Material or article handling – Vertically swinging load support – Grab
Patent
1986-07-16
1988-01-12
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
901 15, 901 22, 901 27, B25J 906
Patent
active
047188154
DESCRIPTION:
BRIEF SUMMARY
The present invention relates to a device for carrying and adjusting a tool.
Hitherto known devices or robots of this type are complicated in use and also offer a relatively limited adjustability and, thus, a rather restricted range of operation. Most devices or robots of this type currently available on the market are driven by electromechanical means and thus have a poor lifting capacity. By replacing the electromechanical drive means of the prior art devices with hydraulic drive or power transmission means, it is possible to provide devices having a considerable lifting capacity. Such hydraulic devices will however have an even more restricted range of operation.
Consequently, there is a great need for a device or robot having a substantial lifting capacity and allowing positioning or adjusting a tool within a wide range of operation. The object of the present invention therefore is to provide a device which meets this demand and is suited for hydraulic power transmission.
According to the invention, this object is achieved by a device for carrying and adjusting a tool, the device being characterized by a frame, a base member rotatably connected to the frame about a first axis, a main arm which at one end is pivotally connected to the base member about a second axis perpendicular to said first axis and which at the other end is pivotally connected to a lifting-arm holder about a third axis parallel to said second axis, a yoke which at its central portion is pivotally connected to said main arm at some distance from said one end of the main arm about a fourth axis parallel to said second axis, a first cylinder assembly having a cylinder part and a piston rod part movable relative to the cylinder part, one of said parts being pivotally connected to a projection protruding at an angle from said main arm, about a fifth axis parallel to said second axis, and the other of said parts being pivotally connected to one arm of said yoke about a sixth axis parallel to said second axis, a second cylinder assembly having a cylinder part and a piston rod part movable relative to the cylinder part, one of said parts being pivotally connected to said base member about a seventh axis parallel to said second axis, and the other of said parts being pivotally connected to the other arm of said yoke about an eighth axis parallel to said second axis, a link arm parallel to the main arm and pivotally connected at one end to said other arm of said yoke about a ninth axis parallel to said second axis, and pivotally connected at its other end to said lifting-arm holder about a tenth axis parallel to said second axis, a lifting arm which is rotatably mounted in said lifting-arm holder for rotation about its own axis extending perpendicularly to said third and said tenth axis, and a tool holder carried by said lifting arm for holding the tool.
The lifting arm is preferably rotatably mounted in the lifting-arm holder at one end and preferably carries the tool holder at the other end.
In a preferred embodiment, the tool holder is pivotally connected to the lifting arm about an axis perpendicular to the axis of the lifting arm.
Said eighth axis and said ninth axis are preferably one and the same axis.
Preferably, the length of the link arm is telescopically adjustable by means of a cylinder assembly.
The invention will now be described in more detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic side view illustrating a device according to the present invention in an extended adjusting position in which a tool carried by the device is positioned adjacent a floor;
FIG. 2 is a schematic side view illustrating the device of FIG. 1 in an extended adjusting position in which the tool is in a raised position;
FIG. 3 is a schematic side view illustrating the device of FIG. 1 in a retracted adjusting position in which the tool is positioned near the floor adjacent the frame of the device;
FIG. 4 is a schematic side view illustrating the device of FIG. 1 in a retracted adjusting position in which the tool is slig
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patent: 3954188 (1976-05-01), Boyle
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patent: 4298308 (1981-11-01), Richter
patent: 4348731 (1982-09-01), Kogawa
patent: 4367998 (1983-01-01), Causer
patent: 4378959 (1983-04-01), Susnjara
patent: 4396344 (1983-08-01), Sugimoto et al.
AVP Robot AB
Smith P. McCoy
Spar Robert J.
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