Linkage arrangement

• US 5,934,147 A
• Filed: 08/21/1997
• Issued: 08/10/1999
• Est. Priority Date: 10/02/1992
• Status: Expired due to Fees

• Current Assignee: Telepoint New Zealand Limited
• Original Assignee: Telepoint New Zealand Limited
• Inventors: Parker, Clifford Allan
• Primary Examiner(s): Herrmann, Allan D.
• Application Number:
  US08/915,560
• Time in Patent Office: 719 Days
• Field of Search: 74/96, 74/105, 74/490.04, 74/490.05, 414/694, 414/695.5, 414/686, 414/687, 901/22, 901/28
• US Class Current: 74/490.05
• CPC Class Codes: E02F 3/384 the boom being pivotable relative to the frame about a vertical axis
• CPC Class Codes: Y10T 74/18856 Oscillating to oscillating
• CPC Class Codes: Y10T 74/18944 Link connections
• CPC Class Codes: Y10T 74/20323 including flaccid drive element
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A linkage arrangement supports an implement such that the implement is movable relative to a support member which is also movable relative to a structure. Movement of the implement and support member is limited by mechanical and/or mechanically operated limits. The linkage mechanism enables an increase in the ability to move and orientate the implement within a limit envelope. In a preferred form, a first linkage arm is pivotably mounted to a prime mover. At a distal end of the first linkage arm an orientation member is pivotably attached, the orientation member pivotably attached to a first limit actuating arm. The rotation of the first linkage arm causes rotation of the orientation member. The orientation member provides a base for the attachment of a further arm or implement. The first arm or implement is prevented from contacting the prime mover by the limits provided by the orientation member.

Claims

1. A linkage arrangement for mounting an implement to a support structure said linkage arrangement comprising:

a first linkage arm assembly having a first end pivotally connected to said support structure and a distal end movable in an arcuate manner as said first linkage arm assembly rotates about said pivotal connection between limits of said rotational movement;

an orientation base arranged about or integral with said distal end of said first linkage arm assembly and arranged to inherently counter rotate with respect to rotary movement of said first linkage arm assembly and at least partially in the plane of rotation of said first linkage arm assembly less than one degree for each degree of rotation of said first linkage arm assembly rotation about said support structure;

said implement pivotally coupled to said distal end of said first linkage arm assembly or said orientation base and arranged to rotate at least partially in the plane of rotation of movement of said first linkage arm assembly; and

wherein said pivotal movement of said implement is between mechanical limits from said orientation base such that said implement is limited from contact with said structure and said first linkage arm assembly.

2. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said mechanical limit means defines a portion of the border of a work envelope in which said implement can operate.

3. A linkage arrangement for mounting an implement to a support structure as claimed in claim 2 wherein said portion of the border of a work envelope is a border adjacent said structure.

4. A linkage arrangement for mounting an implement to a support structure as claimed in claim 3 wherein said border adjacent said structure is a border extending down two opposed sides of said structure.

5. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said mechanical limits comprise limits to the extent of actuation of all actuation means between said support structure and said implement.

6. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said indirect mounting of said implement includes a second linkage arm assembly having a first end pivotally mounted with respect to said orientation base and wherein said rotation of said second linkage arm assembly with respect to said first arm assembly is actuated and limited from said orientation base between mechanical limits and a further orientation base is arranged about a distal end of said second linkage arm assembly to counter rotate less than one degree for each degree of rotation of said second linkage arm assembly movement with respect to said first orientation base and said implement is pivotally coupled to said distal end of said second arm of further orientation base and rotation of said implement with respect to said second linkage arm assembly is actuated between mechanical limits from said further orientation base.

7. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said indirect mounting of said implement includes at least one pivotal connection to pivot said implement substantially out of plane with the plane of rotation of said first linkage arm.

8. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said mechanical limits are adjustable from said orientation base to adjust the extent of limitation of rotation of said implement with respect to said orientation base.

9. A linkage arrangement for mounting an implement to a support structure as claimed in claim 1 wherein said support structure comprises a prime mover.

10. A method of increasing the ability to move and orientate an implement which is linked to a support structure about the support structure to avoid by mechanical limitations contact between said implement and said support structure comprising the steps of:

providing a first linkage arm assembly mounted to and rotary with respect to said mounting onto said support structure and mechanically limited from contact therewith;

providing an orientation base pivotally coupled distal end of said first linkage arm assembly such that said orientation base is rotatable at least partially in the plane of rotation of said first linkage arm assembly;

pivotally mounting said implement directly or indirectly to said distal end of said first linkage arm assembly or said orientation base to rotate with respect to said orientation base at least partially in the plane of rotation of said first linkage arm assembly;

driving rotation of said first linkage arm assembly about said support structure;

driving rotation of said implement with respect to said orientation base from said orientation base; and

inherently counter-rotating said orientation base less than one degree for each degree of rotation of said first linkage arm assembly to relatively counter the arced distance the mechanically limited range envelope of the implement'"'"'s actuated movement would otherwise travel at the distal end of the first linkage arm assembly.

11. A method of increasing the ability to move and orientate an implement about a support structure comprising the steps of:

providing a first linkage arm assembly pivotally mounted to said support structure and limited from contact therewith;

providing an implement pivotally mounted to said distal end of said first linkage arm assembly;

providing an orientation means rotary about said linkage arm assembly;

actuating rotation of said implement from said orientation means and limiting rotation of said implement with respect to said orientation means; and

counter-rotating said orientation means less than one degree for each degree of rotation of said first linkage arm assembly.

12. A linkage arrangement for mounting an implement to a support structure, said linkage arrangement including:

a first linkage arm assembly having a first end adapted for mounting by a pivotal connection and a distal end movable in an arcuate manner when said first linkage arm assembly is rotated about said pivotal connection;

first limit means to limit extent of rotational movement of said first linkage arm assembly about said pivotal connection;

an orientation base rotatably coupled to said distal end to be rotatable substantially in the same plane as said pivotal connection;

an implement mounting head pivotally connected to said distal end;

first actuation means for controlling rotational movement of the first linkage arm assembly;

second actuation means for controlling pivotal movement of said implement mounting head;

a linkage means to cause said orientation base to rotate upon rotational movement of said first linkage arm assembly and at least partially in a plane of rotational movement of said first linkage arm assembly, the rotation of said orientation base in the same or a counter direction as the rotational movement of said first linkage arm assembly, but when in the counter direction, the rotation of said orientation base is other than one degree for each degree of rotational movement of said first linkage arm assembly about said pivotal connection, and

second limit means to limit the extent of pivotal movement of said implement mounting head, said second limit means being movable commensurate with movement of said orientation base.

13. The linkage arrangement as claimed in claim 12 wherein the pivotal connection is located with a mounting base, said mounting base integral with said support structure.

14. The linkage arrangement as claimed in claim 12 wherein the pivotal connection is located with a mounting base, said mounting base adapted for mounting to said support structure.

15. The linkage arrangement as claimed in claim 12 wherein the mounting head is mounted to said distal end of the first linkage arm assembly such that an implement when mounted by the mounting head can rotate substantially in the plane of rotational movement of said first linkage arm assembly.

16. The linkage arrangement as claimed in claim 15 wherein the mounting head is mounted to said distal end by said orientation base.

17. The linkage arrangement as claimed in claim 16 wherein the mounting head includes pivot mounting means for the pivotal mounting of an implement whereby the implement can rotate at least partially in the plane of rotary movement of said first linkage arm assembly.

18. The linkage arrangement as claimed in claim 12 wherein the linkage means applies a counter direction rotation of said orientation base relative to the direction of movement of the distal end of the first link arm assembly, said counter direction rotation being less than one degree for each degree of rotation of said first link arm assembly.

19. The linkage arrangement as claimed in claim 12 wherein the linkage means applies a rotation of said orientation base in the same direction of rotational movement of the first linkage arm assembly and at a greater rate than that of the first linkage arm assembly.

20. The linkage arrangement as claimed in claim 18 wherein the linkage means comprises at least one link member, which during working operation of the linkage arrangement is of fixed length.

21. The linkage arrangement as claimed in claim 18 wherein the linkage means comprises a linear actuator held in a fixed length during working operation of the linkage arrangement.

22. The linkage arrangement as claimed in claim 19 wherein the linkage means is a pair of fixed length link members, each link member pivotally coupled at one end to said orientation base and at the other end to a pivot point spaced from said orientation base, the distance between the pivot points of the link members different from the distance between the couplings of the link members to the orientation base.

23. The linkage arrangement as claimed in claim 22 wherein the pivot points are on a mounting base.

24. The linkage arrangement as claimed in claim 22 wherein the pivot points are on said support structure.

25. The linkage arrangement as claimed in claim 18 further including a second link arm assembly, a second orientation base rotatably coupled to the distal end of the second link arm assembly and a second linkage means operable in response to movement of said orientation base to thereby form an integrated assembly and pivotal in said plane of rotary movement, said implement mounting head connected to the distal end of the second link arm assembly.

26. The linkage arrangement as claimed in claim 19 further including a second link arm assembly, a second orientation base rotatably coupled to the distal end of the second link arm assembly and a second linkage means operable in response to movement of said second linkage arm assembly from said orientation base to thereby form an integrated assembly and pivotal in said plane of rotary movement, said implement mounting head connected to the distal end of the second link arm assembly.

27. The linkage arrangement as claimed in claim 25 wherein the integrated link assembly includes at least one additional link assembly arm(s), orientation base(s) and linkage means with said implement mounting head connected to the distal end of the at least one additional link arm assembly outermost relative to the first linkage arm assembly.

28. The linkage arrangement as claimed in claim 26 wherein the integrated link assembly includes at least one additional link assembly arm(s), orientation base(s) and linkage means with the implement mounting head connected to the distal end of the at least one additional link arm assembly outermost relative to the first linkage arm assembly.

29. The linkage arrangement as claimed in claim 12 wherein the support structure is a prime mover.

30. The linkage arrangement as claimed in claim 12 in combination with an implement mounted by said implement mounting head.

31. The combination of claim 30 wherein the mounting head is incorporated in said implement.

32. The combination of claim 30 wherein said first limit means defines a portion of the border of a work envelope in which said implement can operate.

33. The combination of claim 32 wherein said portion of the border of the work envelope is a border adjacent said support structure.

34. The combination of claim 33 wherein at least part of said border adjacent said structure is a border surrounding sides including two opposing sides of said structure.

35. The combination of claim 30 wherein the first limit means are adjustable.

36. The combination of claim 30 further including a second link arm assembly, a second orientation base rotatably coupled to the distal end of the second link arm assembly and a second linkage means operable in response to movement of said orientation base to thereby form an integrated assembly and pivotal in said plane of rotary movement, the implement mounting head connected to the distal end of the second link arm assembly.

37. The combination of claim 30 wherein the mounting of said implement includes at least one pivotal connection to pivot, said implement substantially out of the plane of rotary movement.

38. The combination of claim 30 wherein the support structure comprises a prime mover.

39. A method of increasing the ability to move and orientate a tool, implement or object about a support structure comprising the steps of:

integrating a chain of successive linkage arm assemblies between said structure and said implement wherein actuation of each individual linkage arm assembly from its pivotal base inherently partially counters an arced travel and expansion of envelopes for all linkage arm assemblies and the tool, implement or object connected at a distal end of the linkage arm assemblies engaging a successive integration of linkage arm assemblies and a tool, implement or object with increased mechanically limited pivotal freedom values within a given or designed total work envelope free from any contacts between any of the support structure, linkage arm assemblies, tool, implement or object.

40. A method of increasing the ability to move and orientate an implement which is linked to a support structure about the support structure to avoid contact between said implement and said support structure comprising the steps of:

providing a first linkage arm assembly rotatably mounted for movement in a plane of rotation with respect to said support structure and mechanically limited from contact therewith;

providing an orientation base pivotally connected with a distal end of said first linkage arm assembly such that said orientation base is rotatable at least partially in said plane of rotation;

pivotally mounting said implement to said distal end of said linkage arm assembly or said orientation base to rotate with respect to said orientation base at least partially in said plane of rotation;

driving rotation of said first linkage arm assembly about said support structure;

driving rotation of said implement between mechanical limits with respect to said orientation base from said orientation base; and

counter-rotating said orientation base less than one degree for each degree of rotation of said first linkage arm assembly to relatively counter the arced distance the mechanically limited range envelope of the implement'"'"'s actuated movement would otherwise travel at the distal end of the first linkage arm assembly.

41. A method of increasing the ability to move and orientate an implement about a support structure comprising the steps of:

providing a first linkage arm assembly pivotally mounted to said support structure and limited from contact therewith;

providing an implement pivotally mounted to said distal end of said first linkage arm assembly;

providing an orientation means rotatably about said linkage arm assembly;

actuating rotation of said implement from said orientation means and limiting rotation of said implement with respect to said orientation means; and

rotating said orientation means in the same direction of rotational movement of the first linkage arm assembly and at a greater rate than that of said first linkage arm assembly.