Note: Descriptions are shown in the official language in which they were submitted.
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T940110
PATENT
HANDLTNG APPARATUS
FIELD OF THE INVENTION
The present invention relates to devices for holding, lifting,
lowering, and/or otherwise manipulating heavy articles.
BACKGROUND OF THE INVENTION
A need presently exists for a mobile, self-propelled, multi-
capability apparatus which can be used for gripping, lifting,
moving, rotating, and otherwise manipulating heavy articles. A
need particularly exists for such an apparatus which: (a) can be
used in mine maintenance shops for assembling, disassembling, and
otherwise servicing offroad mining trucks and other mining
equipment; (b) is highly maneuverable; (c) has a small footprint;
and (d) has a very high degree of manipulative ability (i.e., the
ability to retract, extend, move side to side, move up and down,
rotate, etc.) at the grasping end thereof.
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SUMMARY OF THE INVENTION
The present invention provides an apparatus for holding and
manipulating heavy articles which satisfies the needs and
incorporates the features discussed hereinabove.
In one aspect, the inventive apparatus comprises: a boom
having a distal end portion; a head assembly having a first end
portion and a second end portion, said first end portion being
positioned adjacent to the distal end portion of the boom; and a
pivoting means, connected to the boom and to the head assembly, for
l0 pivoting the head assembly in a first plane. The head assembly
comprises a rotating means for rotating the second end portion of
the head assembly with respect to the first end portion of the head
assembly. Both the pivoting means and the rotating means are
preferably hydraulically operated.
In another aspect, the apparatus of the present invention
comprises: a boom having a distal end portion; a universal joint
pivotably connected to the distal end portion of the boom; a head
assembly having a first end portion and a second end portion, said
first end portion of the head assembly being pivotably connected to
2o the universal joint; a first pivoting means, connected to the boom
and to the f first end portion of the head assembly, for pivoting the
head assembly with respect to the universal joint; and a second
pivoting means, connected to the boom and to the first end portion
of the head assembly, for pivoting the head assembly and the
universal joint with respect to the distal end portion of the boom.
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In yet another aspect, the present invention
provides an apparatus for handling heavy articles, said
apparatus comprising: a base structure; a turret rotatably
attached to the base structure; a first boom structure having
a first end portion pivotably attached to the turret, said
first boom structure also having a distal end portion; a
second boom structure having a first end portion pivotably
connected to the distal end portion of the first boom
structure; a first hydraulic operating means, connected to the
turret and to the first boom structure, for pivoting the first
boom structure with respect to the turret; and second
hydraulic means, connected to the turret and to the second
boom structure, for pivoting the second boom structure with
respect to the first boom structure.
In accordance with the present invention, there is
provided an apparatus for handling heavy articles, said
apparatus comprising: a base structure; a turret rotatably
attached to said base structure; a first boom structure having
a first end portion pivotably attached to said turret, said
first boom structure also having a distal end portion; a
second boom structure having a first end portion pivotably
connected to said distal end portion of said first boom
structure, said second boom structure being pivotable with
respect to said distal end portion of said first boom
structure in only a single plane; first hydraulic operating
means, connected to said turret and to said first boom
structure, for pivoting said first boom structure with respect
to said turret; and second hydraulic operating means,
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CA 02193057 1999-O1-22
connected to said turret and to said second boom structure,
for pivoting said second boom structure with respect to said
first boom structure, wherein said first boom structure is an
A-frame structure having a first leg and a second leg, each of
said legs being pivotably connected to said turret, and said
first hydraulic operating means comprises a first hydraulic
cylinder assembly having a first end connected to said turret
and a second end connected to said first leg and a second
hydraulic cylinder assembly having a first end connected to
said turret and a second end connected to said second leg.
In accordance with the present invention, there is
further provided an apparatus for handling heavy articles,
said apparatus comprising: a base structure; a turret
rotatably attached to said base structure; a first boom
structure having a first end portion pivotably attached to
said turret, said first boom structure also having a distal
end portion; a second boom structure having a first end
portion pivotably connected to said distal end portion of said
first boom structure, said second boom structure being
pivotable with respect to said distal end portion of said
first boom structure in only a single plane; first operating
means, connected to said turret and to said first boom
structure, for pivoting said first boom structure with respect
to said turret; and second operating means, connected to said
turret and to said second boom structure, for pivoting said
second boom structure with respect to said first boom
structure, wherein said first boom structure is an A-frame
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structure having a first leg and a second leg, each of said
legs being pivotably connected to said turret, and said first
operating means comprises a first cylinder assembly having a
first end connected to said turret and a second end connected
to said first leg and a second cylinder assembly having a
first end connected to said turret and a second end connected
to said second leg.
Further objects, features, and advantages of the
present invention will be apparent to those skilled in the art
upon reference to the accompanying drawings and upon reading
the following description of the preferred embodiments.
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BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 provides an elevational side view of an embodiment 2 of
the inventive, self-propelled handling apparatus.
Fig. 2 provides a top view of inventive apparatus 2 and
depicts the side to side pivoting operation of the apparatus' head
assembly 14.
Fig. 3 provides a top view of inventive apparatus 2 and
depicts the slew operation of the apparatus' turret assembly 8 for
pivoting boom structures 10 and 12 about base structure 4.
Fig. 4 provides a top view of inventive apparatus 2 and
depicts the rotational operation of head assembly 14.
Fig. 5 provides an elevational side view of inventive
apparatus 2 and depicts the pivoting operation of boom structures
10 and 12 and head assembly 14 for lifting, lowering, extending,
retracting, and otherwise positioning a tool 222.
Fig. 6 provides a partially cutaway front view of an outrigger
assembly 6 used in inventive apparatus 2.
Fig. 7 provides a cutaway top view of the central portion of
outrigger assembly 6.
Fig. 8 provides a cutaway elevational side view of the lower
portion of turret assembly 8.
Fig. 9 provides a partially cutaway, partially exploded,
elevational side view of the upper portion of turret assembly 8.
Fig. 10 provides a top view of head assembly 14.
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Fig. 11 provides an elevational side view of head assembly 14
associated with the distal end of laterally extending boom
structure 12.
Fig. 12 corresponds to Fig. 11 and depicts the downward
pivoting movement of head assembly 14 and universal joint 16 with
respect to the distal end of boom structure 12.
Fig. 13 corresponds to Fig. 11 and depicts the upward pivoting
movement of head assembly 14 and universal joint 16 with respect to
the distal end of boom structure 12.
Fi.g. 14 corresponds to Fig. 11 and depicts various adjustment
options for tool 222.
Fig. 15 provides a cross-sectional view of universal joint 16
as taken from perspective 15-15 shown in Fig. 14.
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DESCRIPTION OF THE PREFERRED EMBODIMENTS
An embodiment 2 of the inventive, self-propelled apparatus is
depicted in Figs. 1-15. Inventive apparatus 2 comprises: a
mobile, self-propelled base structure 4; an outrigger assembly 6
installed on base structure 4; a turret assembly 8 rotatably
mounted on the top of base structure 4; an upwardly extending boom
structure 10 pivotably secured to turret assembly 8; a laterally
extending boom structure 12 pivotably connected to the distal end
of upwardly extending boom structure 10; a head assembly 14
associated with the distal end of laterally extending boom
structure 12 by means of a universal joint 16; hydraulic cylinder
assemblies 18 and 20 connected between laterally extending boom
structure 12 and head assembly 14 for pivoting head assembly 14 and
universal joint 16 upward and downward with respect to the distal
end of boom structure 12; hydraulic cylinder assemblies 22 and 24
connected between laterally extending boom structure 12 and head
assembly 14 for pivoting head assembly 14 from side to side with
respect to universal joint 16; hydraulic cylinder assemblies 26 and
28 connected between upwardly extending boom structure 10 and
turret assembly 8 for pivoting boom structure l0 with respect to
turret assembly 8; and a hydraulic cylinder assembly 30 connected
between laterally extending boom structure 12 and turret assembly
8 for pivoting laterally extending boom structure 12 with respect
to upwardly extending boom structure 10.
Mobile, self-propelled base structure 4 comprises: a base
frame 32; two front wheels 34 rotatably mounted on the front end of
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frame 32; a rear wheel 36 rotatably mounted to the rear of frame
32; a motor and hydraulic power assembly 37 mounted on frame 32 for
operating the various hydraulic systems and assemblies used in
inventive apparatus 2; a primary control station 38 mounted on the
rear of base frame 32; and a handling system control station 40
mounted on the side of base frame 32. Primary control station 38
preferably includes operator controls for driving and steering
inventive apparatus 2 and for operating outrigger assembly 6.
Handling system control station 40, on the other hand, preferably
l0 includes operator controls for operating boom structures 10 and 12
and for operating head assembly 14.
Although generally any type of driving system can be used,
base structure 4 is preferably propelled by means of a conventional
hydraulic motor installed in the hub of rear wheel 36. As will
also be understood by those skilled in the art, the system used for
steering inventive apparatus 2 can be, for example, a conventional
hydraulically operated chain and gear system providing rotation of
the rear wheel 36 steering kingpin responsive to cylinder travel.
Outrigger assembly 6 comprises: an exterior elongate member
42 secured across the rear of base frame 32, said elongate member
42 having a passageway 44 extending longitudinally therethrough; an
interior elongate member 46 reciprocatingly positioned in one end
47 of passageway 44, said interior elongate member 46 having a
passageway 48 extending longitudinally therethrough and said
elongate member 46 having an exterior shape corresponding to the
interior shape of elongate member 42; an end plate 50 secured over
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the distal end of interior member 46; a hydraulic foot assembly 52
attached to the exterior of plate 50; a bracket assembly 54
attached by means of bolts 56 to an attachment block 58 secured in
exterior member passageway 44; and a double acting hydraulic
cylinder assembly 60 positioned in the passageway 48 of interior
member 46 and having a first end 62 pivotably connected to bracket
assembly 54 and a second end 64 pivotably connected to the interior
side of plate 50. Outrigger assembly 6 further comprises an
identical reciprocating assembly (i.e., an assembly including an
interior elongate member 46, an interior member end plate 50, a
hydraulic foot assembly 52, and a double acting hydraulic cylinder
assembly 60) operably installed in the other end of exterior
elongate member 42.
Although generally any type of mechanical or hydraulic foot
assembly can be used in inventive apparatus 2, each foot assembly
52 is preferably a hydraulic assembly comprising: a hydraulic
cylinder assembly 66 having a piston reciprocatingly received
therein; a ball joint 68 attached to the lower end of the piston;
and a foot member 70 pivotabl.y mounted on the bottom of the foot
assembly by means of ball joint 68.
As will be understood by those skilled in the art, before
using inventive apparatus 2 for holding, Lifting, and/or otherwise
manipulating a heavy article, outrigger assembly 6 will preferably
be engaged by (a) operating hydraulic cylinder assemblies 60 such
that foot assemblies 52 are moved outwardly away from base frame 32
and then (b) operating hydraulic cylinder assemblies 66 such that
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feet 70 are lowered into contact with the ground. Likewise, when
the holding, lifting, and/or manipulating operation is completed
and it is desired to move inventive apparatus 2 to another
location, outrigger assembly 6 will preferably first be disengaged
by (a) operating hydraulic cylinder assemblies 66 such that feet 70
are raised out of contact with the ground surface and then (b)
operating hydraulic cylinder assemblies 60 such that the hydraulic
foot assemblies 52 move inward and are thereby positioned adjacent
to the ends of outrigger member 42.
l0 Turret assembly 8 comprises (a) a stationary base assembly 72
which is attached in fixed position to the top of base frame 32 and
(b) a rotatable upper assembly 74 which is rotatably positioned on
stationary base assembly 72.
Stationary base assembly 72 comprises: a slew pin holder 76;
a slew pin 78; a keeper plate 80; a lower washer bearing 82; a
first self-lube bushing 84; and a second self-lube bushing 85.
Slew pin holder 76 includes: a vertically extending cylinder 86
having a cylindrical passageway 88 extending longitudinally
therethrough; a radial plate 90 projecting outwardly from the top
of cylinder 86; and a plurality a angular supports 92 connected to
and extending between the bottom ~of radial plate 90 and the
vertical exterior surface of cylinder 86. Radial plate 90 is
secured to base frame 32 in fixed position by welding or by other
suitable means. Slew pin 78 is held in and projects upwardly from
passageway 88 of cylinder 86. Keeper plate 80 is welded or
otherwise firmly secured to the lower end of slew pin 78. Keeper
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plate 80 is also firmly secured to the bottom end of cylinder 86 by
means of screws 94 so that slew pin 78 is prevented from rotating
in cylinder 86. Lower washer bearing 82 is positioned around slew
pin 78 and is secured to the top of slew pin holder 76 by means of
dowel pins 96. First bushing 84 is positioned around slew pin 78
at a point spaced above washer bearing 82. Second bushing 85 is
positioned around the top end portion of slew pin 78.
The rotatable upper portion 74 of turret assembly 8 includes
a turret structure 98 having an upper washer bearing 100 attached
to the bottom thereof by means of capscrews 103. Turret structure
98 comprises: a vertically extending cylindrical portion 102
having a cylindrical passageway 104 extending longitudinally
therethrough; a radial base plate 105 projecting outwardly from the
lower end of cylindrical portion 102; and a pair of rearwardly
projecting boom attachment brackets 106 attached to the exterior of
cylindrical portion 102 and to the top of radial base plate 105.
Each of boom attachment brackets 106 preferably includes a pair of
prongs having apertures provided therein for pivotably attaching
the legs of upwardly extending boom structure 10 to turret
structure 98 by means of pins 112.
Turret structure 98 further comprises (a) a pair of forwardly
projecting supports 114 attached to the exterior of cylindrical
portion 102 and to the top of radial base plate 105 and (b) a
forwardly projecting support 120 attached to the exterior of
cylindrical portion 102 and to the top of radial base plate 105.
Forwardly projecting supports 114 have tubular bosses 116 attached
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thereto for pivotably securing the lower ends of hydraulic
assemblies 26 and 28 to turret structure 98 using pins 118.
Forwardly projecting support 120 has a tubular boss 122 attached
thereto for pivotably securing the lower end of hydraulic cylinder
assembly 30 to turret structure 98 using a pin 124.
Upper washer bearing 100 and the passageway 104 of turret
structure cylindrical portion 102 are sized for receiving slew pin
78 such that turret structure 98 is allowed to rotate about slew
pin 78. Passageway 104 includes an enlarged bore portion 126 at
the lower end thereof for containing first bushing 84. Passageway
104 also includes an inwardly projecting radial shoulder 128 near
the upper end thereof for containing second bushing 85.
Additionally, a lubrication passage and grease zerk 130 are
provided in turret structure 98 for lubricating washer bearings 82
and 100.
Rotatably upper portion 74 of turret assembly 8 also includes
a drive assembly 132 comprising: a hydraulic motor 134; a
hydraulic brake 136 operably associated with motor 134; a gear
reducer 138 operably associated with motor 134 and brake 136; and
a drive shaft 139 projecting from gear reducer 138 and having
splines 140 formed thereon.
Drive assembly 132 is connected to turret structure 98 and to
the top of slew pin 78 such that assembly 132 drives the rotation
of turret structure 98 about slew pin 78. As shown in Fig. 9,
drive shaft 139 is securely attached to the upper end of slew pin
78 by means of a spline coupling 142 and capscrews 144. The
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housing of gear reducer 138, on the other hand, has a shoulder 146
provided on the exterior thereof which is securely attached, by
means of an adapter 148, capscrews 150, and capscrews 152, to the
upper end of the cylindrical portion 102 of turret structure 98.
Splined coupling 142 has a splined passageway extending
therethrough which mates with splined drive shaft 139 so that
splined coupling 142 prevents drive shaft 139 from rotating with
respect to slew pin 78. Adapter 148, however, has an opening in
the lower end thereof through which the lower portion of splined
coupling 142 extends such that turret structure 98, adapter 148,
and drive assembly 132 (except, that is, for drive shaft 139) are
free to rotate with respect to slew pin 78 when drive assembly 132
is operated.
Upwardly extending boom structure 10 is preferably an A-frame
type structure comprising a first leg 154 and a second leg 156.
Each of legs 154 and 156 includes: an upper end portion 158; a
lower end portion 160; and an elongate central portion 164 which
extends downwardly and outwardly from upper portion 158 to lower
portion 160. The lower end portions 160 of legs 154 and 156 are
pivotably connected to turret structure 98 by placing lower end
portions 160 in boom brackets 106 and inserting pins 112 through
apertures provided in legs 154 and 156 arid 1ri brackets 106.
As indicated in Fig. 1, each of boom legs 154 and 156
preferably has a pair of forwardly projecting brackets 168 attached
thereto. Brackets 168 have apertures provided therein for
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pivotably attaching the rod ends of hydraulic cylinder assemblies
26 and 28 to legs 154 and 156 using pins 172.
Laterally extending boom structure 12 includes an elongate
boom arm 174 having: a substantially rectangular cross-section; a
first end 176; a distal end 178; a horizontal aperture extending
laterally through the first end 176 for pivotably connecting end
176 between the upper ends 158 of the boom legs 154 and 156 using
a pin structure 182; a structural support 184 attached to the top
of boom arm 174 adjacent the first end 176 thereof; an aperture
provided in the bottom of boom arm 174 for receiving the rod end of
hydraulic cylinder assembly 30; apertures provided through the side
walls of boom arm 174 for pivotably connecting the rod end of
hydraulic cylinder assembly 30 to boom arm 174 using a pin 190;
double pronged brackets 191, 192, 194, and 196 attached to the top,
bottom, and sides of boom arm 174 and having apertures provided
therein for pivotably securing the cylinder ends of hydraulic
cylinder assemblies 18, 20, 22, and 24 to boom arm 174 by means of
pins 198, 200, 202, and 204; and bracket members 206 projecting
from the distal end 178 of boom arm 174 and having apertures
provided therein for pivotably connecting universal joint 16 to the
distal end of boom arm 174 using U-joint pins 208.
The pin structure 182 used for pivotably connecting boom arm
174 to upwardly extending boom structure 10 is preferably comprised
of a pin having a keeper plate 210 attached to the end thereof .
Keeper plate 210 will preferably have an aperture provided therein
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for securing plate 210 to the side of boom structure leg 154 using
a capscrew or other suitable means.
Head assembly 14 comprises: a rotary actuator 214 having a
rearward end 216 and a forward end 218; a head adapter 220 secured
to the rearward end 216 of rotary actuator 214; and a handling tool
222 secured to the forward end 218 of rotary actuator 214. Rotary
actuator 214 is preferably a helical, hydraulic, rotary actuator
comprising, for example: a cylindrical housing 224 secured to
rearward end 216; a cylindrical shaft attached to forward end 218
and rotatably positioned in housing 224, said shaft having helical
threads formed around the exterior thereof; and a hydraulic piston
which (a) is reciprocatably positioned in cylindrical housing 224
in a manner such that the piston is prevented from rotating in
housing 224 and (b) has a helically threaded bore provided therein
which is positioned around and threadedly mates with the internal
cylindrical shaft. Thus, the forward end 218 of rotary actuator
214 can be selectively rotated with respect to the rearward end 216
of actuator 214 by applying hydraulic fluid to the rearward and
forward ends of the hydraulic piston such that the piston
reciprocates in housing 224.
The head adapter 220 of head assembly 14 comprises: an
adapter plate 226 attached to the rearward end 216 of rotary
actuator 214; plates 228 extending rearwardly from the sides of
adapter plate 226 and having apertures provided therein for
pivotably attaching adapter 220 to universal joint 16 by means of
U-joint pins 230; double pronged brackets 232 and 234 attached to
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plates 228 and having apertures provided therein for pivotably
connecting the rod ends of hydraulic cylinder assemblies 18 and 20
to adapter 220 using pins 231 and 233; and double pronged brackets
236 and 238 extending rearwardly from adapter plate 226 and having
apertures provided therein for pivotably connecting the rod ends of
hydraulic cylinder assemblies 22 and 24 to adapter 220 using pins
235 and 237. As shown in Figs. 11, 12, and 13, head assembly 14
and universal joint 16 can be pivoted upward and downward with
respect to the distal end 178 of boom arm 174 by operating
hydraulic cylinder assemblies 18 and 20. Further, as shown in Fig.
2, head assembly 14 can be pivoted from side to side on universal
joint 16 by operating hydraulic cylinder assemblies 22 and 24.
Moreover, hydraulic cylinder assemblies 18 and 20 and hydraulic
cylinder assemblies 22 and 24 can be operated together to obtain
generally any desired head assembly.orientation.
Generally any type of equipment or material handling tool can
be used in head assembly 14. The handling tool 222 depicted in the
drawings comprises: a tool plate 240 secured to the forward end
218 of rotary actuator 214; a support member 242 attached to the
forward side of tool plate 240, said support member 242 having a
passageway 244 extending longitudinally therethrough and said
member 242 having apertures 246 extending through the sides
thereof; an elongate jaw member 248 having an exterior cross-
sectional shape corresponding to the interior cross-sectional shape
of support member 242 such that jaw member 248 is slidably
positionable in support member 242; an upper pair of forwardly
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projecting tensioner attachment plates 250 connected to the sides
of support member 242; a lower pair of forwardly projecting
tensioner attachment plates 252 connected to the sides of jaw
member 248; chain tensioners 254 connected to tensioner attachment
plates 250; a substantially identical pair of chain tensioners
connected to tensioner attachment plates 252; an upper gripping
chain 258 connected between chain tensioners 254; and a
substantially identical gripping chain 260 connected between the
lower pair of chain tensioners. Elongate jaw member 248 has a
forwardly projecting lip 262 provided at the bottom thereof.
Additionally, apertures 264 are provided along the length of jaw
member 248. Apertures 264 correspond to the support member
apertures such that, by aligning a desired pair of jaw member
apertures 264 with the support member apertures and inserting a
hitch pin 266 therein, the vertical position of jaw member 248 in
support member 242 can be selectively adjusted.
By way of example, the attachment of handing tool 222 to an
item 268 is depicted in Fig. 4. As seen in Fig. 4, tool 222 is
attached to item 268 by (a) positioning lip 262 against an exterior
surface or edge provided on item 268 and then (b) tightly
positioning the tool gripper chains around the exterior of item
268.
In a prototype of inventive apparatus 2 built for testing
purposes, turret assembly 8 provided a horizontal rotation angle
(i.e., slew), as depicted in Fig. 3, far lateral boom structure 12
of about 270°. Additionally, the operation of hydraulic cylinder
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assemblies 18 and 20 provided a total head up and down pivot angle
of about 90° while the operation of hydraulic cylinder assemblies
22 and 24 provided a total head assembly side to side pivot angle
of about 30°. The operation of rotary actuator 214, on the other
hand, provided an overall handling tool 222 rotation angle of 180°.
Further, as represented in Fig. 5, the boom pivoting operation of
hydraulic cylinder assemblies 26 and 28 coupled with the boom
pivoting operation of hydraulic cylinder assembly 30 provided a
very high degree of maneuverability with respect to the raising,
lowering, extension, and retraction of handling tool 222.
Moreover, hydraulic cylinder assemblies 18 and 20, hydraulic
cylinder assemblies 22 and 24, and rotary actuator 214 were
operable in combination to obtain generally any desired handling
tool orientation.
Finally, as depicted in Fig. 1, the inventive apparatus
preferably includes a remote operator control station 270 for
operating all of the boom and head hydraulic functions. As will be
understood by those skilled in the art, remote system 270 can be
constructed using conventional electro-hydraulic proportional
valuing. The use of remote system 270 allows optimum operator
positioning and visibility while conducting manipulative
operations.
Thus, the present invention is well adapted to carry out the
objects and attain the ends and advantages mentioned above as well
as those inherent therein. While presently preferred embodiments
have been described for purposes of this disclosure, numerous
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changes and modifications will be apparent to those skilled in the
art. Such changes and modifications are encompassed within the
spirit of this invention as defined by the appended claims.
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