outer arm being pivoted intermediate said inner and outer ends to the second end of said inner arm; and linking means comprising a first link, a middle link, and a second link, each of said links having first and second ends, said middle link first end being pivoted to said first link second end and said middle link second end being pivoted to said second link first end, said first link first end being pivoted to said frame and said second link second end being pivoted to said inner end of said outer arm, said middle link being pivoted to said inner arm intermediate said first and second ends of said inner arm and intermediate said first and second ends of said middle link, said grasping device having said extensible power means pivoted to said at least one said arm member and pivoted to said grasping device so as to move said at least one said arm member graspingly relative to the rest of said plurality of arm members.

Claim 10

A grasping device comprising in combination a frame, extensible power means, and a plurality of arm members connected to said frame, at least one of said arm members comprising an inner arm having first and second ends, said inner arm being pivoted at the first end in said connection to said frame; an outer arm having an inner end and an outer end, said outer arm being pivoted intermediate said inner and outer ends to the second end of said inner arm; and linking means comprising a first link, a middle link, and a second link, each of said links having first and second ends, said middle link first end being pivoted to said first link second end and said middle link second end being pivoted to said second link first end, said first link first end being pivoted to said frame and said second link second end being pivoted to said inner end of said outer arm, said middle link being pivoted to said inner arm intermediate said first and second ends of said inner arm and intermediate said first and second ends of said middle link, said grasping device having said extensible power means pivoted to said at least one said arm member and pivoted to said grasping device so as to move said at least one said arm member graspingly relative to the rest of said plurality of arm members.

Claim 11

A grasping device as claimed in claim 8 wherein said extensible power means comprises a first cylinder and a second cylinder; and said plurality of arm members includes a second arm member comprising: a second inner arm having first and second ends, said second inner arm being pivoted at the first end in said connection to said frame; a second outer arm having an inner end and an outer end, said second outer arm being pivoted intermediate said inner and outer ends to the second end of said second inner arm; and second linking means comprising a first link, a middle link, and a second link, each of said links having first and second ends, said middle link first end being pivoted to said first link second end and said middle link second end being pivoted to said second link first end, said first link first end being pivoted to said frame and said second link second end being pivoted to said inner end of said second outer arm, said middle link of said second linking means being pivoted to said second inner arm intermediate said first and second ends of said second inner arm and intermediate said first and second ends of said middle link of said second linking means, said first cylinder being pivoted to said at least one said arm member and pivoted to said grasping device, said second cylinder being pivoted to said second arm member and pivoted to said grasping device so as to move said second arm member graspingly relative to said at least one said arm member.

Claim 12

A grasping device as claimed in claim 8 wherein said grasping device further comprises powered boom means attached to said frame for controllably moving said frame.

Claim 13

A grasping device as claimed in claim 10, said grasping device further comprising: a vehicle capable of self-locomotion having a chassis; and hydraulic control means for use by a human operator; said powered boom means and said extensible power means being connected to said hydraulic control means and operable therefrom, and said powered boom means being pivotally mounted to said chassis.

Claim 14

A grasping device comprising a frame; a pair of diverging inner arms, each of which has an inner end and an outer end, each of said inner ends being pivotally mounted to said frame for movement about a first axis respectively; a pair of outer arms, each of which has an inner end and an outer end, each said outer arm being pivotally connected intermediate said inner and outer end thereof to said outer end of each of said inner arms for movement about a second axis respectively; a pair of extensible power means each of which interconnects said frame and one of said inner arms respectively for causing said movement of said inner arms; and a pair of linkage mechanisms each pivotally interconnecting said frame, one of said inner arms and one of said outer arms for causing said movement of each said outer arm in response to said movement of each said inner arm respectively.

Claim 15

A grasping device comprising a frame; a pair of diverging inner arms, each of which has an inner end and an outer end, each of said inner ends being pivotally mounted to said frame for movement about a first axis respectively; a pair of outer arms, each of which has an inner end and an outer end, each said outer arm being pivotally connected intermediate said inner and outer end thereof to said outer end of each of said inner arms for movement about a second axis respectively; a pair of extensible power means each of which interconnects said frame and one of said inner arms respectively for causing said movement of said inner arms; and a pair of linkage mechanisms each pivotally interconnecting said frame, one of said inner arms and one of said outer arms for causing said movement of each said outer arm in response to said movement of each said inner arm respectively.

Claim 16

A grasping device as claimed in claim 12 wherein each said linkage mechanism comprises first, second and third links, said first link having one end pivotally connected to said frame and an opposite end pivotally connected to said second link, said third link having one end pivotally connected to the respective outer arm and an opposite end pivotally connected to said second link, said second link being pivotally connected to the respective inner arm.

Claim 17

A grasping device as claimed in claim 12 wherein said grasping device further comprises a longitudinally extensible boom assembly having at least two boom members telescopically mounted with respect to one another; and boom power means connected to said boom members for causing said telescopic extensible assembly to move longitudinally, said frame being mounted on one end of one of said boom members.

Claim 18

A grasping device as claimed in claim 14 wherein said grasping device further comprises a base frame pivotally connected to the other end of the other of said boom members; and second boom power means pivotally connected to said base frame and the other of said boom members for causing movement of said boom assembly relative to said base frame pivotally.

Claim 19

A grasping device as claimed in claim 15 wherein said grasping device further comprises third boom power means pivotally connected to said one end of said one of said boom members and to said frame having said arms, said frame being mounted so as to be able to move pivotally with respect to said one end of said one of said boom members.

Claim 20

A grasping device as claimed in claim 16 wherein said grasping device further comprises means for causing said third boom power means to maintain a level orientation of said arms during pivotal movement of said boom assembly relative to said base frame.

Claim 21

A refuse collection vehicle comprising cab-and-chassis means for self-locomotion and load support; refuse bin means mounted and supported on said chassis; first frame means side-mounted to and supported by said chassis beneath said bin means; boom means comprising first, second, and third hydraulic extension means, an inner boom and an outer boom telescopically mounted and movable with respect to each other by said first hydraulic extension means, said inner boom being pivotally connected to said first frame, said second hydraulic extension means being pivotally connected to said inner boom and said first frame for moving said boom means between a lateral and an upstanding position; grasping means comprising second frame means and first and second arm members, each of said first and second arm members respectively comprising an inner arm member having first and second ends, each said inner arm member being pivotally connected at the first end to said second frame, an outer arm member having an inner end and an outer end, each said outer arm member being pivotally connected intermediate said inner and outer ends to the respective second end of each said inner arm member, linkage means comprising a first link, a middle link, and a second link, each of said links having first and second ends, said middle link first end being pivotally connected to said first link second end and said middle link second end being pivotally connected to said second link first end, said first link first end of each said linkage means being pivotally connected to said second frame and said second link second end of each said linkage means being pivotally connected to the respective inner end of each said outer arm member, and each said middle link being pivotally connected to each said inner arm respectively intermediate said first and second ends of said inner arm and intermediate said first and second ends of said middle link, said grasping means further comprising fourth and fifth hydraulic extension means each being pivotally based on said second frame and pivotally connected to said first and second arm members respectively so as to move said arm members graspingly relative to one another; said second frame being pivotally connected to said outer boom, said third hydraulic extension means being connected to said outer boom and said second frame so as to make said grasping device movable at said second frame relative to said outer boom; slave hydraulic leveling cylinder means pivotally connected to said inner boom and said first frame and hydraulically interconnected with said third hydraulic extension means for keeping said grasping means levelled when said boom is moved between its lateral and upstanding positions; and hydraulic control panel and control circuit means hydraulically interconnected with said first, second, third, fourth, and fifth hydraulic extension means for controllably operating said boom means and grasping means so as to extend said boom, grasp a container, lift, dump, lower, and release said container, and retract said boom in a refuse collection operation under control of a human operator at said control panel of said refuse collection vehicle.

Claim 22

A refuse collection vehicle comprising cab-and-chassis means for self-locomotion and load support; refuse bin means mounted and supported on said chassis; first frame means side-mounted to and supported by said chassis beneath said bin means; boom means comprising first, second, and third hydraulic extension means, an inner boom and an outer boom telescopically mounted and movable with respect to each other by said first hydraulic extension means, said inner boom being pivotally connected to said first frame, said second hydraulic extension means being pivotally connected to said inner boom and said first frame for moving said boom means between a lateral and an upstanding position; grasping means comprising second frame means and first and second arm members, each of said first and second arm members respectively comprising an inner arm member having first and second ends, each said inner arm member being pivotally connected at the first end to said second frame, an outer arm member having an inner end and an outer end, each said outer arm member being pivotally connected intermediate said inner and outer ends to the respective second end of each said inner arm member, linkage means comprising a first link, a middle link, and a second link, each of said links having first and second ends, said middle link first end being pivotally connected to said first link second end and said middle link second end being pivotally connected to said second link first end, said first link first end of each said linkage means being pivotally connected to said second frame and said second link second end of each said linkage means being pivotally connected to the respective inner end of each said outer arm member, and each said middle link being pivotally connected to each said inner arm respectively intermediate said first and second ends of said inner arm and intermediate said first and second ends of said middle link, said grasping means further comprising fourth and fifth hydraulic extension means each being pivotally based on said second frame and pivotally connected to said first and second arm members respectively so as to move said arm members graspingly relative to one another; said second frame being pivotally connected to said outer boom, said third hydraulic extension means being connected to said outer boom and said second frame so as to make said grasping device movable at said second frame relative to said outer boom; slave hydraulic leveling cylinder means pivotally connected to said inner boom and said first frame and hydraulically interconnected with said third hydraulic extension means for keeping said grasping means levelled when said boom is moved between its lateral and upstanding positions; and hydraulic control panel and control circuit means hydraulically interconnected with said first, second, third, fourth, and fifth hydraulic extension means for controllably operating said boom means and grasping means so as to extend said boom, grasp a container, lift, dump, lower, and release said container, and retract said boom in a refuse collection operation under control of a human operator at said control panel of said refuse collection vehicle.