EP3935001B1 - Endeffektor - Google Patents

Endeffektor Download PDF

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Publication number
EP3935001B1
EP3935001B1 EP20716925.1A EP20716925A EP3935001B1 EP 3935001 B1 EP3935001 B1 EP 3935001B1 EP 20716925 A EP20716925 A EP 20716925A EP 3935001 B1 EP3935001 B1 EP 3935001B1
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EP
European Patent Office
Prior art keywords
pneumatic
control
load
end effector
handle
Prior art date
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Active
Application number
EP20716925.1A
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English (en)
French (fr)
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EP3935001A2 (de
Inventor
Gianni Luciano MARCHETTA
Claudia MARCHETTA
Cerina MARCHETTA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sagoma Group NV
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Sagoma Group NV
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Publication date
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Publication of EP3935001A2 publication Critical patent/EP3935001A2/de
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Publication of EP3935001B1 publication Critical patent/EP3935001B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C1/10—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 mechanical means
    • B66C1/62—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 mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—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 mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof

Definitions

  • the invention relates to a pneumatic construction crane by means of which a load can be manipulated weightlessly.
  • the present invention relates to an end effector or manipulator for use with such pneumatic construction cranes and in particular developed to manipulate one or more building blocks.
  • Lifting devices for lifting heavy loads are known in technology.
  • One type of lifting device is the hoist or crane that is able to lift loads vertically by means of cables, chains, ropes or the like. With such a traditional lifting device it is not possible to position an object in a rigid (fully controlled position of the load in the three-dimensional space) manner in the three-dimensional space.
  • the pneumatic manipulator is another type of lifting device that allows both heavy objects to be lifted and objects to be rigidly positioned in a three-dimensional space.
  • pneumatically assisted and manually operated manipulators are generally used (as described for example in CA2594269 or JP2016 155186 ).
  • Document JP 2016 155186 discloses the preamble of claim 1. These manipulators typically consist of an arm extending outwardly in a substantially horizontal direction from a mast about which it is allowed to rotate and also permitting it to pivot pneumatically supported via a lift cylinder in a generally vertical direction.
  • the arm may include one or more extension members positioned serially from one end of the arm distal to the mast which is similarly allowed to rotate and/or turn.
  • This arrangement allows the positioning of the distal end of the arm or extension element in a desired location in a three-dimensional space.
  • An end effector is an attachment that is linked to the distal end of the arm or extension element and is adapted for the manipulation of a desired object or for the execution of a specific task.
  • an end effector can contain clamping devices, gripping devices, magnetic devices or similar devices that are formed and/or dimensioned to attach a desired object that must be positioned.
  • the manipulator When placing building blocks, the manipulator is confronted with the use of the existing end effectors that they do not have the required flexibility to, for example, manipulate loads with differences in shape, differences in weight, differences in material with one and the same end effector.
  • the purpose of this invention is therefore to supply an end effector that meets the aforementioned flaws and is generally deployable for the manipulation of one or more building blocks.
  • the present invention relates to a pneumatic end effector for manipulating a load with a pneumatic construction crane comprising:
  • the end effector as described herein is also provided with the pneumatic control, which is characterised by the fact that this control only relates to the pneumatic settings of the pneumatic construction crane, but does not relate to elements of the grabbing arm necessary for the manipulation of the load.
  • the grabbing arm is fully mechanically operated using the control levers on the vertically oriented handle.
  • the pneumatic control of the end effector according to the invention is provided with a zero-point control.
  • This regulation sets the pneumatic counterweight (counterpressure) for the unloaded end effector.
  • This zero-point control is typically located somewhere on the pneumatic construction crane. By moving this to a pneumatic control that is part of the end effector, it is much easier for the user to set it because he or she has direct access to it from his or her workstation.
  • the setting of the zero-point can be done manually or automatically.
  • the pneumatic control of the end effector is provided with at least one full-load control and at least one switch for switching on and off the pneumatic control of this full-load control respectively.
  • the counterweight is set manually by means of a rotary knob (20a, 20b, but this can also be done automatically as known to the professional. With variable loads, the counterweight of the load can then simply be adjusted from the workstation without having to make adjustments on the pneumatic construction crane.
  • the pneumatic control of the construction crane can be done from the workstation, especially if the pneumatic control includes both the zero-point control for the unloaded end effector and a full-load control for the weight to be lifted.
  • the pneumatic control even contains a second full-load control for setting the counterweight (counterpressure) for a second load.
  • the grabbing arm can bear one or two loads respectively (in the example building blocks), so respectively the single load (first full-load control) or the double load (second full-load control) must be activated.
  • the pneumatic control contains two full-load controls for a first and a second load, respectively. Therefore, in a further implementing form, the pneumatic control is fitted with: - one switch for switching on the pneumatic control of the first full-load control; - one switch for switching on the pneumatic control of the second full-load control; and one switch for switching off the pneumatic control of the full-load control(s).
  • the pneumatic control does not relate to the mechanical grabbing arm, which is operated purely mechanically manually via the control lever(s).
  • the pneumatic control and mechanical grabbing arm of the end effector can be disconnected according to the invention.
  • a characteristic of the pneumatic end effector according to the invention is that the grabbing arm is fitted with a vertically oriented handle. Vertically corresponds to the longitudinal axis of the mechanical grabbing arm. Because of this orientation, the grabbing arm can be operated both from above (e.g. standing above the level where the load must be placed) and from below (e.g. standing below the level where the load must be placed).
  • the handle By also providing the handle with a switch for switching on and/or off the pneumatic control of the full-load control, the user-friendliness is increased in the above-mentioned situations, where there is not necessarily easy access to the higher control switches for the pneumatic control of the full-load control.
  • the switch that is pneumatically connected to the pneumatic control of the handle is removable.
  • the switch with a pneumatic coupling preferably a quick coupling, is connected to the control and can be disconnected at this point. It is therefore also an implementing form for the end effector according to the invention whereby the switch for switching off the pneumatic control of the full-load control is connected to the pneumatic control by means of a pneumatic coupling.
  • the invention relates in the first instance to the fact that in the end effector the pneumatic control of the pneumatic construction crane on the one hand and the mechanical manipulator of the load on the other are brought together to the workstation of the manipulator of the load. Therefore, the type of grabbing device that is present for the load does not immediately matter as long as it can be manipulated using a vertically arranged handle and associated control levers to meet the above-mentioned situations.
  • the mechanical grabbing arm of the end effector comprises a scissor mechanism, more specifically a double scissor mechanism.
  • the scissors shall preferably be configured in such a way that the scissors are closed in unloaded state.
  • the control lever(s) on the handle the scissors are then opened purely mechanically and the grabbing elements of the grabbing arm can be placed in or over the load to be manipulated.
  • the scissors When unloading the control lever(s), the scissors shall close and secure the load using the grabbing elements.
  • These grabbing elements can be interchangeable and adjustable.
  • the scissors of the mechanical grabbing arm at one end are fitted with interchangeable and adjustable grabbing elements; in particular finger-shaped grabbing elements; and are manipulated at the other end using the control levers.
  • the professional is aware of the mechanical transmissions that are possible to operate the grabbing arm using the control levers on the handle.
  • the (double) scissors are manipulated via the control levers using two symmetrically positioned bars.
  • the pneumatic control can also be fitted with a handle.
  • This handle is best oriented horizontally and preferably extends over the working width of the mechanical grabbing arm.
  • the presence of a horizontal handle simplifies the lateral positioning of the load, especially if this handle is U-shaped, allowing manipulation on both sides of the movement surface of the load.
  • the aforementioned switches for switching on and/or off the pneumatic control of the full-load control will be placed on this horizontal handle, preferably on the legs of the U-shaped handle.
  • the horizontal handle shall be fitted with at least one switch for switching the pneumatic control on and/or off, respectively.
  • the pneumatic end effector as described above in various implementing forms has been developed, in particular, for the manipulation of a load where the load is a building block.
  • the load is one or two building blocks.
  • the pneumatic end effector also supports the building block laterally.
  • This support is best placed on the handle of the grabbing arm.
  • the support point will not only support the load, it also contributes to positioning the grabbing elements in relation to the load.
  • the handle of the grabbing arm is fitted with a lateral support point for load. It follows indirectly from the above that this support point can preferably be adjusted to achieve the desired support/positioning depending on the load; more specifically, it can be adjusted according to the height and width of the load.
  • the lateral support point shall support the load at the bottom.
  • This is mainly suitable for building elements where the support points can also serve as spacers when placing the building elements on each other.
  • the support points will therefore also be fitted with spacers; preferably spacers that can shift vertically in relation to the support point.
  • the spacers When lifting the load, the spacers must pass through the bottom edge of the load. In this configuration they create a stop when the building elements are placed on each other.
  • the spacers (31) can move up and down freely in containers (30) in which they were suspended, e.g.
  • the spacers will then come down freely and, in view of the previous alignment, pass through the bottom edge of the load to form a stop when the building blocks are placed on each other.
  • Figures 1 and 2 show a perspective side view and a rear view of a mechanical grabbing arm (3) for an end effector (1) respectively according to the invention. It shows that in a preferred form the grabbing arm itself can be detached from the pneumatic top control (control box) (2). This allows a different grabbing arm to be applied for a different load (building block) (25). It also allows the control to be disconnected and stored for protection because this is worth almost half the value of the entire machine. Since the grabbing arm runs completely mechanically and independently of the pneumatic control, the coupling (4) is a simple mechanical coupling, in this a suspension by means of a bolt or pin (7).
  • FIGS. 1-10 also clearly show the vertically oriented handle (5) with a control lever (6a, 6b) at both ends.
  • Vertical as already indicated above, thus corresponds to the longitudinal direction of the grabbing arm, and more or less parallel to the plane in which the grabbing arm is located.
  • the handle shall be suspended from a shaft (8) set up perpendicularly (in relation to the grabbing arm) and can be positioned on it so as to adjust the distance between the handle and the grabbing arm according to the width of the load.
  • the vertical handle not only to move laterally (9) to the above-mentioned plane, but also for the suspension to allow the handle to be placed at a closing angle with the above-mentioned plane.
  • a closing angle e.g. up to 20 degrees, the support point is pressed against the load, which ensures increased stability of the load during manipulation.
  • the control levers are connected to the grabbing arm by means of bars (10), preferably fitted with adjustment devices (10a) (e.g. adjusting nuts), for carrying the manipulative movement.
  • adjustment devices (10a) e.g. adjusting nuts
  • Two bars on either side of the grabbing arm (10b) provide a symmetrical transfer of the manipulation from a lever to the grabbing arm.
  • the grabbing arm comprises a scissor mechanism (11) with on one side adjustable and detachable grabbing elements (15). These are finger-shaped grabbing elements (15a), but these can also be plate-shaped, flat or bent. Because these grabbing elements are adjustable and detachable, the grabbing arm shown here can be used extensively for a wide variability of loads to be manipulated.
  • the finger-shaped grabbing elements can be used, for example, for lifting building blocks where the fingers fit in the central holes (26), which are usually found with building blocks. In this way, they will also not hinder the deployment of the end effector in brickwork.
  • the control levers are connected to the grabbing arm in such a way that when a lever is closed, the two symmetrically set bars (10b) are pulled towards the handle.
  • the head of the scissor mechanism is pushed downwards and the scissor opens at the bottom (14), i.e. the arms on which the grabbing elements are located move away from each other, the distance between the grabbing elements increases.
  • What is also clearly visible in the figures is how the scissor mechanism will ensure that the grabbing elements are angled towards each other when closing, which enhances the clamping of the load.
  • the lever is opened, the head of the scissors (12) is pulled upwards and the scissors close.
  • the grabbing arm is configured in such a way that a (closing) spring (13) on the head of the scissors pulls it and the handle must be operated to push the scissors open. Or when operating the scissors are pushed open, the open grabbing elements are inserted in or over the load, the handle is released so that the scissors are pulled shut via the spring and the grabbing elements close.
  • the grabbing arm is suspended from the pneumatic control, which is here provided with a zero-point control (19) and two full-load controls (20a, 20b); in the implementing form shown here these controls can be set mechanically manually, it will be clear to the professional that these controls can also be set automatically.
  • a control switch (21) for switching on/off a brake on the movement arm of the pneumatic construction crane on which this end effector is suspended The pneumatic control as shown here also contains a U-shaped horizontally oriented handle (23) that includes the grabbing arm, so to speak, i.e. it extends laterally over the working width of the mechanical grabbing arm. This U-shaped arm is fitted with push buttons on both sides (16b, 24a, 24b).
  • a corresponding push button (16a) can also be found at the lowest control lever on the vertical handle of the pneumatic grabbing arm.
  • Figure 5 shows how the crossed arrangement of the controls ensures that the end effector shown here is ergonomic for the user with time saved during execution.
  • the centre console When picking up the load, the user always works from the centre console.
  • the lower console will be used to place the load if the user does not have direct access to the centre console.
  • the centre console can therefore be used for both lifting and placing.
  • the end effector as shown here is particularly developed for the placing of building blocks or for the lifting of one ( figure 4 ) or two ( figure 5 ) building blocks, respectively.
  • the centrally and vertically oriented handle ensures easy operation. Because of its central orientation to the plane in which the mechanical grabbing arm is located, the vertical handle also visually indicates the centre for the user, which helps position the grabbing arm in relation to the loads to be manipulated.
  • the handle is also fitted with a support point (27) that is pushed sideways against the building block at the bottom of it (25).
  • this support point is suspended on a shaft (28), which can slide in the vertical handle to adjust the position of the support point according to the height of the load.
  • the support point is also horizontally adjustable by a horizontally adjustable suspension axle (29), which is connected to the vertical suspension axle or the vertical handle. With this horizontal suspension the support point can be pressed against the load so that it is suspended at an angle, e.g. up to 20 degrees. As a result, the building block is clamped more and therefore more stable in the grabbing arm.
  • the vertical handle (5) can also be adjusted in length to bridge larger height differences and/or fitted with switch buttons (16, 24) for the pneumatic control at the top control lever on the handle (5).
  • the vertical handle (5) is adjustable in length and optionally fitted with a switch-off button (16) and/or a switch-on button (24) near the upper control lever on the handle (5).
  • the clamping on the block is preferably done with one of the two buttons to the left of the horizontal U-shaped handle. (In most situations, the vertical handle does not need its own unloading button at the top but it should have one at the bottom).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Jib Cranes (AREA)

Claims (15)

  1. Ein pneumatischer Endeffektor (1), um mit einem pneumatischen Baukran eine Last (25) manipulieren zu können, aufweisend:
    a. eine pneumatische Steuerung (2) und
    b. einen mechanischen Greifarm (3), dadurch gekennzeichnet, dass der mechanische Greifarm zum Öffnen und Schließen des mechanischen Greifarms oben (6a) und unten (6b) mit einem einen Steuerhebel aufweisenden vertikal ausgerichteten Griff (5) versehen ist.
  2. Ein pneumatischer Endeffektor nach Anspruch 1, wobei die pneumatische Steuerung zumindest eine Volllaststeuerung (20) und zum Ein- (24) bzw. Ausschalten (16) der pneumatischen Steuerung der Volllaststeuerung zumindest einen Schalter aufweist.
  3. Ein pneumatischer Endeffektor nach Anspruch 1, wobei der Griff, zum Abschalten der pneumatischen Steuerung der Volllaststeuerung, ebenfalls mit einem Schalter (16b) ausgestattet ist.
  4. Der pneumatische Endeffektor nach Anspruch 3, wobei der Schalter zum Abschalten der pneumatischen Steuerung der Volllaststeuerung mit der pneumatischen Steuerung über eine pneumatische Kupplung (18) verbunden ist.
  5. Der pneumatische Endeffektor nach Anspruch 1, wobei der mechanische Greifarm einen Scherenmechanismus (11) aufweist, dadurch gekennzeichnet, dass die Schere an einem Ende (14) mit austauschbaren und einstellbaren Greifelementen (15) ausgestattet ist und am anderen Ende (12) mit Hilfe von an dem vertikal ausgerichteten Griff (5) befindlichen Steuerhebeln betätigt werden kann.
  6. Der pneumatische Endeffektor nach Anspruch 5, bei dem die Schere über die Steuerhebel mit zwei symmetrisch angeordneten Aufstellbügeln (10b) betätigt wird.
  7. Der pneumatische Endeffektor nach einem der vorherigen Ansprüche, bei dem die pneumatische Steuerung einen horizontal ausgerichteten, sich vorzugsweise über die Arbeitsbreite des mechanischen Greifarms erstreckenden Griff (23) aufweist.
  8. Der pneumatische Endeffektor nach Anspruch 2, wobei der Griff zum jeweiligen Ein- (24) und Ausschalten (16) der pneumatischen Steuerung der Volllaststeuerung mit zumindest einem Schalter ausgestattet ist.
  9. Der pneumatische Endeffektor nach einem der vorherigen Ansprüche, wobei die pneumatische Steuerung ferner mit einer Nullpunktsteuerung (19) versehen ist.
  10. Der pneumatische Endeffektor nach einem der vorherigen Ansprüche, wobei der Griff des Greifarms mit einem seitlichen Abstützpunkt (27) für die Last versehen ist.
  11. Der pneumatische Endeffektor nach Anspruch 10, bei dem der seitliche Abstützpunkt einstellbar ist, insbesondere einstellbar in Abhängigkeit von der Höhe und Breite der Last.
  12. Der pneumatische Endeffektor nach Anspruch 10 oder 11, wobei der seitliche Abstützpunkt die Last am Boden abstützt.
  13. Der pneumatische Endeffektor nach einem der Ansprüche 10 bis 12, wobei der Abstützpunkt mit einem Distanzstück (31) versehen ist.
  14. Der pneumatische Endeffektor nach Anspruch 13, wobei das Distanzstück in Bezug auf den Abstützpunkt vertikal bewegt werden kann.
  15. Der pneumatische Endeffektor nach Anspruch 13 oder 14, wobei das Distanzstück beim Anheben der Last durch die Unterkante der Last verläuft.
EP20716925.1A 2019-03-08 2020-03-09 Endeffektor Active EP3935001B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BE20195146A BE1027105B1 (nl) 2019-03-08 2019-03-08 Eindeffector
PCT/IB2020/052015 WO2020183339A2 (en) 2019-03-08 2020-03-09 End effector

Publications (2)

Publication Number Publication Date
EP3935001A2 EP3935001A2 (de) 2022-01-12
EP3935001B1 true EP3935001B1 (de) 2023-12-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20716925.1A Active EP3935001B1 (de) 2019-03-08 2020-03-09 Endeffektor

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Country Link
EP (1) EP3935001B1 (de)
BE (1) BE1027105B1 (de)
WO (1) WO2020183339A2 (de)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2899831B1 (fr) * 2006-04-18 2008-07-04 Applic De Productivite Logisti Appareil de transport de charges a dispositif de prehension par effet ventouse
CA2594269C (en) 2007-07-10 2014-09-02 Givens Engineering Inc. Pneumatic multi-weight balancing device
JP4631881B2 (ja) * 2007-07-30 2011-02-16 トヨタ自動車株式会社 ワーク搬送装置
JP4475339B2 (ja) * 2008-02-26 2010-06-09 トヨタ自動車株式会社 パワーアシスト装置およびその制御方法
DE202011100044U1 (de) * 2011-04-29 2012-05-02 Bystronic Armatec Gmbh Handhabungsvorrichtung mit einer in vertikaler Richtung schwenkbaren Bedieneinheit für eine Glasplatte, insbesondere ein mehrlagiges Glaspaket
JP6535479B2 (ja) * 2015-02-23 2019-06-26 Ckd株式会社 把持装置、及び昇降助力装置

Also Published As

Publication number Publication date
WO2020183339A3 (en) 2020-11-26
EP3935001A2 (de) 2022-01-12
WO2020183339A2 (en) 2020-09-17
BE1027105B1 (nl) 2020-10-05
BE1027105A1 (nl) 2020-09-30

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