CA1228497A - Self-propelled equipment for the laying of transportable normal concrete components and liftable products - Google Patents
Self-propelled equipment for the laying of transportable normal concrete components and liftable productsInfo
- Publication number
- CA1228497A CA1228497A CA000499126A CA499126A CA1228497A CA 1228497 A CA1228497 A CA 1228497A CA 000499126 A CA000499126 A CA 000499126A CA 499126 A CA499126 A CA 499126A CA 1228497 A CA1228497 A CA 1228497A
- Authority
- CA
- Canada
- Prior art keywords
- bellows
- suction
- suction cups
- support
- sections
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0281—Rectangular or square shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0237—Multiple lifting units; More than one suction area
- B66C1/025—Divided cups
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/524—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones using suction devices
Abstract
ABSTRACT
Self-propelled apparatus for lifting arrays of concrete, clinker brick and natural stone components of paving sets, com-prises a mobile arm and a suction lifter including a support carried by the arm and a polygonal assembly of suction cups which depend from the support. Each cup includes a bellows movable angularly and axially independently of the bellows of each other suction cup into engagement with a component of a set. The assem-bly has a plurality of lateral sides and directional jaws are movably mounted on the support adjacent to all sides of the assem-bly. The jaws are moved against the components of a set which is about to be lifted by the suction cups so that the jaws rearrange the components of an array where the distribution of components deviates from a desired distribution and the jaws move away from the rearranged components before the suction cups release the rearranged components of the set.
Self-propelled apparatus for lifting arrays of concrete, clinker brick and natural stone components of paving sets, com-prises a mobile arm and a suction lifter including a support carried by the arm and a polygonal assembly of suction cups which depend from the support. Each cup includes a bellows movable angularly and axially independently of the bellows of each other suction cup into engagement with a component of a set. The assem-bly has a plurality of lateral sides and directional jaws are movably mounted on the support adjacent to all sides of the assem-bly. The jaws are moved against the components of a set which is about to be lifted by the suction cups so that the jaws rearrange the components of an array where the distribution of components deviates from a desired distribution and the jaws move away from the rearranged components before the suction cups release the rearranged components of the set.
Description
The invention relates to self-propelled equipment with a mobile framework and a suction lifting device fastened to a-t least one position-adjustable crane jib for the lifting and laying of trays-portable objects such as concrete components, in particular for -the laying of commercially available concrete-, clinker brick- and natural stone-paving sells.
Ire the slaying of unit paving sets, equipment is already known Whitehall hats a mobile framework and an articulated jib mounted on it.
'I've jib may be raised or lowered vertically and has a device attach-I Ed to its free end for gripping the unit paving sells. In this case the jib is articulated with the rear end of the mobile frame-work and it is extended -to the front over -the driver's seat which is located at the front end of the mobile framework. The paving sets can be picked up in layers by the grab and by moving the equipment they can be transported and set down again. The grab which is rotatable articulated with the crane jib can only be raised or lowered. For stewing around, that is to say to change the direction, the whole of the equipment with the mobile framework must be swung around with maximum angle of -turn of -the wheels and appropriate steering into the new position for the laying of the sets. Russ causes the grab which has a single point suspension, as already mentioned -to sway from side to side to such an extent that it is necessary to wait each time a -turn is made until -the pendulum action s-tops before -the load can be set down. This also occurs each time before the block layers are picked up from storage on the delivery pallets, so that every laying operation is accom-punned by a great deal of wasted -time.
In addition to this the building components can only be moved in the forward direction of travel for transportation and laying of the units with this type of laying equipment. With bonded paving sells it is only possible to lay down a certain width of paving so that the vehicle after the setting down of one layer must bring another one separately to the site of the laying operation. The amount ox travel involved in this procedure is very considerable. The operational zone is confined Jo surfaces whose dimensions are confined at least to the turning radius of the vehicle. The utilization of the equipment for the saying ox sells on narrower surfaces Ill such as foot- and bicycle-paths and the like is not possible. It is also not possjib~e here to work from below, that is to say it the vehicle were to be standing on the roar surface, because the short reach of the cantilever arm would not allow for the laying of several layers of sells in front of one another against the curbing. With the progress of the laying operations over larger surface areas, the distance which has to be traversed by the equipment becomes increasingly greater because of the increase in the distance between the storage location of the constructional elements away from the paved surface and the actual site of laying ox the paving sells.
The known equipment is furnished with a grab with which the structural units, for example paving sells, may be picked up and held by the clamp-in action of the jaws during the lifting operation. The structural elements are thus forced up against one another and this prevents their slipping out and being dropped. There must be an uninterrupted surface for the application of the clamping jay us, because otherwise the cramping effect would not be transmitted to the blocks within the load and they would therefore slip out and fall. The layer of blocks would thus fall out from the clamping jaws of the grab. In order to ox able to lay a paving as ordered by the customer, such as) for example, a herring-bone pattern, it is necessary that half sells should be missing from the individual courses of sells which, alter the laying down of the opposite-direction second course with exactly matching and opposite empty spaces half the size of a sell, volleyed have to be filled in by the laying of complete paving sells employing manual operations. In this way the continuation of the original bonding is ensured. This is not possible with the known laying equipment because of the already mentioned indispensable continuous surface for the application of the damping, jaws. In this case the empty spaces Ion the paving salts to be filled in at a later stage had already '7 been filled up during the laying of the paving sells by the insertion of half sells. if now the courses of sells are butted up against one another, then this gives rise to a continuous longitudinal joint. The advantageous bonding effect of the pave next surface for coping with braking- and starting-forces of motor vehicles is not achieved. The orders of the customer and the Dull specifications are thus not fulfilled.
In addition to this it is not possible with this grab to work with flat plate-shaped laying elements, because they would be deflected from their position in either an upwards or downwards direction at the start of the damping action because of their flat shape and the small surfaces on their edges. Even clinker bricks, namely kiln-fired products, cannot be laid without damage because of their brittleness. The edges of the blocks split off when the Arab jaws are applied. In order to produce the necessary clamping force, claw-like members are employed which are a hindrance when attempting to set down the paving unit in the correct position. For example, they hinder the setting together on the slat of the components which are to be laid. Therefore these elements cannot be lowered down onto the sand base so that the claws can be released, but, in order to prevent the claw-like gripping members from becoming caught in between the already laid elements and those about to be laid, it is necessary to allow these latter to fall out Iron the Arab at a short distance above the ground so that they pass through the last stage of their journey under free fall. The disadvantage of this is that the units being laid do not butt up against one another properly and, particularly in the case of smaller units such as paving sells, this is readily noticeable to the detriment of the desired effect. The pattern of joints which becomes distorted in this way must, in order not to deviate from the rectilinear matrix, be corrected by an assistant worker a ton the laying of each unit of paving. Furthermore, very considerable frictional forces are developed between the structural elements and the gripping device which, in part, are unduly highly different on the individual sides and lead to irregularities in the setting dowel of the unit.
In order to avoid the aforementioned difficulties in the laying of complete courses of paving, it is therefore necessary to be able to pick up the separate blocks only by their upper surface, which is possible with the use of a suction lifter. Thus, for example, it is known from the French Patent 1 461 504 that it is possible to lay bonded paving sells with the aid of a suction lifter which is attached to the cantilever arm of a self-propelled machine. However, since it is not possible with the suction lifters which have been known for some considerable time to keep the correct alignment of pavements fitted together from individual paving sells, provision is made according to the French Patent or the individual paving sells to be joined together with the help of separable connecting materials so that transportable plates are produced which can be laid down as such without alteration. Already at the start of the manufacturing procedure, a considerable number of sells are joined together to form a block which is intended to facilitate and accelerate the laying. After the paving sells have been laid it is assumed that the connecting material will gradually disappear, for example by dissolving away. The employment of these bonding compounds signifies very considerable additional costs for the materials and labor involved.
Furthermore, there is the danger that the undesired sticking of an individual sell can entail the loosening up of the overall bonding, so that under certain conditions the lifting with the suction device becomes impossible. Already for this reason the utilization of the known type of suction lifter has not been able to prevail in actual practice.
The lifting and laying of paving sells, in particular of a plurality of them in a desired arrangement of the bonding pattern, browns very many problems with it which, up till the present time, haze not been solved in the desired manner.
Concrete paving sells have a high specific weight which makes it necessary to produce a high degree of vacuum and also a large surface area for the bearing contact. The laying of a complete layout of paving sells during one working shift requires an exact alignment and complete contact of the paving sells with one another.
The individual suction cups of a suction lifter must be able to be turned in all directions, that is to say, not only about a vertical axis but also about a horizontal axis because, very Frequently, the individual sells due to Roy packing and handling during delivery will be Icing at various ankles in the stack of pallets. In addition to this the individual sells in a layer of '7 paving sells are not always seated compactly and evenly in one plane, so that compensation Ion the height must be possible or each of the individ-vat suction cups.
The suction lifter must either possess double the number of suction cups as the number of sells to be lifted so that it may be used for laying ox special bonded patterns (e.g., herringbone, or else the shape of the suction cups must be adapted to the manufactured shape of the paving sells which are to be laid. In this case the suction cup can have the format of the sells (cay. 10/20 cm) [with appropriate swept zone distance to the adjacent joint between the individual sells], which has the advantage that the suction bearing surface is larger in area than the arrangement with two separate suction cups per sell, and therefore it is not necessary to have such a high degree of vacuum as with the double arrangement of suction cups to each paving sell. Because ox the high specific weight of the sells this suction application surface should be as Jorge as possible because otherwise the attachment area would not be great enough for the fifth Force or else the vacuum would be insufficient.
With particularly rough and porous surfaces on the paving sets it is advantageous to decide upon the larger bearing surface area because, even with correspondingly large vacuum equipment, more atmospheric air is able to enter underneath the sealing means.
.
Types of equipment are known in which a plurality of suction cups are suspended f rum a carrier-plate or -rail so that, when with adequate vacuum equipment and the requisite associated suction bearing surface, it is possible to transport limitable products when the carrier-plate can be lifted up and swung around into position with the assistance of a crane, an excavator cantilever arm or of a suitable Iramcwork.
The suction cups which can be moved axially or with angular displacement and must be additionally supported on the carrier-plate are, in the case of the known systems, the most expensive, heaviest and technically most-complicated pieces ox the equipment.
3'7 The plurality of the hose connections for the individual suction cups are connected to a vacuum pipeline which leads to a vacuum pump. The expensive construction and suspension of the individual suction cups is necessary because a narrowing down owe the cross-sectional area from the suction bearing surface directly upon the product to be lotted up to the vertical suction pipe had -to be adopted. This narrowing down of the suction bearing surface (cross-sectional constriction) leads -to the situation where the suction cues nicety also be suspended from the carrier-plate by using bearing :1. () cams .
'I've invention provides self-propelled apparatus for lifting arrays of objects such as concrete, clinker brick and natural stone come pennants of paving sets, comprising a mobile arm; a suction lifter including a support carried by said arm and a polygonal assembly of suction cups which depend from said support and each of which includes a bellows movable angularly and axially independently of the bellows of each other suction cup into engagement with an object of the array, said assembly having a plurality of lateral ~() sides; directional jaws movably mounted on said support adjacent to all sides of the assembly of suction cups; and means for moving said jaws against -the objects of -the array which is to be lifted by said suction cups so that the jaws rearrange the objects of the array where the distribution of objects deviates from a desired distribution and -the jaws move away from -the rearranged objects before the Sutton cups release the rearranged objects of the array.
on interrupter (cut-off) valve is preferably provided between the vacuum pump and -the vacuum carrier collector for cutting off the suction to all the suction cups when the objects being lifted are 3'7 -pa-to be set down.
If the suction lifter or carrier cross-section, which is determined by the type and weight of the products to be lifted and by the degree of vacuum available, is allowed to continue on up past the carrier plate without any diminution of the cross sectional area to form the vacuum collector space above the carrier-plate for all the suction cups, -then it is possible to dispense with the totality of individual suction cups of the conventional type as well as disk ensuing with all owe -the connecting hoses -to the collectors, and in I addition there is a considerable reduction in weight.
This saving of weight is of great significance if, during -the laying of constructional elements, it is necessary to travel over the foundation material which has still not been compacted into its final state of mechanical stability.
Jo Moreover, the decisive advantage is the saving in weight, because with carrier vehicles having a cantilever arm the whole of the vacuum lifter is always suspended at the outermost end of the cantilever arm which is the most unfavorable loadihg-stress condition for the cantilever arm.
The saving in weight on the suction lifter is a direct bonus for the useful payload of the equipment which makes it essentially more economical to operate.
The function of the suction cups is taken over, accorrling to this present invention, by a bellows. The vacuum pipeline and the carrier-plate of conventional type are replaced by a new unit. It is a ~iatly-constructed container (in order to reduce the delays in each worl~in~ sequence arising prom the pendulum action) to the underside of which there are a attached supports to receive the bellows. On the upper side of the container provision US road for the suspension of the rotary servo-mechanism and for the pivotab]y articulated directional jaws.
With the suction lifter configured according to the invention it is possible to lift components with high specific weights, for example concrete blocks and the like, and to lay them. Along with this it is possible to pick up a plurality of components which have already been arranged in a predator-Jo mined laying pattern and to lay them without mutual displacement so that the laying pattern is maintained. This requires a sufficiently great carrying capacity which, however, can only be guaranteed if the vacuum under the individual suction cups is sufficiently high. It has been shown, however, that the material from which the concrete blocks it fabricated does not always have the necessary degree of compaction, so that the blocks have a porous micro-structure allowing the air to pass through in considerable amounts. If the concrete components have particularly poor bonding properties this leads to porous micro-structures and this prevents the building up of a sufficiently high degree of vacuum. The manufacturers of concrete products, however, are not always in the position to overcome such defects because the bonding of the concrete components depends to a very considerable extent upon the humidity of the environmental air.
However, it is not only concrete blocks that are laid in a bonded pattern which, in addition must be suitable to withstand foot traffic or travel of vehicles over it, but very frequently a ground reinforcement is required by the laying of clinker bricks in a bonded fashion. The picking-up of clinker bricks has, however not been found to be possible up till the present, because kiln-fired clinker bricks have a porous micro structure and thus a brittle kiln-~ired material is being dealt with. For this reason it has previously only been possible to lay clinker bricks manually. The employment ox lifting devices with gripping tongs led to considerable damage to the edges of the bricks Very surprisingly, it has now been found that the density of the kiln-fired clinker material is sufficient to allow the maintenance of a sufficient degree of vacuum for picking up the bricks. There is not enough air sucked through the brick material during the lifting procedure for any significant diminution of the vacuum on the suction side. Other incidental influx of air is not possible because of the special construction of the suction loiter being employed which has independently adjustable suction cups in both axial and angular directions.
Under these conditions it is equally possible to pick up and lay clinker bricks in the same manner as has been possible or a long lime now with the larger concrete blocks using conventional suction lifters.
It has been found to be particularly favorable to have an arrangement of connection openings between the suction chamber and- the suction cups in the nature of air-passage openings, keeping their diameter considerably smeller than that of the connection nozzles Ion the suction cups. Insofar as the air-passage openings are brought up so close to the surface of the material being lifted that they come unto the immediate vicinity of the region of increased flow velocity of the air passing through, this means that the carrying capacity for porous constructional materials is further increased.
'7 With the subject matter of the invention it is possible to lift and move pieces having a high specific weight, for example, concrete bricks, clinker bricks and the like. Bricks already arranged in a bonding pattern can be picked up and laid without the bricks being displaced against one another cud while retaining the pattern. This requires, however, that the size and shape of the suction lifter be adapted to the number and alignment of the brlclco. corresponding adaptation of the suction lifter is even required with Larger pieces having varying shapes, such as plates, beams, angular sea-t OOZE end the like. For this purpose, it is thus necessary to keep On hand Lo suction lifters having various configurations and differently equipped Suction cups in order to make an exchange if required. To avoid this disadvantage, it is proposed to design the suction lifter in such a manner that it can be adapted to the changing shape and extent of the product to be lifted in order to be able to lift with one suction lifter, for example, both individual pieces having a specific alignment and arrangement as well as larger, one-piece, planar components. For this purpose it is possible to fasten the suction cups of the Sixty lifter to a plurality of rota tingly connected and adjustable hollow sections, their hollow spaces being connected to the vacuum pump and their positions being fixable to each other.
Through this an articulated construction consisting of individual elements is provided which can be adapted to all conceivable products to be lifted, whether large area individual pieces or a plurality of smaller products to be lifted that are together.
embodiments of the invention are depicted diagrammatically in the drclw:Lllgs and dealt with in detail in the following discussion.
There is shown in:
Figure 1 the side elevation of laying equipment in relation to the direction of-travel, Figure 2 the laying equipment seen prom the front during work in the lateral direction Figure 3 a plan view oath laying equipment according to Figure 1, Figure 4 the front end of the suction lifter in the opened position, Figure 5 the front end of the suction lifter after closing the directional jaws, Figure 6 the -front err ox the suction lifter after positioning and applying the suction cups, Figure 7 the front end of the suction lifter with opened-up directional jaws and the paving sells which are Icing horizontally as positioned by the atmospheric pressure after stewing of the cantilever arm into the laying position, Figure S the front end of the suction loiter after the laying procedure, Figure 9 the front end ox the suction lifter during admission of air into the vacuum chamber. the valve between the vacuum pump and the suction lifter is actuated electromagnetically by the person operating the equipment), Figure 10 the front end of the suction lifter after completion of the laying operation, Figure 11 a suction cup in the form of bellows, on an enlarged scale, Figure 12 a suction cup with an axially displaceable cylinder and a bellows surrounding said cylinder, as well as with a throttle plate in the cylinder, Figure 13 the suction cup according to Figure 12 in the working position, Figure I a suction cup configured as bellows with a multi-lipped slug rim and a throttle located within the bellows, Figure Lo a suction cup in accordance with Figure 14, however with tile throttle located within the connection socket, Lo Figure 16 a side view of a suction shoe partly in section, Figure 17 a plan view of the suction shoe in accordance with Figure 16, Figure 18 the connection of two carrier sections for the product to be lifted by means of a connecting section, partly in section, Figure 19 the top view of an end of a connecting section designed as a connecting eye, Figure 20 an embodiment with four carrier sections and three con-netting sections, aligned for lifting a concrete beam, Figure 21 an embodiment with four connecting sections and three I corollary sections for lifting a concrete beam, Flogger 22 a meandering articulated load bearing structure for bonded bricks unwell Flogger 23 a carrier rail as connecting element to a hoist.
More specifically, there are denoted by:
1 chassis
Ire the slaying of unit paving sets, equipment is already known Whitehall hats a mobile framework and an articulated jib mounted on it.
'I've jib may be raised or lowered vertically and has a device attach-I Ed to its free end for gripping the unit paving sells. In this case the jib is articulated with the rear end of the mobile frame-work and it is extended -to the front over -the driver's seat which is located at the front end of the mobile framework. The paving sets can be picked up in layers by the grab and by moving the equipment they can be transported and set down again. The grab which is rotatable articulated with the crane jib can only be raised or lowered. For stewing around, that is to say to change the direction, the whole of the equipment with the mobile framework must be swung around with maximum angle of -turn of -the wheels and appropriate steering into the new position for the laying of the sets. Russ causes the grab which has a single point suspension, as already mentioned -to sway from side to side to such an extent that it is necessary to wait each time a -turn is made until -the pendulum action s-tops before -the load can be set down. This also occurs each time before the block layers are picked up from storage on the delivery pallets, so that every laying operation is accom-punned by a great deal of wasted -time.
In addition to this the building components can only be moved in the forward direction of travel for transportation and laying of the units with this type of laying equipment. With bonded paving sells it is only possible to lay down a certain width of paving so that the vehicle after the setting down of one layer must bring another one separately to the site of the laying operation. The amount ox travel involved in this procedure is very considerable. The operational zone is confined Jo surfaces whose dimensions are confined at least to the turning radius of the vehicle. The utilization of the equipment for the saying ox sells on narrower surfaces Ill such as foot- and bicycle-paths and the like is not possible. It is also not possjib~e here to work from below, that is to say it the vehicle were to be standing on the roar surface, because the short reach of the cantilever arm would not allow for the laying of several layers of sells in front of one another against the curbing. With the progress of the laying operations over larger surface areas, the distance which has to be traversed by the equipment becomes increasingly greater because of the increase in the distance between the storage location of the constructional elements away from the paved surface and the actual site of laying ox the paving sells.
The known equipment is furnished with a grab with which the structural units, for example paving sells, may be picked up and held by the clamp-in action of the jaws during the lifting operation. The structural elements are thus forced up against one another and this prevents their slipping out and being dropped. There must be an uninterrupted surface for the application of the clamping jay us, because otherwise the cramping effect would not be transmitted to the blocks within the load and they would therefore slip out and fall. The layer of blocks would thus fall out from the clamping jaws of the grab. In order to ox able to lay a paving as ordered by the customer, such as) for example, a herring-bone pattern, it is necessary that half sells should be missing from the individual courses of sells which, alter the laying down of the opposite-direction second course with exactly matching and opposite empty spaces half the size of a sell, volleyed have to be filled in by the laying of complete paving sells employing manual operations. In this way the continuation of the original bonding is ensured. This is not possible with the known laying equipment because of the already mentioned indispensable continuous surface for the application of the damping, jaws. In this case the empty spaces Ion the paving salts to be filled in at a later stage had already '7 been filled up during the laying of the paving sells by the insertion of half sells. if now the courses of sells are butted up against one another, then this gives rise to a continuous longitudinal joint. The advantageous bonding effect of the pave next surface for coping with braking- and starting-forces of motor vehicles is not achieved. The orders of the customer and the Dull specifications are thus not fulfilled.
In addition to this it is not possible with this grab to work with flat plate-shaped laying elements, because they would be deflected from their position in either an upwards or downwards direction at the start of the damping action because of their flat shape and the small surfaces on their edges. Even clinker bricks, namely kiln-fired products, cannot be laid without damage because of their brittleness. The edges of the blocks split off when the Arab jaws are applied. In order to produce the necessary clamping force, claw-like members are employed which are a hindrance when attempting to set down the paving unit in the correct position. For example, they hinder the setting together on the slat of the components which are to be laid. Therefore these elements cannot be lowered down onto the sand base so that the claws can be released, but, in order to prevent the claw-like gripping members from becoming caught in between the already laid elements and those about to be laid, it is necessary to allow these latter to fall out Iron the Arab at a short distance above the ground so that they pass through the last stage of their journey under free fall. The disadvantage of this is that the units being laid do not butt up against one another properly and, particularly in the case of smaller units such as paving sells, this is readily noticeable to the detriment of the desired effect. The pattern of joints which becomes distorted in this way must, in order not to deviate from the rectilinear matrix, be corrected by an assistant worker a ton the laying of each unit of paving. Furthermore, very considerable frictional forces are developed between the structural elements and the gripping device which, in part, are unduly highly different on the individual sides and lead to irregularities in the setting dowel of the unit.
In order to avoid the aforementioned difficulties in the laying of complete courses of paving, it is therefore necessary to be able to pick up the separate blocks only by their upper surface, which is possible with the use of a suction lifter. Thus, for example, it is known from the French Patent 1 461 504 that it is possible to lay bonded paving sells with the aid of a suction lifter which is attached to the cantilever arm of a self-propelled machine. However, since it is not possible with the suction lifters which have been known for some considerable time to keep the correct alignment of pavements fitted together from individual paving sells, provision is made according to the French Patent or the individual paving sells to be joined together with the help of separable connecting materials so that transportable plates are produced which can be laid down as such without alteration. Already at the start of the manufacturing procedure, a considerable number of sells are joined together to form a block which is intended to facilitate and accelerate the laying. After the paving sells have been laid it is assumed that the connecting material will gradually disappear, for example by dissolving away. The employment of these bonding compounds signifies very considerable additional costs for the materials and labor involved.
Furthermore, there is the danger that the undesired sticking of an individual sell can entail the loosening up of the overall bonding, so that under certain conditions the lifting with the suction device becomes impossible. Already for this reason the utilization of the known type of suction lifter has not been able to prevail in actual practice.
The lifting and laying of paving sells, in particular of a plurality of them in a desired arrangement of the bonding pattern, browns very many problems with it which, up till the present time, haze not been solved in the desired manner.
Concrete paving sells have a high specific weight which makes it necessary to produce a high degree of vacuum and also a large surface area for the bearing contact. The laying of a complete layout of paving sells during one working shift requires an exact alignment and complete contact of the paving sells with one another.
The individual suction cups of a suction lifter must be able to be turned in all directions, that is to say, not only about a vertical axis but also about a horizontal axis because, very Frequently, the individual sells due to Roy packing and handling during delivery will be Icing at various ankles in the stack of pallets. In addition to this the individual sells in a layer of '7 paving sells are not always seated compactly and evenly in one plane, so that compensation Ion the height must be possible or each of the individ-vat suction cups.
The suction lifter must either possess double the number of suction cups as the number of sells to be lifted so that it may be used for laying ox special bonded patterns (e.g., herringbone, or else the shape of the suction cups must be adapted to the manufactured shape of the paving sells which are to be laid. In this case the suction cup can have the format of the sells (cay. 10/20 cm) [with appropriate swept zone distance to the adjacent joint between the individual sells], which has the advantage that the suction bearing surface is larger in area than the arrangement with two separate suction cups per sell, and therefore it is not necessary to have such a high degree of vacuum as with the double arrangement of suction cups to each paving sell. Because ox the high specific weight of the sells this suction application surface should be as Jorge as possible because otherwise the attachment area would not be great enough for the fifth Force or else the vacuum would be insufficient.
With particularly rough and porous surfaces on the paving sets it is advantageous to decide upon the larger bearing surface area because, even with correspondingly large vacuum equipment, more atmospheric air is able to enter underneath the sealing means.
.
Types of equipment are known in which a plurality of suction cups are suspended f rum a carrier-plate or -rail so that, when with adequate vacuum equipment and the requisite associated suction bearing surface, it is possible to transport limitable products when the carrier-plate can be lifted up and swung around into position with the assistance of a crane, an excavator cantilever arm or of a suitable Iramcwork.
The suction cups which can be moved axially or with angular displacement and must be additionally supported on the carrier-plate are, in the case of the known systems, the most expensive, heaviest and technically most-complicated pieces ox the equipment.
3'7 The plurality of the hose connections for the individual suction cups are connected to a vacuum pipeline which leads to a vacuum pump. The expensive construction and suspension of the individual suction cups is necessary because a narrowing down owe the cross-sectional area from the suction bearing surface directly upon the product to be lotted up to the vertical suction pipe had -to be adopted. This narrowing down of the suction bearing surface (cross-sectional constriction) leads -to the situation where the suction cues nicety also be suspended from the carrier-plate by using bearing :1. () cams .
'I've invention provides self-propelled apparatus for lifting arrays of objects such as concrete, clinker brick and natural stone come pennants of paving sets, comprising a mobile arm; a suction lifter including a support carried by said arm and a polygonal assembly of suction cups which depend from said support and each of which includes a bellows movable angularly and axially independently of the bellows of each other suction cup into engagement with an object of the array, said assembly having a plurality of lateral ~() sides; directional jaws movably mounted on said support adjacent to all sides of the assembly of suction cups; and means for moving said jaws against -the objects of -the array which is to be lifted by said suction cups so that the jaws rearrange the objects of the array where the distribution of objects deviates from a desired distribution and -the jaws move away from -the rearranged objects before the Sutton cups release the rearranged objects of the array.
on interrupter (cut-off) valve is preferably provided between the vacuum pump and -the vacuum carrier collector for cutting off the suction to all the suction cups when the objects being lifted are 3'7 -pa-to be set down.
If the suction lifter or carrier cross-section, which is determined by the type and weight of the products to be lifted and by the degree of vacuum available, is allowed to continue on up past the carrier plate without any diminution of the cross sectional area to form the vacuum collector space above the carrier-plate for all the suction cups, -then it is possible to dispense with the totality of individual suction cups of the conventional type as well as disk ensuing with all owe -the connecting hoses -to the collectors, and in I addition there is a considerable reduction in weight.
This saving of weight is of great significance if, during -the laying of constructional elements, it is necessary to travel over the foundation material which has still not been compacted into its final state of mechanical stability.
Jo Moreover, the decisive advantage is the saving in weight, because with carrier vehicles having a cantilever arm the whole of the vacuum lifter is always suspended at the outermost end of the cantilever arm which is the most unfavorable loadihg-stress condition for the cantilever arm.
The saving in weight on the suction lifter is a direct bonus for the useful payload of the equipment which makes it essentially more economical to operate.
The function of the suction cups is taken over, accorrling to this present invention, by a bellows. The vacuum pipeline and the carrier-plate of conventional type are replaced by a new unit. It is a ~iatly-constructed container (in order to reduce the delays in each worl~in~ sequence arising prom the pendulum action) to the underside of which there are a attached supports to receive the bellows. On the upper side of the container provision US road for the suspension of the rotary servo-mechanism and for the pivotab]y articulated directional jaws.
With the suction lifter configured according to the invention it is possible to lift components with high specific weights, for example concrete blocks and the like, and to lay them. Along with this it is possible to pick up a plurality of components which have already been arranged in a predator-Jo mined laying pattern and to lay them without mutual displacement so that the laying pattern is maintained. This requires a sufficiently great carrying capacity which, however, can only be guaranteed if the vacuum under the individual suction cups is sufficiently high. It has been shown, however, that the material from which the concrete blocks it fabricated does not always have the necessary degree of compaction, so that the blocks have a porous micro-structure allowing the air to pass through in considerable amounts. If the concrete components have particularly poor bonding properties this leads to porous micro-structures and this prevents the building up of a sufficiently high degree of vacuum. The manufacturers of concrete products, however, are not always in the position to overcome such defects because the bonding of the concrete components depends to a very considerable extent upon the humidity of the environmental air.
However, it is not only concrete blocks that are laid in a bonded pattern which, in addition must be suitable to withstand foot traffic or travel of vehicles over it, but very frequently a ground reinforcement is required by the laying of clinker bricks in a bonded fashion. The picking-up of clinker bricks has, however not been found to be possible up till the present, because kiln-fired clinker bricks have a porous micro structure and thus a brittle kiln-~ired material is being dealt with. For this reason it has previously only been possible to lay clinker bricks manually. The employment ox lifting devices with gripping tongs led to considerable damage to the edges of the bricks Very surprisingly, it has now been found that the density of the kiln-fired clinker material is sufficient to allow the maintenance of a sufficient degree of vacuum for picking up the bricks. There is not enough air sucked through the brick material during the lifting procedure for any significant diminution of the vacuum on the suction side. Other incidental influx of air is not possible because of the special construction of the suction loiter being employed which has independently adjustable suction cups in both axial and angular directions.
Under these conditions it is equally possible to pick up and lay clinker bricks in the same manner as has been possible or a long lime now with the larger concrete blocks using conventional suction lifters.
It has been found to be particularly favorable to have an arrangement of connection openings between the suction chamber and- the suction cups in the nature of air-passage openings, keeping their diameter considerably smeller than that of the connection nozzles Ion the suction cups. Insofar as the air-passage openings are brought up so close to the surface of the material being lifted that they come unto the immediate vicinity of the region of increased flow velocity of the air passing through, this means that the carrying capacity for porous constructional materials is further increased.
'7 With the subject matter of the invention it is possible to lift and move pieces having a high specific weight, for example, concrete bricks, clinker bricks and the like. Bricks already arranged in a bonding pattern can be picked up and laid without the bricks being displaced against one another cud while retaining the pattern. This requires, however, that the size and shape of the suction lifter be adapted to the number and alignment of the brlclco. corresponding adaptation of the suction lifter is even required with Larger pieces having varying shapes, such as plates, beams, angular sea-t OOZE end the like. For this purpose, it is thus necessary to keep On hand Lo suction lifters having various configurations and differently equipped Suction cups in order to make an exchange if required. To avoid this disadvantage, it is proposed to design the suction lifter in such a manner that it can be adapted to the changing shape and extent of the product to be lifted in order to be able to lift with one suction lifter, for example, both individual pieces having a specific alignment and arrangement as well as larger, one-piece, planar components. For this purpose it is possible to fasten the suction cups of the Sixty lifter to a plurality of rota tingly connected and adjustable hollow sections, their hollow spaces being connected to the vacuum pump and their positions being fixable to each other.
Through this an articulated construction consisting of individual elements is provided which can be adapted to all conceivable products to be lifted, whether large area individual pieces or a plurality of smaller products to be lifted that are together.
embodiments of the invention are depicted diagrammatically in the drclw:Lllgs and dealt with in detail in the following discussion.
There is shown in:
Figure 1 the side elevation of laying equipment in relation to the direction of-travel, Figure 2 the laying equipment seen prom the front during work in the lateral direction Figure 3 a plan view oath laying equipment according to Figure 1, Figure 4 the front end of the suction lifter in the opened position, Figure 5 the front end of the suction lifter after closing the directional jaws, Figure 6 the -front err ox the suction lifter after positioning and applying the suction cups, Figure 7 the front end of the suction lifter with opened-up directional jaws and the paving sells which are Icing horizontally as positioned by the atmospheric pressure after stewing of the cantilever arm into the laying position, Figure S the front end of the suction loiter after the laying procedure, Figure 9 the front end ox the suction lifter during admission of air into the vacuum chamber. the valve between the vacuum pump and the suction lifter is actuated electromagnetically by the person operating the equipment), Figure 10 the front end of the suction lifter after completion of the laying operation, Figure 11 a suction cup in the form of bellows, on an enlarged scale, Figure 12 a suction cup with an axially displaceable cylinder and a bellows surrounding said cylinder, as well as with a throttle plate in the cylinder, Figure 13 the suction cup according to Figure 12 in the working position, Figure I a suction cup configured as bellows with a multi-lipped slug rim and a throttle located within the bellows, Figure Lo a suction cup in accordance with Figure 14, however with tile throttle located within the connection socket, Lo Figure 16 a side view of a suction shoe partly in section, Figure 17 a plan view of the suction shoe in accordance with Figure 16, Figure 18 the connection of two carrier sections for the product to be lifted by means of a connecting section, partly in section, Figure 19 the top view of an end of a connecting section designed as a connecting eye, Figure 20 an embodiment with four carrier sections and three con-netting sections, aligned for lifting a concrete beam, Figure 21 an embodiment with four connecting sections and three I corollary sections for lifting a concrete beam, Flogger 22 a meandering articulated load bearing structure for bonded bricks unwell Flogger 23 a carrier rail as connecting element to a hoist.
More specifically, there are denoted by:
1 chassis
2 carriage
3 turntable
4 shiftable counterweight boom framework 6 cantilever arm 7 fulcrum for the cantilever arm 8 lever plate of the cantilever arm 9 hydraulic cylinder for shifting of the framework I piston positions of the hydraulic cylinder 11 hydraulic cylinder of the cantilever arm 12 piston rod 13 a gripper constituting a suction lifter 15 14 center of gravity of the suction lifter 15 driving motor 16 vacuum pump 17 suction conduit 18 actuating lever 20 19 transverse brace defining an axis of rotation rotary head of the suction lifterlwith an axis of rotation extending at right angles to the transverse brace 19 21 swiveling trunnion of the gripper 13, rotatable about a vertical axis 22 suction gatherer 23 vacuum hoses I suction cups constituting bellows 25 seal of elastomeric material 30 26 directional jaws 27 axis of rotation of the directional jaws 28 adjusting cylinder for the direction~ljaws 26 29 nozzle for the bellows 30 paving stones 31 hose clamp 32 minimum internal suction cross-sectional area 33 preprogrammed zone for the first-developing angular movability 34 stabilizing rings axial movability of the bellows 36 axial movability of the directional jaws 37 pallet board 38 already laid pavement metallic disc and spring receiver 4]. cylinder restoring spring 42 axially shiftable cylinder 43 bellows with throttling opening 44 throttling plate throttling opening 46 throttling plate in the bellows 47 sealing ring aye fastening groove for the bellows 47b fastening flange for the sealing ring 48 outer sealing lip 49 median sealing lip inner, sealing lip 51 suction shoe 52 suction plate 53 recess in the suction plate 54 heel through hole for air 56 suction bellows 57 connecting nipple 58 peripheral groove 59 groove for reception of the sealing lip sealing lip 61 chamfer in the through hole ,'Z~'7 71 carrier section Audi hollow carrier sections awoke hollow connecting sections 74 connection socket for vacuum connecting eye of the connecting section I clamping screw 77 lever of the clamping screw I LongLtudina L channel of the clamping screw LO 79 transverse channel of the clamping screw ring flange on the carrier section 81 ring flange on the carrier section 82 screw projection 83 carrier ring of the suction cup 84 suction cup screw seal 86 bellows of the suction cup 87 clamping ring of the suction cup 88 product to be lifted 89 sealing lips of the suction cup concrete beam 91 concrete beam go sm~ll-si~ed plates :L00 corollary rail LYLE carrier hook For the laying of constructional elements, such as ion example bonded paving sells, to produce a roadway surface capable of bearing Toads, toe suction loiter lo with its suction cups I and with its directional jaws 26 - swung up out of the.. way is lowered down onto the paving sells. my actuating the adjusting cylinder 28 the directional jaws 26 are swung down into position by which means the individual sells of the complete layer are positioned at right angles and/or parallel to one another. This positioning has two decisive advantages. After any unavoidable displace-mint of a minor nature from the bonding pattern of the paving elements during transport prom the concrete Factory to the laying site, the units are restored to their original position so that they will, as planned or in advance, lie in the proper grid pattern under the suction cups. They are positioned exactly at right angles and/or parallel to one another before they are Jilted up by the application of the Aquarian which ensures a uniform rectangular pattern of the jointing right up to the completion of the laying on the sand Ioundat;on. Any further subsequent correction of the jointing pattern can be entirely dispensed with. By placing the suction titter in position and subjecting the suction cups to reduced pressure by way of the collective suction- carrier alter the directional jay s have been 2 closed, the Beaujolais (suction cups) are forced down against the sells.
. .
'7 The sealing means made of elastomeric material 25 is pressed down onto the paving set because of the outside pressure of the air. The pro-programmed angular flexibility 33 in the lowest region of the suction cup guarantees a complete sealing even against the surface of the units which may have become slightly tilted within the whole assembled packet.
Subsequently, the axial. height compensation 35 of the bellows 24 is brought into play if the sells are Icing at different heights, a situation which cannot be avoided during the rough handling in transport.
Immediately after sealing the vacuum is increased because the vacuum pump us operating continuously. The suction carrier-plate is listed up and it is swung around into the laying position by the stewing of the cantilever arm of the carrier vehicle. The suction cups remain in the compressed position because the inner cross-section of the suction carrier 32 continues on unchanged right up to the suction carrier-plate 22. The sells arrange themselves horizontally because of the compensatory effect of the atmospheric air pressure (Fig. 7). Euphoria setting down the paving sells, the directional jaws 26 are swung up out of the clamping position shown in Figure 6 to the starting position as seen in Figure 4.
This swinging up of the directional jaws provides a further decisive advantage. The operating person's view ox the paving sells suspended from the suction cups 24 becomes completely unobstructed. The layer of sells can then be carefully aligned and with the aid of swiveling trunnion 21 of the grab which is rotatable about the vertical axis, the load can be positioned in the correct arrangement, lowered down onto the surface as desired, which is actually the prepared sand foundation.
Figures I and 2 give a general picture of the lifting of the framework and the cantilever arm 6 with its articulated pivoting action, without the need for moving the carrier vehicle from its position. It may be recognized prom Figure 3 how it is possible to place the individual layers of paving sells alongside one another by a combination of stewing and raising and lowering of the cantilever arm and actuation of the swiveling trunnion.
This is accomplished by the garden joint universal suspension of the whole suction lifter in combination with the capability of rotating it around a vertical axis in combination with the raising and Towering of the support frame and the cantilever arm. The cantilever arm in combination with the suction lifter 13 is pivot ably attached at the fulcrum 7 to the boom framework 5, in which case a lever plate in association with a hydraulic cylinder serves the purpose of raising and lowering the arm. Because of the adjustable position of the counterweight 4 it is possible to compensate for the differing bearing-capacity moments of the loads of materials of differing specific weights, depending upon the distance of the suction lifter from the center of gravity of the transport vehicle. For transporting of the constructional components which are to be laid from the storage location to the working site it is only necessary to have one operating person, even though the work performance along with possibirlty of utilization compared with the previously known pavement-layirîg equipment is considerably improved and because ox simplification the operations can be carried out much more economically.
The method of operation of the automatic opening is similar to the 15 concept originally mentioned of the use of bellows for the suction cups.
However, in this case the carrier collector is kept continually under vacuum, so that the lost time during each operating cycle due to the pendulum effect only consists of the sum derived from all the chambers of the individual suction bellows. In the lowest first pleated region the bellows has the same function, namely that of compensating for the tilting of the individual units, as in the first description. Above the lower hose-clip band and the serration with the synthetic-material tube the bellows his, however, a purely protective function against contamination.
The sealing-means 25 made of elastomeric material (sponge rubber) which is applied flatly on top of the cylinder cover is held in place by a turned member 40 which acts as a seating ton the restoring spring 41.
Method of operation: ;
The collective carrier 22 with its individual suction bellows is Forced town onto the layer of paving sells (and the material to be lilted) by means of the cantilever arm of the carrier vehicle. The angular flexibility 33 of the lowest Told of the bellows comes into play, after which the height compensation is effected, because the synthetic-material tube with its upper cover is forced upwards against the compression of the restoring spring. In this way, depending upon the pressure applied which in its turn .
is dependent upon the effectiveness of the sealinc,-means 25 against the product being lit ted the reduced pressure to the cavity within the cylinder 42 is released. The cylinder has the calculated suction cross-sectional area 32 right throughout its length appropriate or the product
. .
'7 The sealing means made of elastomeric material 25 is pressed down onto the paving set because of the outside pressure of the air. The pro-programmed angular flexibility 33 in the lowest region of the suction cup guarantees a complete sealing even against the surface of the units which may have become slightly tilted within the whole assembled packet.
Subsequently, the axial. height compensation 35 of the bellows 24 is brought into play if the sells are Icing at different heights, a situation which cannot be avoided during the rough handling in transport.
Immediately after sealing the vacuum is increased because the vacuum pump us operating continuously. The suction carrier-plate is listed up and it is swung around into the laying position by the stewing of the cantilever arm of the carrier vehicle. The suction cups remain in the compressed position because the inner cross-section of the suction carrier 32 continues on unchanged right up to the suction carrier-plate 22. The sells arrange themselves horizontally because of the compensatory effect of the atmospheric air pressure (Fig. 7). Euphoria setting down the paving sells, the directional jaws 26 are swung up out of the clamping position shown in Figure 6 to the starting position as seen in Figure 4.
This swinging up of the directional jaws provides a further decisive advantage. The operating person's view ox the paving sells suspended from the suction cups 24 becomes completely unobstructed. The layer of sells can then be carefully aligned and with the aid of swiveling trunnion 21 of the grab which is rotatable about the vertical axis, the load can be positioned in the correct arrangement, lowered down onto the surface as desired, which is actually the prepared sand foundation.
Figures I and 2 give a general picture of the lifting of the framework and the cantilever arm 6 with its articulated pivoting action, without the need for moving the carrier vehicle from its position. It may be recognized prom Figure 3 how it is possible to place the individual layers of paving sells alongside one another by a combination of stewing and raising and lowering of the cantilever arm and actuation of the swiveling trunnion.
This is accomplished by the garden joint universal suspension of the whole suction lifter in combination with the capability of rotating it around a vertical axis in combination with the raising and Towering of the support frame and the cantilever arm. The cantilever arm in combination with the suction lifter 13 is pivot ably attached at the fulcrum 7 to the boom framework 5, in which case a lever plate in association with a hydraulic cylinder serves the purpose of raising and lowering the arm. Because of the adjustable position of the counterweight 4 it is possible to compensate for the differing bearing-capacity moments of the loads of materials of differing specific weights, depending upon the distance of the suction lifter from the center of gravity of the transport vehicle. For transporting of the constructional components which are to be laid from the storage location to the working site it is only necessary to have one operating person, even though the work performance along with possibirlty of utilization compared with the previously known pavement-layirîg equipment is considerably improved and because ox simplification the operations can be carried out much more economically.
The method of operation of the automatic opening is similar to the 15 concept originally mentioned of the use of bellows for the suction cups.
However, in this case the carrier collector is kept continually under vacuum, so that the lost time during each operating cycle due to the pendulum effect only consists of the sum derived from all the chambers of the individual suction bellows. In the lowest first pleated region the bellows has the same function, namely that of compensating for the tilting of the individual units, as in the first description. Above the lower hose-clip band and the serration with the synthetic-material tube the bellows his, however, a purely protective function against contamination.
The sealing-means 25 made of elastomeric material (sponge rubber) which is applied flatly on top of the cylinder cover is held in place by a turned member 40 which acts as a seating ton the restoring spring 41.
Method of operation: ;
The collective carrier 22 with its individual suction bellows is Forced town onto the layer of paving sells (and the material to be lilted) by means of the cantilever arm of the carrier vehicle. The angular flexibility 33 of the lowest Told of the bellows comes into play, after which the height compensation is effected, because the synthetic-material tube with its upper cover is forced upwards against the compression of the restoring spring. In this way, depending upon the pressure applied which in its turn .
is dependent upon the effectiveness of the sealinc,-means 25 against the product being lit ted the reduced pressure to the cavity within the cylinder 42 is released. The cylinder has the calculated suction cross-sectional area 32 right throughout its length appropriate or the product
5 'to be lifted. When the lifted product is to be set down'a~ain Hollowing its successful transport, air is admitted Jo the collective carrier, thus creating the necessary pressure equilibrium. The restoring spring 41 closes the collective carrier chamber 22 once again with the aid ox the sealing-means 25 against the interior of the cylinder.
10 The operational cycle then commences again from the beginning.
. .
In order to ensure that the reduced pressure of the suction lifter does not breakdown if one of the paving sells should become detached from the suction bellows immediately after lifting a layer of sells, for example because of damage to its surface, a throttle point is provided which, by way of example, can be located within the cylinder 42 enclosed within the bellows 24 or else it may be located directly within the bellows 43 itself.
When! the throttle point is situated within an axially displaceable cylinder 42 (Figures 12 and 13) it is important to ensure that the throttle orifice 45 of the throttle point is at a distance from the lower end of the cylinder 42~ For example, the throttle orifice 45 can be located in a base plate 44 at a small distance from the bottom rim of the cylinder.
In the example of embodiment depicted in Pharaoh it, the throttle orifice 45 is located in a partition wall 46 made of the same material as the bellows itself.
As soon as ever an operationally-ready suction cup in accordance' Al ilk Figure 12 or 14 is applied to the object to be lifted which has an adequate suction s~riace area, the suction Force builds up below the throttle point 45 which is designated by Pi until it is sufficiently less than the pressure P of the surroundings. if the object to be lifted, designated as 30 in Figure 13, cannot be raised up, then the throttle orifice 45 ensures that the reduced pressure Pi within the cylinder 42, or within the bellows 43, as the case may be, is not suddenly released so that the increased pressure can gain almost unhindered access to the vacuum pump which would diminish the effectual operation of the rest of the suction bellows very considerably.
With the location of the base plate 44 ox the cylinder above the lower end of the cylinder, the necessary suction carrier cross-section, which is determined by the dimensions ox the cylinder, is completely preserved.
This signifies that the else is not subjected to stress by the weight of She product being lifted.
A similar situation occurs with the location of the throttle point in the region of the lower end of the bellows and thus in the immediate vicinity ox the product being lifted (Figure 14~. It is left to the fabricator, depending upon the forces to be transmitted and the material available for It the bellows, and upon the material used for producing the sealing-means for the closure of the lower end of the bellows, as to what region of the suction bellows the throttle point is to be located in.
The configuration of the sealing ring has a deciding influence upon regulated fulfillment of the function of the suction bellows. In the example lo depicted in Figure lo, the sealing ring is provided Vito three concentric lips 48 - 50 arranged one inside the other. The sealing lips have different heights and a conical Sirius configuration. In this way a particularly reliable sealing effect is achieved. During the lifting procedure the seating of the outermost sealing tip 48 comes into effect first of all. Because of the forces developed this is only subject to compression until the second sealing lip 49 comes into contact with the surface of the product being lifted and subsequently also the sealing lip 50, if the circumstances require it, comes into contact with the surface. Tilting sideways is prevented by the shape of the sealing lips. By configuring the lower end of the bellows in combination with a bearing flange 47b and a circumferential groove aye it is possible to detach the sealing ring 47 from the bellows without any difficulty and to replace it as soon as ever the severe stresses causes the effectiveness of the sealing lips to be diminished. Under these conditions the material of which the sealing ring is Fabricated can be considerably softer than the material for the bellows.
Because of the softness of the sealing--ing material it is possible for it to bridge over surface irregularities without disadvantage to the sealing of f cat.
according to the example of embodiment shown in Figure 15, the throttle point is at the entrance of the connection nozzle 29 Ion the bellows. For the sake of simplicity it is sufficient to have an orifice with the throttle cross-section in the wall ox the reduced-pressure collector chamber 22.
The important thing in the construction of the bellows is above all that its lower region should Dave a larger diameter as may be recognized at the position of the pleat So. In this way the necessary security is achieved so that the bellows always reacts First of elf to the pressure from she sealing side (mostly from below) with an angular movement followed by an axial displacement. The angular movement is thus initiated at the point 33 which is preprogrammed for this purpose and can also be recognized in the forms of embodiment depicted in Figures 11, 12 and 13. The pull . effect of this angular flexibility is only first Sully achieved in the forms of embodiment shown in Figures 14 and 15. Here it is simultaneously ensured that the total carrier cross-section of the sealing ring 47 comes into effect and any slipping sideuvays is avoided by a Lenin of the sealing lips. The construction of the bellows for the attainment of a particularly effectual angular movement Hereford acquires particular importance The suction shoe So (Figures 16 and 17) consists of a plate 52 on the - underside of Which there is a slat recessed area 53 to form a suction comber. The recess 53 is formed by the continuous heel 54 around the border of the plate 52. The recess 53 is connected with the suction bellows 56 by way of the apertures 55. Short connection sockets 57 which are provided with peripheral grooves 58 serve for fastening the suction bellows to the suction shoe, thus making possible a positively-loc~ed connection to the bellows-shaped suction cup. In addition to this, on the underside of the suction shoe, there is a peripheral rove 59 ton the accommodation of a sealing lip 60 fabricated from soft elastomeric material. The recessed chamber 53 in combination with the sealing lip 60 forms the complete suction chamber of the suction shoe.
A nozzle-like configuration of the apertures 55 is achieved by the chamfering 61 of the edges of the hole, so that there is an additional reduction of pressure in their vicinity with an associated increase in the 3û carrying capacity.
From the overall representation it is easy to recognize that the intermediate space between the two suction bellows is almost completely involved in the suction effect and thus the effectual suction surface area is considerably increased without the necessity of incrcasin~ the performance of the vacuum pump.
In the embodiments according to Figures 18 to 22, elongated hollow carrier sections aye and 71b are connected together by means of a bridge-like connecting section 73 extending from one section to the other. The connecting section also has a hollow interior and has a connection socket I for vacuum which can continue via the connecting section into the interior of the carrier sections 7:Lss and 71b.
Tile ends of the connecting section are provided with a connecting ens 75 to makes it possible to fasten it to the carrier sections with screws.
compared wealth the Mullen portion of the connecting section, the connecting eye lo has for this purpose a greater wall thickness and a female thread. A damping screw 76 with a lever 77 engages the screw head through the connecting eye, making an additional tool for tightening or loosening unnecessary. An axial channel 78 and a transverse channel 79 pass through the screw. The vacuum can reach the hollow spaces in the carrier sections 71 through these channels. In the fastening area the carrier sections are welded at the upper and lower sides to ring flanges 80 and 81. The ring flanges have female threads for the engagement of the clamping screw 76 or for the screw projection 82 of a carrier ring 83 of the suction cup 84. Conventional screw seals 85 are located between the carrier rings and the connecting sections or the suction cups.
The bellows 86 of the suction cup I is fastened to the carrier ring 83 with the aid of a damping ring 87 such that it is adequately protected from b~slng pulled off by the weight of the product 88 to be lifted.
For slmpLlfled :LL:Lustratlon, only sections of the sllction lifter no sllowrl:Lrl Figure l. After the suction lifter is placed on the product 88 to be LLftcscl, the interior of the suction cup is hermetically sealed by the sea:L:Ltlg Lops 89. The vacuum can extend from the supply line via the vacuum connection socket 74, the connecting section 73 and via the channels 78 and 79 of the screw into the carrier sections aye and 71b. Through the collection via the sleeve-shaped screw projection 82 of the carrier ring 83, the vacuum necessary for lifting the product 88 to be lifted develops in the interior of the suction cup I By swiveling the carrier section, the required position of the suction cup, adjusted by lightening the clamping screw, can be fixed.
Througiil this, as is clearly illustrated particularly in Figures 20, 21 and 22,fld~ptfltloll to the parlous shapes of the product to be lifted it possible.
figure 20 shows for example, the adaptation of a plurality of Lo carrier sectiorls with associated connecting sections to the course of a specie tic concrete beam 90. The carrier sections are identified by reference numerals aye to 71d and the connecting sections are identified by reference numerals aye to 73c. With a zig-zag arrangement the possibility exists, for example, of picking up a large-area concrete piece 91 (plate). In the example shown connecting sections are provided as end pieces which make the use of suction cups with a lengthened connecting shaft necessary in order to compel-sate for the difference in height between a connecting section and a carrier section. For this purpose, the carrier ring 83 can be provided with a lengthen-Ed shaft in which the clamping screw 76 engages directly from above. In practice, however, the use of carrier sections as end pieces of a suction Lifter is armed for.
'the lifting of a large number of bricks or small-si~ed plates 92, to be LaLtl in bonded arrangement, is possible by means of a meandering con-E:Lgurfltlotl ox a corresponding number of connecting and carrier sections. By ideologue or leaving out a tow sections, an even larger or smaller number of bricks or p:Lflte elements call be picked up with the suction lifter.
Though not graphically illustrated, it is easy to imagine that the suction lifter can be positioned in a ring shape, for example, for lifting concrete rings. Such a versatile adaptation to specially designed products to be lifted is not possible with any of the hitherto known suction lifters since with these suction lifters it is possible to displace the suction apparatus on a frame in the x- and y-direction, but the frame itself projects above an (ought smaller) product to be lifted and is then in the way during transport urld IIIUSt be considered as extremely bulky.
With the solution according to the invention, it is important that I the suction cups can be arranged very quickly by hand so that the product to be lofted can always be grabbed in the center of gravity, regardless of its shape.
With glass plates of marble and other breakable products, it is imp portent to place the suction cups covering the surface without large spaces.
10 The operational cycle then commences again from the beginning.
. .
In order to ensure that the reduced pressure of the suction lifter does not breakdown if one of the paving sells should become detached from the suction bellows immediately after lifting a layer of sells, for example because of damage to its surface, a throttle point is provided which, by way of example, can be located within the cylinder 42 enclosed within the bellows 24 or else it may be located directly within the bellows 43 itself.
When! the throttle point is situated within an axially displaceable cylinder 42 (Figures 12 and 13) it is important to ensure that the throttle orifice 45 of the throttle point is at a distance from the lower end of the cylinder 42~ For example, the throttle orifice 45 can be located in a base plate 44 at a small distance from the bottom rim of the cylinder.
In the example of embodiment depicted in Pharaoh it, the throttle orifice 45 is located in a partition wall 46 made of the same material as the bellows itself.
As soon as ever an operationally-ready suction cup in accordance' Al ilk Figure 12 or 14 is applied to the object to be lifted which has an adequate suction s~riace area, the suction Force builds up below the throttle point 45 which is designated by Pi until it is sufficiently less than the pressure P of the surroundings. if the object to be lifted, designated as 30 in Figure 13, cannot be raised up, then the throttle orifice 45 ensures that the reduced pressure Pi within the cylinder 42, or within the bellows 43, as the case may be, is not suddenly released so that the increased pressure can gain almost unhindered access to the vacuum pump which would diminish the effectual operation of the rest of the suction bellows very considerably.
With the location of the base plate 44 ox the cylinder above the lower end of the cylinder, the necessary suction carrier cross-section, which is determined by the dimensions ox the cylinder, is completely preserved.
This signifies that the else is not subjected to stress by the weight of She product being lifted.
A similar situation occurs with the location of the throttle point in the region of the lower end of the bellows and thus in the immediate vicinity ox the product being lifted (Figure 14~. It is left to the fabricator, depending upon the forces to be transmitted and the material available for It the bellows, and upon the material used for producing the sealing-means for the closure of the lower end of the bellows, as to what region of the suction bellows the throttle point is to be located in.
The configuration of the sealing ring has a deciding influence upon regulated fulfillment of the function of the suction bellows. In the example lo depicted in Figure lo, the sealing ring is provided Vito three concentric lips 48 - 50 arranged one inside the other. The sealing lips have different heights and a conical Sirius configuration. In this way a particularly reliable sealing effect is achieved. During the lifting procedure the seating of the outermost sealing tip 48 comes into effect first of all. Because of the forces developed this is only subject to compression until the second sealing lip 49 comes into contact with the surface of the product being lifted and subsequently also the sealing lip 50, if the circumstances require it, comes into contact with the surface. Tilting sideways is prevented by the shape of the sealing lips. By configuring the lower end of the bellows in combination with a bearing flange 47b and a circumferential groove aye it is possible to detach the sealing ring 47 from the bellows without any difficulty and to replace it as soon as ever the severe stresses causes the effectiveness of the sealing lips to be diminished. Under these conditions the material of which the sealing ring is Fabricated can be considerably softer than the material for the bellows.
Because of the softness of the sealing--ing material it is possible for it to bridge over surface irregularities without disadvantage to the sealing of f cat.
according to the example of embodiment shown in Figure 15, the throttle point is at the entrance of the connection nozzle 29 Ion the bellows. For the sake of simplicity it is sufficient to have an orifice with the throttle cross-section in the wall ox the reduced-pressure collector chamber 22.
The important thing in the construction of the bellows is above all that its lower region should Dave a larger diameter as may be recognized at the position of the pleat So. In this way the necessary security is achieved so that the bellows always reacts First of elf to the pressure from she sealing side (mostly from below) with an angular movement followed by an axial displacement. The angular movement is thus initiated at the point 33 which is preprogrammed for this purpose and can also be recognized in the forms of embodiment depicted in Figures 11, 12 and 13. The pull . effect of this angular flexibility is only first Sully achieved in the forms of embodiment shown in Figures 14 and 15. Here it is simultaneously ensured that the total carrier cross-section of the sealing ring 47 comes into effect and any slipping sideuvays is avoided by a Lenin of the sealing lips. The construction of the bellows for the attainment of a particularly effectual angular movement Hereford acquires particular importance The suction shoe So (Figures 16 and 17) consists of a plate 52 on the - underside of Which there is a slat recessed area 53 to form a suction comber. The recess 53 is formed by the continuous heel 54 around the border of the plate 52. The recess 53 is connected with the suction bellows 56 by way of the apertures 55. Short connection sockets 57 which are provided with peripheral grooves 58 serve for fastening the suction bellows to the suction shoe, thus making possible a positively-loc~ed connection to the bellows-shaped suction cup. In addition to this, on the underside of the suction shoe, there is a peripheral rove 59 ton the accommodation of a sealing lip 60 fabricated from soft elastomeric material. The recessed chamber 53 in combination with the sealing lip 60 forms the complete suction chamber of the suction shoe.
A nozzle-like configuration of the apertures 55 is achieved by the chamfering 61 of the edges of the hole, so that there is an additional reduction of pressure in their vicinity with an associated increase in the 3û carrying capacity.
From the overall representation it is easy to recognize that the intermediate space between the two suction bellows is almost completely involved in the suction effect and thus the effectual suction surface area is considerably increased without the necessity of incrcasin~ the performance of the vacuum pump.
In the embodiments according to Figures 18 to 22, elongated hollow carrier sections aye and 71b are connected together by means of a bridge-like connecting section 73 extending from one section to the other. The connecting section also has a hollow interior and has a connection socket I for vacuum which can continue via the connecting section into the interior of the carrier sections 7:Lss and 71b.
Tile ends of the connecting section are provided with a connecting ens 75 to makes it possible to fasten it to the carrier sections with screws.
compared wealth the Mullen portion of the connecting section, the connecting eye lo has for this purpose a greater wall thickness and a female thread. A damping screw 76 with a lever 77 engages the screw head through the connecting eye, making an additional tool for tightening or loosening unnecessary. An axial channel 78 and a transverse channel 79 pass through the screw. The vacuum can reach the hollow spaces in the carrier sections 71 through these channels. In the fastening area the carrier sections are welded at the upper and lower sides to ring flanges 80 and 81. The ring flanges have female threads for the engagement of the clamping screw 76 or for the screw projection 82 of a carrier ring 83 of the suction cup 84. Conventional screw seals 85 are located between the carrier rings and the connecting sections or the suction cups.
The bellows 86 of the suction cup I is fastened to the carrier ring 83 with the aid of a damping ring 87 such that it is adequately protected from b~slng pulled off by the weight of the product 88 to be lifted.
For slmpLlfled :LL:Lustratlon, only sections of the sllction lifter no sllowrl:Lrl Figure l. After the suction lifter is placed on the product 88 to be LLftcscl, the interior of the suction cup is hermetically sealed by the sea:L:Ltlg Lops 89. The vacuum can extend from the supply line via the vacuum connection socket 74, the connecting section 73 and via the channels 78 and 79 of the screw into the carrier sections aye and 71b. Through the collection via the sleeve-shaped screw projection 82 of the carrier ring 83, the vacuum necessary for lifting the product 88 to be lifted develops in the interior of the suction cup I By swiveling the carrier section, the required position of the suction cup, adjusted by lightening the clamping screw, can be fixed.
Througiil this, as is clearly illustrated particularly in Figures 20, 21 and 22,fld~ptfltloll to the parlous shapes of the product to be lifted it possible.
figure 20 shows for example, the adaptation of a plurality of Lo carrier sectiorls with associated connecting sections to the course of a specie tic concrete beam 90. The carrier sections are identified by reference numerals aye to 71d and the connecting sections are identified by reference numerals aye to 73c. With a zig-zag arrangement the possibility exists, for example, of picking up a large-area concrete piece 91 (plate). In the example shown connecting sections are provided as end pieces which make the use of suction cups with a lengthened connecting shaft necessary in order to compel-sate for the difference in height between a connecting section and a carrier section. For this purpose, the carrier ring 83 can be provided with a lengthen-Ed shaft in which the clamping screw 76 engages directly from above. In practice, however, the use of carrier sections as end pieces of a suction Lifter is armed for.
'the lifting of a large number of bricks or small-si~ed plates 92, to be LaLtl in bonded arrangement, is possible by means of a meandering con-E:Lgurfltlotl ox a corresponding number of connecting and carrier sections. By ideologue or leaving out a tow sections, an even larger or smaller number of bricks or p:Lflte elements call be picked up with the suction lifter.
Though not graphically illustrated, it is easy to imagine that the suction lifter can be positioned in a ring shape, for example, for lifting concrete rings. Such a versatile adaptation to specially designed products to be lifted is not possible with any of the hitherto known suction lifters since with these suction lifters it is possible to displace the suction apparatus on a frame in the x- and y-direction, but the frame itself projects above an (ought smaller) product to be lifted and is then in the way during transport urld IIIUSt be considered as extremely bulky.
With the solution according to the invention, it is important that I the suction cups can be arranged very quickly by hand so that the product to be lofted can always be grabbed in the center of gravity, regardless of its shape.
With glass plates of marble and other breakable products, it is imp portent to place the suction cups covering the surface without large spaces.
Claims (32)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. Self-propelled apparatus for lifting arrays of objects such as concrete, clinker brick and natural stone components of paving sets, comprising a mobile arm; a suction lifter including a support carried by said arm and a polygonal assembly of suction cups which depend from said support and each of which includes a bellows movable angularly and axially independently of the bellows of each other suction cup into engagement with an object of the array, said assembly having a plurality of lateral sides; direction-al jaws movably mounted on said support adjacent to all sides of the assembly of suction cups; and means for moving said jaws against the objects of the array which is to be lifted by said suction cups so that the jaws rearrange the objects of the array where the dis-tribution of objects deviates from a desired distribution and the jaws move away from the rearranged objects before the suction cups release the rearranged objects of the array.
2. The apparatus of claim 1, wherein said arm is a cantilever arm and said suction lifter further comprises a suction generating device, a manifold provided in said support and communicating with the bellows of said suction cups, means for connecting said device with said manifold, and a shutoff valve provided in said connecting means and operable to interrupt the connection between said mani-fold and said device.
3. The apparatus of claim 1, wherein each of said bellows has an outer end remote from said support and the turning points for angular movability of said bellows are adjacent to the respec-live outer ends.
4. The apparatus of claim 1, wherein each of said bellows is axially compressible to at least 50% of its original length.
5. The apparatus of claim 1, further comprising stabilizing elements on said bellows.
-- 6. The apparatus of claim 1 , wherein each of said bellows has an outer end remote from said support and each of said suction cups further comprises a sealing ring of soft elastomeric material provided on and located in the region of the outer end of the respective bellows.
-- 7. The apparatus of claim 6, wherein said bellows comprise a material which is stiffer than the material of said sealing rings.
-- 8. The apparatus of claim 1, wherein each of said bellows has a minimual internal cross-sectional are such that the effective suction cross-sectional area is ensured in each position of the bellows.
-- 9. The apparatus of claim 8, wherein each of said bellows has an inner end nearer to and an outer end remote from said support, the suction cross-sectional area of each bellows corresponding to the type of weight and each bellows having an attachment surface area which extends without constrictions from the inner to the outer end of the respective bellows.
--10. The apparatus of claim 1, wherein each of said bellows has an inner end adjacent to and an outer end remote from said support, and further comprising an axially shiftable cylinder in each of said bellows, the cross-sectional area of each of said cylinders corresponding to the suction cross-sectional area of the respective bellows and each of said cylinders having an end provided with a sealable opening and located at the inner end of the respective bellows.
--11. The apparatus of claim 1, wherein each of said bellows has a throttle.
--12. The apparatus of claim 11, wherein each of said throttles constitutes a constriction in the interior of the respective bellows.
--13. The apparatus of claim 1, wherein each of said bellows has an inner end adjacent to and an outer end remote from said support, each of said outer ends having a circumferential groove and each of said suction cups further comprising a sealing ring, each of said sealing rings comprising a relatively stiff portion which is received in the respective groove by snap action and at least one relatively soft annular sealing lip engageable with a component of a paving set.
--14. The apparatus of claim 13, wherein each of said sealing rings comprises several substantially concentric annular sealing lips having different heights.
--15. The apparatus of claim 14, wherein the sealing lips of each of said sealing rings include an outer lip and at least one inner lip surrounded by the respective outer lip, the height of said outer lips exceeding the height of the respective inner lips.
--16. The apparatus of claim 13 , wherein each of said sealing lips has a substantially conical cross-sectional outline.
--17. The apparatus of claim 1 , wherein each of said bellows has an inner end nearer to and an outer end more distant from said support, each of said bellows having a plurality of pleats having different diameters and including a maximum-diameter pleat adjacent to the respective outer end.
--18. The apparatus of claim 1, wherein each of said bellows has at least one wall portion of greater flexibility and at least one wall portion of lesser flexibility.
--19. The apparatus of claim 1 , wherein each of said bellows has an end which is remote from said support and further comprising suction chambers each connected to the outer ends of several bellows and arranged to contact and attract the components of a paving set.
--19. The apparatus of claim 1 , wherein each of said bellows has an end which is remote from said support and further comprising suction chambers each connected to the outer ends of several bellows and arranged to contact and attract the components of a paving set.
27
20. The apparatus of claim 19, wherein each of said suction chambers has a suction shoe and several nipples each connected to one of the respective bellows.
21. The apparatus of claim 19, wherein each of said chambers has a relatively small height and is provided with orifices which establish communi-cation with the interior of the respective bellows.
22. The apparatus of claim 19, wherein each of said chambers has a seal-ing lip which contains a soft elastomeric material and is arranged to contact the components of a paving set.
23. The apparatus according to claim 1, characterized in that the suction cups are fastened to a plurality of rotatingly connected hollow sections, the hollow interiors of which are connected to the vacuum pump and their positions being fixable to each other.
24. The apparatus according to claim 23, characterized in that the hollow interiors are connected to each other by channels.
25. The apparatus according to claim 24, characterized in that the connecting channels are arranged within clamping screws with which the hollow sections can be connected together and by which the angles between the sections are adjustable and fixable.
26. The apparatus according to claim 23, characterized in that at least two of the hollow sections are designed as carrier sections and are provided with suction cups, and that both carrier sections are connected by a bridge-like, hollow connecting section extending therebetween.
27. The apparatus according to claim 26, characterized in that connecting suction apparatus, having a greater wall thickness and female threads via which the sections are screwed together, is fastened to the ends of the hollow sections serving as connecting sections.
28. The apparatus according to claim 27, characterized in that the ends of the carrier sections are reinforced on both sides with ring flanges into which the clamping screws and the suction cups can be screwed.
29. The apparatus according to claim 28, characterized in that a carrier ring with a sleeve-shaped screw projection is disposed within the upper end of the bellows of a suction cup and is firmly connected to the bellows.
30. The apparatus according to claim 27, characterized in that the vacuum connections are disposed on the connecting sections.
31. The apparatus according to claim 30, characterized by a carrier rail having runners displaceable thereon and provided with carrier hooks for pick-ing up the hollow sections at selected points and for suspension from a hoist.
32. The apparatus according to claim 28, characterized in that the head of the clamping screw is provided with a hand lever.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP3500342.1 | 1985-01-08 | ||
| DE19853500342 DE3500342A1 (en) | 1985-01-08 | 1985-01-08 | Appliance for lifting and shifting material to be lifted |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1228497A true CA1228497A (en) | 1987-10-27 |
Family
ID=6259387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000499126A Expired CA1228497A (en) | 1985-01-08 | 1986-01-07 | Self-propelled equipment for the laying of transportable normal concrete components and liftable products |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA1228497A (en) |
| DE (1) | DE3500342A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139985A (en) * | 2014-07-22 | 2014-11-12 | 程永科 | Robot green brick stacking method for wall material production and special vacuum suction cup |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839117A (en) * | 1988-02-08 | 1989-06-13 | Davidson Textron Inc. | Method and apparatus for forming a composite foam shell and insert article |
| EP0585508A1 (en) * | 1992-09-03 | 1994-03-09 | SAPRI S.p.A. | A device for gripping sheet-like workpieces |
| DE4303944C2 (en) * | 1993-02-10 | 1997-04-10 | Probst Greif Foerdertech | Lifting device, in particular for laying curbs, paving slabs and the like |
| IT1267490B1 (en) * | 1994-11-09 | 1997-02-05 | Sapim Amada Spa | DEVICE FOR GRIPPING AND HANDLING OF PIECES OF MATERIAL IN SHEET AND MANIPULATOR OF PIECES OF MATERIAL IN SHEET INCLUDING THIS |
| DE4442137C2 (en) * | 1994-11-26 | 1997-04-03 | Herbert Gegenheimer | Modularly expandable, three-dimensionally adjustable device with grippers |
| FR2747660B1 (en) * | 1996-04-19 | 1998-06-26 | Applic Procedes Electronique | DEVICE FOR SEIZING AND HANDLING LOADS |
| WO2007079751A1 (en) | 2006-01-09 | 2007-07-19 | Scanvaegt International A/S | Method and a system for transferring of items |
| EP2987605B1 (en) * | 2014-08-20 | 2017-10-25 | Krones AG | Transport system and method for the transport of plastic containers |
| CN105544361B (en) * | 2016-02-04 | 2017-11-03 | 蚌埠市神舟机械有限公司 | A kind of holding device for assembling platform on road surfacing car |
| ITUB20159222A1 (en) * | 2016-03-07 | 2017-09-07 | Abratech S R L | MODULAR SUCTION CUP WITH INTEGRATED GRIP FOR GRAFT AND / OR LAPID MATERIAL AND RELATIVE SOCKET SYSTEM WITH MODULAR SUCTION CUPS WITH INTEGRATED CONNECTION, WITH VARIABLE GEOMETRY COMPOSITION, FOR WORKING GLASS SHEETS AND / OR STONE MATERIAL OF REGULAR AND IRREGULAR FORM, IN A REMOVAL AND CUTTING MACHINE WORK CENTER WITH NUMERICAL CONTROL. |
| CN111846955A (en) * | 2020-08-04 | 2020-10-30 | 淮阴师范学院 | Mechanical arm with automatic slicing function |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2390242A (en) * | 1945-03-01 | 1945-12-04 | H M Seippel | Article transferring apparatus |
| DE2835921C3 (en) * | 1978-08-16 | 1981-02-12 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Vacuum gripper |
| DE3324441C2 (en) * | 1983-04-08 | 1986-12-18 | Reinhard Dipl.-Ing. 3070 Nienburg Göpfert | Self-propelled device for moving items to be lifted |
-
1985
- 1985-01-08 DE DE19853500342 patent/DE3500342A1/en active Granted
-
1986
- 1986-01-07 CA CA000499126A patent/CA1228497A/en not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139985A (en) * | 2014-07-22 | 2014-11-12 | 程永科 | Robot green brick stacking method for wall material production and special vacuum suction cup |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3500342A1 (en) | 1986-07-10 |
| DE3500342C2 (en) | 1987-03-19 |
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| MKEX | Expiry |