Note: Descriptions are shown in the official language in which they were submitted.
CA 02503314 2001-10-12
REFUSE COLLECTION VEHICLE HAVING MULTIPLE COLLECTION
ASSEMBLIES
_ FIELD OF TAE ~N'rION
This invention relates generally to an improved refuse collection,device, and
more particularly, ,
to an improved refuse collection device which is adapted to grab and lii~ a
refuse container and
dump the contents thereof into a collection bin. Preferably, the collection
device is mounted on a
refuse collection vehicle. Such device may be employed to. grab and lift a
residential-type refuse
container from a curb-side or other convenient location, raise the container
to dump it into a
collection bin on the vehicle, and ration the container to its original
location.
BA~"'KGROUND OF THE INVENTION
In recent years, the formerly labor-intensive process of collecting household
refuse and
recyclable materials has become increasingly automated, as improvements have
been made to the
vehicles employed in collecting such materials. Modern refuse collection
vehicles typically
include an integral refuse collection bin and a compaction mechanism for
compacting materials
in or adjacent to the collection bin. Such vehicles may introduce refuse into
the collection bin
I
CA 02503314 2001-10-12
from the front, rear or side of the vehicle. Some such vehicles include
mechanized handling
devices which include a holding or grasping assembly for holding a refuse
container. These
handling devices typically include a container access assembly which is
adapted to move the
holding assembly into position to grab a container, and to cooperate with the
holding assembly to
lift and dump the contents of the container in the collection bin of the
vehicle. The container
access assembly may then be used to return the container to its original
position.
These holding assemblies and container access assemblies take many forms.
Thus, for example,
U.S. Patent No. 4,401,407 of Breckenridge describes an apparatus which
includes a telescoping
container access assembly and a holding assembly which includes multiple
pivoting arm
components. U.S. Patent No. 4,543,028 of Bell et al. describes an apparatus
which includes an
rail mounted access assembly that pivots about a horizontal axis to move the
container into the
dumping position. U.S. Patent No. 4,566,840 of Smith describes an access
assembly that
includes a fixed fi~me portion to which is attached a linkage assembly that
carries the holding
assembly. U.S. Patent No. 4,726,726 of Dossena et al, describes a telescoping
access assembly
to which is attached a holding assembly that rotates about a horizontal axis
to dump the contents
of a container into the collection bin. U.S. Patent No. 4,983,092 of Richards
describes a pivoting
holding assembly that is mounted on a transverse guide rail. U.S. Pateat No.
5,007,786 of
Bingm~ describes a refuse collection system which includes a holding assembly
that is mounted
on a carriage that rides in a vertical rail assembly to dump the contents of a
container. U.S.
Patent No. Re.34,292 of Bingman et al. describes an articulated boom assembly
having a pair of
gripping arms mounted on a carriage that moves along the outer arm of the
assembly. U.S.
Patent No. 5,391,039 of Holtom describes a refuse loader arm that includes an
articulated access
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CA 02503314 2001-10-12
t, r 1i
assembly having inner and outer limbs that are joined by a parallelogram
linkage that holds the
holding assembly at a constant eagle with respect to the inner limb. U.S.
Patent No. 5,419,671
and U.S. Patent No. 5,547,332, both of Smith et al., describe a container
handling assembly that
is mounted on the top of the vehicle adjacent to the collection bin., U.S.
Patent No. 5,470,187 of
Smith et al. describes a handling assembly having a fixed boom that pivots
about a vertical axis
adjacent to the vehicle fi~ame, on which boom is mounted a vertically
adjustable contetiner
holding assembly.
All of these known assemblies surer from one or more of various disadvantages.
Some of the
known systems offer a limited reach in accessing a container. Some are unable
to grab a
container that is not on the same level as the vehicle. Some raise the
container so high during the
dumping portion of the operating cycle that the container and the holding
portion of the assembly
may come into contact with low-hanging power or telephone lines. Some are
mechanically
complex and difficult to operate. Some protrude from the vehicle on which they
are mounted to
such an extent that they present a risk of hitting other vehicles, mailboxes
or other roadside
obstacles. Some are slow to complete their operating cycle, and some are
expensive to build and
install. Itwould be desirable if a system could be developed that would
overcome these
disadvantages.
ADVANTAGES OF THE INVENTION
Among the advantages of the invention is that it atl'ords a higher operating
sped with a greater
reach than was previously known for refuse collection and dumping devices.
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CA 02503314 2001-10-12
Another advantage of the invention is that it has a lower dumping height aad a
lower ~
profile than was previously known for refuse collection and dumping devices.
Still another advantage of the invention is that it operates in a smoother
manner than previously-
known devices, which o~'ers increased life of assembly components, improved
reliability of
operation, and a reduction in the vibrations that are transmitted to the
operator compartment. .
Another advantage of a preferred embodiment of the invention lies in the fact
that it employs a
pair of primary hydraulic actuators (lift and reach actuators) which are
arranged and configm~d
so that the "stroke" of each of the actuators retracts the piston into the
actuator body, so that if the
seals of an actuator leak hydraulic fluid, the actuator will tend to retract
the assembly rather thaw
extend it.
Yet another advantage of a preferred embodiment of the invention is that it
offers an enclosed
gearbox for the grab assembly, which offers more protection for the components
of the grab
assembly and consequently improved operation of such components than
previously-known
devices.
Additional objects and advantages of this invention will become apparent from
an examination
of the drawings and the ensuing description.
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CA 02503314 2001-10-12
EXPLANATION OF TECHIVICAL TERMS
As used herein, the term "operating cycle" refers to the cycle during which
the apparatus of the
invention reaches for a container, grabs a container, lifts a container, dumps
the container into a
collection bin, returns the container to its point of origin, releases the
container and retracts to its
retracted or travel position.
As use herein, the terms "reach" and "extension" refer to that portion of the
operating cycle
during which the apparatus extends from its retracted or travel position to
the location of a refuse
container.
As used herein, the term "grab" refers to that portion of the operating cycle
during which the
apparatus acquires or grips the container so that it may be lifted.
As used herein, the term "lift" refers to that portion of the operating cycle
during which the
apparatus lifts the container so that it may be moved. The "lift" portion of
the operating cycle
may be begun simultaneously with the "damp" portion of the cycle.
As used herein, the term "dump" refers to that portion of the operating cycle
during which the
apparatus moves the lifted container upwardly and towards the collection bin,
while tilting it so
as to empty its contents when it is in position over the bin. The "dump"
portion of the operating
cycle may be begun simultaneously with the "lift" portion of the cycle.
CA 02503314 2001-10-12
.i
As used herein, the term "return" refers to that portion of the operating
cycle during which the
apparatus lowers the container and returns it to its point of origin while
tilting it to an upright
attitude, after the contents of the container have been dumped into the
collection bin. The
"return" portion of the operating cycle include a lowering component and a
retraction
component.
As used herein, the term "release" refers to that portion of the operating
cycle during which the
apparatus disengages from the container at its point of origin.
As used herein, the terms "retract" and "retraction" refer to that portion of
the operating cycle
during which the apparatus returns to its travel position after releasing a
container that has been
emptied.
As used herein, the terms "retracted position" and "travel position" refer to
the position of the
apparatus adjacent to the collection bin prior to initiation of (or after
completion ofj the operating
cycle. When the apparatus is mounted on a vehicle, the "retracted position" or
"travel
position" is the preferred position of the apparatus as the vehicle is moved
along a street or
roadway.
As used herein, the term "pivot" defines a pivotal axis and may include one or
more components
that permit one or more members to pivot with respect to another member or
members,
including, for example, pivot pins, collars and bearings such as are known to
those having
ordinary skill in tile art to which the invention relates.
6
CA 02503314 2001-10-12 .
.r
As used herein, the term "upright attitude" refers to 'the orientation of the
containcr with
respect to the apparatus (or with respect to the vehicle on which the
apparatus is mounted) prior
to initiation of the operating cycle. The axis through the center of mass of a
container-in an
"upright attitude" may vary from a vertical axis.
SUMMARY 4F THE INVENTION
Disclosed herein is an apparatus for acquiring, lifting and transferring a
container so as to
deposit its contents in a collection bin. The apparatus includes a container
grab assembly which
includes a pair of opposed grabbing arms that are aligned in spaced
relationship and operable by
a fluid-operated actuating system to grab and release a container. The
apparatus also includes an
articulated, moveable arm assembly that in operable by a fluid-operated
actuating system through
an operating cycle that includes retracted, extended, lifting and dumping
positions. The arm
assembly includes a base link that is mounted adjacent to the collection bin,
and an upper link
having a first end and a second end. The arm assembly also includes a reach
link having a first
end and a second end, said first cnd being pivotally attached to the base link
and said second end
bring pivotally attached to the upper link at a first intermediate position
between the first end of
the upper link and the second end. The arts assembly also includes a lift arm
having a first end
and a second end, said first end being pivotally attached to the grab assembly
and said second
end being pivotally attached to the first end of the upper link.
7
CA 02503314 2001-10-12
r .n
According to the present invention there is provided a refuse collection
vehicle having a
front and a rear and including a frame, a collection bin mounted on the frame,
an
apparatus for acquiring, lifting and transferring a container so as to deposit
the contents
of the container in the collection bin and a collection compartment that is
pivotally
mounted on the rear of the vehicle. A storage compartment is mounted on the
frame
between the collection bin and the collection compartment and a packer blade
is mounted
within the collection compartment. Means is provided for moving the packer
blade
within the collection compartment so as to move refuse from the collection
compartment
into the storage compartment.
In order to facilitate an understanding of the invention, the preferred
embodiments of the
invention are illustrated in the drawings, and a detailed description thereof
follows. It is
not intended, however, that the invention be lirhited to the particular
embodiments
de:-_-~'-_a __._
7a
CA 02503314 2001-10-12
use in connection with the apparatus illustrated herein. Various modifications
and alternative
embodiments such as would ordinarily occur to one .skilled in the art to which
the invention
relates are also contemplated and included within the scope of the invention
described herein.
BRIEF DESCRIPTION OF THE DRAWINGS
The presently prefen~ed embodiments of the invention are illustrated in the
accompanying
drawings, in which like reference numerals represent like parts throughout,
and in which:
Figure 1 is a perspective view of a vehicle to which the invention is mounted,
showing the
invention in the dumping portion of the operating cycle.
Figure 2A is a side view of the vehicle of Figure 1.
Figure 2B is a side view of a first alternative vehicle to that of Figures 1
and 2A.
Figure 2C is a side view of a second alternative vehicle to that of Figures 1
and 2A.
Figure 3 is a front view of the vehicle of Figures 1 and 2A.
Figure 4 is a top view of the vehicle of Figures 1, 2A and 3.
Figure S is a right side view of the invention, shown in the retracted
position.
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CA 02503314 2001-10-12
.s
r
Figure 6 is a left side view of the apparatus of Figure 5.
Figure 7 is a front view of the apparatus of Figures 5 and 6.
Figure 8 is a top view of the apparatus of Figures 5 through 7.
Figure 9 is a partial sectional view of a portion of the apparatus of Figures
5 through 8, as taken
through line 9-9 of Figure 7.
Figure Z O is a side view of the invention shown in the reach position.
Figure 11 is a side view of the invention shown in the grab position.
Figure 12 is a top view of the apparatus of Figure 11.
Figure 13 is a front view of the apparatus of Figures ~ 11 and 12.
Figure 14 is a front view of the invention as it begins to raise the
container.
Figure 15 is a side view of the invention shown in the dump position.
Figure 16 is a front view of the apparatus of Figure 15.
9
CA 02503314 2001-10-12
~i
Figure 17 is a left side partial sectional view of a portion of the invention,
similar to the view of
Figure 6, showing some of the components of the invention in the retracted
position.
Figure 18 is a left side view of a portion of the invention, similar to the
view of Figure 10,
showing some of the components of the invention in the reach or the extended
position.
Figure 19A is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
actuating systems of the container grab assembly and the arm assembly of the
invention during
the "extend" portion of the prefen-ed operating cycle.
Figure 19B is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
actuating systems of the container grab assembly and the arm assembly of the
invention during
the "grab" portion of the preferred operating cycle.
Figure 19C is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
achiating systems of the container grab assembly and the arm assembly of the
invention during
the "retract" portion of the preferred operating cycle.
Figure 19D is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
actuating systems of the container grab assembly and the arm assembly of the
invention during
the "dump" portion of the preferred operating cycle.
to
CA 02503314 2001-10-12
. , ..
II
Figure 19E is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
actuating systems of the container grab assembly and the arm assembly of the
invention during
the "lower" portion of the preferred operating cycle.
Figure 19F is a schematic hydraulic circuit diagram showing the operation of
the fluid-operated
actuating systems of the container grab assembly and the arm assembly of the
invention during
the "release" portion of the preferred operating cycle.
DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION
As shown in the drawings, the invention comprises an apparatus for grabbing or
acquiring, lifting
and transporting a container so as to deposit its contents in a collection
bin. The preferred
apparatus 20 includes container grab assembly 21 and articulated, moveable arm
asstmbly 22.
As shown in Figures 1, 2A, 3 and 4, preferred embodiment 20 of the invention
is adapted for use
in connection with a refuse collection vehicle such as vehicle 23, which may
be used to collect
trash aad refuse from containers such as container 24 that are placed curbside
(or at another
convenient location) in a residential area. As shown in Figures 1, 2A and 4,
arm assembly 22 of
prefen~d grab and lift mechanism 20 is preferably attached (by welding,
bolting or other suitable
means) to frame 26 of the vehicle behind operator's cab 28. The arm assembly
is operable by a
fluid-operated actuating system (as described in more detail hereinafter)
through an operating
cycle that includes a retracted position {see Figures 5 through 8), an
extended or reach position
(see Figure 10), a lifting position (see Figure 14) and a dumping position
{sec Figures 15 and 16).
The preferred apparatus is suitable for grabbing, lifting and emptying
containers having a cross-
11
CA 02503314 2001-10-12
.r
section that is generally cylindrical, square or rectangular, or of~other
convenient shoe: The
preferred grab assembly includes opposed grabbing arms 30 and 31 that are
aligned in spaced
relationship and operable by a fluid-operated actuating system to grab and
release a container.
The grabbing arms of the grab assembly 21 are preferably provided with
flexible straps 32
(shown in Figure 12 but omitted elsewhere for clarity) that permit the device
to grab, lift and
empty containers of various shapes.
The invention enables an operator to collect and dump refuse that is placed in
containers that are
Located curbside, or at another convenient location accessible to the vehicle,
without leaving the
cab of the vehicle. Apparatus 20 operates through an operating cycle during
which it reaches for
a container, grabs the container, lifts the container, dumps the container
into a collection bin such
as vehicle-mounted bin 34 (see Figure 4), returns the container to its point
of origin, rely the
container and retracts to its retracted or travel position. The lifting and
dumping functions may
be commenced simultaneously, and all functions are performed in a smooth
manner because of
the mechanical and hydraulic balance that is built into the apparatus. Vehicle
23 may also be
provided with a compaction mechanism such as is known to those having ordinary
skill in the art
to which the invention relates that is employed to compact the refuse in the
collection bin.
The invention may also be used in connection with a refuse collection vehicle
having a rear-
mounted collection assembly that is employed to receive refuse from containers
dumped into a
rear collection compartment and to move such refuse into a storage compartment
on the vehicle.
Thus, for example, Figure 2B illustrates vehicle 223 having a rear collection
compartment 232
and a front collection bin 234. Between the two collection compartments is
located a storage
12
CA 02503314 2001-10-12
., >>
compartment 236. Apparatus 20 is mounted onto the fi~ame 226 of vehicle 223
behind cab 228
and adapted to empty the contents of a container (such as container 24 of
Figure 2A) into
collection bin 234. A compaction ram (not shown) is preferably provided at the
front of
collection bin 234 and is adapted to move refuse material into storage
compartment 238 and to
compact it therein. Rear collection compartment 232 is provided with packer
blade 250, which is
pivotally mounted at pivot 252 to fluid-operated actuator 254. Retraction of
rod 253 of actuator
254 causes the packer blade to open up (not shown) to permit material to be
dumped into the
collection compartment. Then rod 253 is extended (as shown in Figure 2B) and a
pair of
actuators 256 (only one of which is shown), which are mou~xted on opposite
sides of the
collection compartment, may be actuated to move the packer blade upwardly in
the collection
compartment by retraction of rods 258 (only one of which is shown). This
action sweeps refuse
material from collection compartment 232 into storage compartment 236. Other
means including
various fluid-operated actuators and linkage components are also known for
moving the packer
blade so as to move material from the collection compartment into the storage
compartment, and
these are contemplated as being included within the scope of the invention
descn'bed and claimed
herein. When if is desired to eject material from storage compartment 236,
fluid-operated
actuator 260 is actuated to tilt the collection compartment 232 about pivot
262, and the
compaction ram (not shown) located at the front of collection bin 234 may be
actuated to push
material out of the storage compartment and out of vehicle 223.
It is also contemplated that a vehicle may be provided having a rear-mounted
collection assembly
and a front-mounted container-lifting assembly. Thus, for example, Figure 2C
illustrates a
vehicle 323 having, in combination, a rear-mounted collection assembly and a
front-mounted
13
CA 02503314 2001-10-12
.,
container-lifting assembly. As shown in Figure 2C, vehicle 323 is provided a
front collection bin
334 and a rear-mounted collection assembly which includes collection
compartment 335.
Between the two collection compartments is located a storage compartment 336.
Rear collection
compartment 335 is provided with packer blade 338, which is pivotally mounted
to fluid-
operated packer blade actuator 340. Each of a pair of tracks 342 (only one of
which is shown)
includes an upper end 344 and a lower end 346. A shoe 348 (located at the.
upper, end of track
342 in Figure 2C) is pivotally attached to fluid-operated packer shoe actuator
350. Refuse may
be place in compartment 336 when packer blade 338 is in the open position, and
packer shoe 348
is at the upper end 344 of track 342, as illustrated in Figure 2C. Packer
blade actuator 340 is in a
retracted condition when the packer blade is in the~open position, and packer
shoe actuator 350 is
in an extended condition when the packer shoe is at the upper end of the
track. After refuse is
placed in the compartment, the packer shoe actuator retracts so as to move
packer shoe 348 to
lower end 346 of track 342 (not shown). When the packer shoe reaches the lower
end of the
track, packer blade actuator 340 extends so as to move the packer blade from
the open position to
a closed position (also not shown). After the packer blade reaches the closed
position, packer
shoe actuator 350 extends so as to move packer shoe 348 towards upper end 344
of track 342.
As the packer shoe moves towards the upper end of track 342; the packer blade
lifts the refuse
from compartment 335 into storage compartment 336. After the packer shoe
reaches the upper
end of the track, the packer blade may be moved from the closed position to
the open position by
retraction of the packer blade actuator. The hopper is now ready to receive
refuse again, and the
cycle described above may be repeated until the storage compartment is fully
loaded with refuse.
The front mounted container lifting assembly of vehicle 323 is comprised of a
pair of lifting arms
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CA 02503314 2001-10-12
. , ~ r
370 (only one of which is shown) having a first end 372 and a second end 374.
First ~d of 372
of each lifting arm is pivotally mounted onto vehicle frame 326. A pair of
associated forks 376
(only one of which is shown) are also provided, one of which is pivotally
attached to the second
end of each lifting arm. The container-lifting assembly also includes a pair
of fluid-operated
actuators 378 (only one of which is shown) which may be extended to pivot the
forks about the
ends of the lifting arms in order to engage the sleeves 380 on a container
such as container 382.
The container-lifting assembly also includes a pair of fluid-operated
actuators 384 (only one of
which is shown) which may be actuated to raise and lower arms 370 between the
lowered
position shown in Figure 2C to a position (not shown) in which the contents of
the container may
be dumped in collection bin 334.
Figure 5 shows the right side of apparatus 20 in the retracted position, and
Figure 6 shows the
left side. The preferred arm apparatus comprises various mechanical components
and a fluid-
operated actuating system which includes a pair of primary hydraulic actuators
(sometimes
referred to herein as hydraulic cylinders or cylinders). Preferably, the arm
apparatus includes
a base that is comprised of a series of parallel components, including right
base link 36, first
intermediate base link 38, second intermediate base link 40 and left base link
42 (see Figure
12). The preferred base is adapted to be mounted onto the frame of a vehicle
such as vehicle
23. The invention also contemplates that some of the other members of arm
apparatus 22
may be comprised of parallel or paired components, such as, for example, left
reach link 44
and right reach link 54. It is also contemplated that each of these parallel
(or paired)
components of the preferred embodiment may be replaced by a single component,
such as a
single base link and a single reach link.
CA 02503314 2001-10-12
.,
F,ach of the links of the preferred arm apparatus has a first end and a second
end. As illustrated
in the drawings, the first end of each of base links 36, 38, 40 and 42, and
the first end of upper
link 48 is considered to be the end nearest the container, and the second end
is considered to be
the end nearest to the center of the vehicle. By a similar convention, the
first end of reach links
44 and 54, secondary reach link 56, lift arm 80 and grabber support arm 86 is
considered to be
the end nearest the base link, or the lower end. The second ead of each of the
reach links,
secondary reach link, lift arm and grabber support arm is the end furthest
from the base link, or
the upper end. Thus, in the preferred embodiment of the invention that it
illustrated in Figure 6,
the first end of le$ reach link 44 (see Figure 6) is pivotally attached at
pivot 46 to the first end of
each of base link components 40 and 42, and the second end of left reach link
44 is pivotally
attached to upper link 48 at pivot 50 (located at a second intermediate
position between the first
end and the second end of the upper link). Similarly, as shown in Figure 5,
the first end of right
reach link 54 (which is parallel to left reach link 44) is pivotally attached
at pivot 46 to the first
end of each of base link components 36 and 38, and the second end of right
reach link 54 is
pivotally attached to lift arm 80 at pivot 52 (located at as intermediate
position between the first
end and the second end of the lift arm). Referring again to Figure 6, the
first end of secondary
reach link 56 is pivotally attached to base link components 40 and 42 at pivot
58 (located at an
intermediate position between the first end and the second end of base link
components 40 and
42), and the second end of secondary reach link S6 is pivotally attached at
pivot 60 to the second
end of upper link 48. Clevis link 62 is preferably attached to and forms an
extension of the
second end of secondary reach link 56. In the alternative (not shown), clevis
62 could be
attached to the second end of upper link 48, thereby forming an extension of
such upper link.
is
CA 02503314 2001-10-12
. , . r .
Arm assembly 22 includes a fluid-operated actuating system having two primary
hydraulic
actuators, reach actuator 64 and lift actuator 72. The base of reach actuator
64 is preferably
pivotally attached at pivot 66 to the second end of base link components 40
and 42, and rod 68 of
actuator 64 is preferably pivotally attached at pivot 70 to the lower (or
first) end 63 of clevis link
62. In the alternative (not shown), clevis link 62 may be eliminated, , and
rod 68 0~ actuator 64
may be pivotally attached to the second end of upper link 48. The base of lift
actuator 72 is
preferably pivotally attached to base link components 38 and 40 at pivot 74
(see Figure 11),
located at an intermediate position between the first end and the second end
of the base link
components. Rod 76 of actuator 72 is preferably pivotally attached at pivot 78
(see Figure 5) to
the second end of lift arm 80. It is also contemplated that the attachments of
the bases and rods
of the reach and lift actuators could be reversed. In other words, for
example, the base of reach
actuator 64 may be pivotally attached at pivot 70 to the lower (or first) end
63 of clevis link 62,
and and 68 of actuator 64 may then be pivotally attached at pivot 66 to the
second end of base
link components 40 and 42.
As shown in Figure 6, the lower (or first) end of lift arm 80 is pivotally
attached to the lower (or
first ) end 81 of gxab link 82 of the grab assembly at pivot 84. The first end
of grabber support
arm 86 is pivotally attached to the upper (or second) end 83 of grab link 82
at pivot 90, aad the
second end of grabber support arm 86 is pivotally attached at pivot 88 to the
first end of upper
link 48.
A slave actuator or cylinder is preferably included in the arm assembly of the
invention in
order to provide better control during the operating cycle. Thus, as shown in
the
drawings, clevis 92 is attached to
17
CA 02503314 2001-10-12
. .
left reach link 44, and the base of slave actuator 94 is pivotally attached to
clevis 92 at pivot 96.
Rod 98 of actuator 94 is pivotally attached to upper link 48 at a first
intermediate position, pivot
100, between the first end and the second intermediate position (at pivot SO)
of upper link 48.
As has been mentioned, preferred apparatus 20 includes container grab assembly
21 which is
provided with a pair of grabbing arms 30 and 31 and a fluid-operated actuating
system. First end
101 of side support arm 102 (see Figures 8 and 9) of grab assembly 21 is
attached to the lower
end of grab link 82 (see Figure 5) of arm assembly 22. Second end 103 of side
support arm 102
is attached to gear box 104. Right gear 106 (see Figure 9) is~ attached to
grabbing arm 30 and
both are mounted on right shaft 107 (see Figure 7); left gear 108 is attached
to grabbing arm 31
and both are mounted on left shaft 109. Gears 106 and 108 are meshed together
within enclosed
gear box 104. Preferably, a suitable lubricant is provided in the gear box to
further protect the
gears. .As shown in Figures 7 and 8, the gear box has a first (or upper) side
105 and a second f or
lower) side 111. Left shaft extends through both first side 105 and second
side 111 of gear box
104; however, right shaft 107 extends through only the second side 111 of the
gear box. The
base of grabber actuator or cylinder 110 is pivotally attached to clevis 112
at pivot 114, and
clevis 112 is mounted on side support arm 102. Rod 116 of cylinder 110 is
pivotally attached
to second end 117 of drive link 118 at pivot 119 on top of gear box 104. First
end 120 of the
drive link is attached to shaft 109, so that retraction of rod 116 into
cylinder 110 from the
position shown in Figure 8 will cause drive link 118 to pivot to the right (as
viewed in Figure
8) about a pivot axis through shaft 109 causing grabbing arms 30 and 31 to
close from the
position illustrated in Figure 8 to the grab position illustrated in Figure
12.
18
CA 02503314 2001-10-12
..
By examining the drawings of apparatus 20 in a sequential meaner from the
retzacted position of
Figures 5 through 8 to the reach position of Figure 10, the grab position of
Figures 11 through 13,
the lift position of Figure 14 and the dump position of Figures 15 and 16, and
then nwersing the
sequence back to the retracted position, the interrelationship of the various
linkage components
can be appreciated. The base link, upper link, reach link and lift arm are
arranged and
interconnected so that the upper link remains generally parallel to the base
link throughout the
operating cycle. As an examination of Figures 6, 10 and 15 will reveal, axis
248 through pivots
60 and 100 of the upper link remains parallel, or within about 20° of
parallel, to axis 242 through
pivots 58 and 66 of the base link throughout the operating cycle.
Figures 17, 18 and 19A through 19F further illustrate the preferred hydraulic
operating sequence
of the invention through its operating cycle. As shown in Figure 17, reach
actuator 64, lift
actuator 72 and preferred slave actuator 94, as well as left base member.42,
upper link 48 ~d left
c~ ~e shown in the retracted position. The preferred operating sequence
includes the
"extend" step (Figure 19A), the "grab" step (Figure 19B), the "retract" step
(Figure 19C), the
"dump" step (Figure 19D), the "lower" step (Figure 19E) and the "release" step
(Figure 19F).
Referring now to Figure 19A, to begin moving the invention through its
operating cycle, the
operator activates pump 130 and operates valve 124 to apply pump pressure to
hydraulic fluid in
lines 131, 132 and 134 to the extend side port 63 of reach actuator 64, while
maintaining metered
pressure on the retract side port 65 of the reach actuator and pump pressure
on the retract side
port 73 of lift actuator 72 and the retract side port 95 of slave cylinder 94.
This action causes rod
68 of reach actuator 64 to extend, thereby moving apparatus 20 from the
retracted position of
Figure 17 to the reach position of Figure 18. As the apparatus is moved to the
reach position, lift
19
CA 02503314 2001-10-12
. , , s
actuator 72 and slave actuator 94 will maintain the grabbing arms at a
predetermined height,
preferably the height that is suitable for grabbing a .container located on
the same elevation as
vehicle ZZ. If the container is at an elevation above or below this
predetermined level, the
operator can adjust valve 128 to provide more or less lift through lift
actuator 72 (as described
hereinafter). The operator can also adjust the pump pressure applied to reach
actuator 64 to
provide more or less extension to adjust the distance from the vehicle to
which the grabbing arms
are extended. When the apparatus has been extended to the container, the
operator can operate
valve 126 to apply pump pressure to hydraulic fluid in lines 131, 135 and 136
to the retract side
port I42 of actuator 110 (see Figures 8 and 19B) to close the opposed grabbing
arms to acquire
or grab the container. Then he may operate valve 124 to apply pump pressure to
hydraulic fluid
in lines 131, 132 aad 133 to the retract side 65 of reach actuator 64, while
maintaining pump
pressure on the extend side 93 of slave actuator 94 and the extend side 71 of
lift actuator 72 (see
Figure 19C) and operate valve 128 to apply pump pressure to hydraulic fluid in
lines 131, 138
and 139 to the retract side 73 of lift actuator 72 and the retract side 95 of
slave actuator 94 (see
Figure 19D). This action will cause the apparatus to move fiom the grab
position of Figure 13
through the lift position of Figure 14 to the dump position of Figures 15 and
16. Then the
operator may operate valve I28 to apply pump pressure to hydraulic fluid in
lines 131, 138 and
140 to the extend side port 71 of lift actuator 72 and the extend side port 93
of slave actuator 94
(see Figure 19E). This will return the container to a position at the
predetermined level with
respect to vehicle 22. Of course, by adjusting the opening of valve 124, the
operator may adjust
the elevation to which the container is moved to one that is higher or lower
than that of the
vehicle. The operator may then operate valve 126 to' apply pump pressure to
hydraulic fluid in
lines I31, 135 and 137 to the extend side port 144 of actuator 110 (see
Figures 8 and 19F) to
CA 02503314 2001-10-12
open the grabbing arms to release the container. The operator may then operate
valve 124 to
apply pump pressure to hydraulic fluid in lines 131,132 and 133 to the retract
side port 65 of
reach actuator 64 (see Figure 19C). This action will move the apparatus to the
retracted position
of Figures 5 through 8.
The geometry of the various components, and the fact that actuators 64 and ?2
are preferably
operated from a single hydraulic pump 130 (see Figures 17, 18 and 19A thmugh
19F) in parallel
flow through at Least a part of the operating cycle, allows the actuators to
work together in
balance as the various functions of the operating cycle are carried out. This
peraii~ effective,
conventional cushioning at the ends of the stroke of each hydraulic actuator,
thereby reducing
vibrations and increasing the life cycle of the apparatus. By reducing
vibrations, this unique
linkage assembly also increases the comfort of the operator. In addition, the
unique geometry of
the linkage assembly permits a longer reach while maintaining an acceptably
low profile in both
the retracted position and the dumping position of the cycle. Furthermore,
because of the
balance obtained in the operation of the lift and reach actuators, the
operator may complete the
operating cycle more rapidly than with previously-lmown devices. The arm
assembly of the
apparatus is designed to balance the mass of the apparatus during the
operating cycle while
balancing actuation of the hydraulic actuators employed therein to allow for
effective,
conventional cushioning at the ends of the stroke of each hydraulic actuator.
This unique
articulate arm assembly, as well as the provision of parallel flow of
hydraulic fluid to the two
primary actuators (the lift and reach actuators) during part of the operating
cycle, permits
operation with balanced pressures in the two primary actuators and balanced
dynamic effects
during the operating cycle, thus permitting smooth operation and easy operator
control. The
21
CA 02503314 2001-10-12
~. W
assembly is also designed to maintain an appropriate attitude of the refuse
container during the
lift and dump portions of the operating cycle in order to~minimize spillage of
the contents of the
container outside the collection bin.
Although this description contains many specifics, these should not be
construed as limiting the
scope of the invention but as merely providing illustrations of some of the
pres~tly preferred
embodiments thereof, as well as the best mode contemplated by the inventor of
carrying out the
invention. The invention, as described herein, is susceptible to various
modifications and
adaptations as would be appreciated by those having ordinary skill in the art
to which the
invention relates, and the same are intended to be comprehended within the
meaning and range
of equivalents of the appended claims.
22
