EP3935001B1

EP3935001B1 - End effector

Info

Publication number: EP3935001B1
Application number: EP20716925.1A
Authority: EP
Inventors: Gianni Luciano MARCHETTA; Claudia MARCHETTA; Cerina MARCHETTA
Original assignee: Sagoma Group NV
Current assignee: Sagoma Group NV
Priority date: 2019-03-08
Filing date: 2020-03-09
Publication date: 2023-12-13
Anticipated expiration: 2040-03-09
Also published as: WO2020183339A2; EP3935001A2; BE1027105B1; WO2020183339A3; BE1027105A1

Description

TECHNICAL FIELD OF THE INVENTION

The invention relates to a pneumatic construction crane by means of which a load can be manipulated weightlessly. To the extent that such construction cranes are already sufficiently known, 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.

BACKGROUND OF THE INVENTION

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. For example, 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. For example, 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.
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.

SUMMARY OF THE INVENTION

Initially, the present invention relates to a pneumatic end effector for manipulating a load with a pneumatic construction crane comprising:

A pneumatic control and
A mechanical grabbing arm where

In contrast to the customary end effectors relating only to the elements necessary for the manipulation of the load, 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. In this end effector, the grabbing arm is fully mechanically operated using the control levers on the vertically oriented handle.
For example, in an implementing form, 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.
In another implementing form, 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. Just like the zero-point control, it is an advantage for the user to be able to set the counterweight (counterpressure) for a load directly on the end effector. In the implementing form shown, 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. By also moving the control knobs to the end effector, 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.
In a further implementing form, the pneumatic control even contains a second full-load control for setting the counterweight (counterpressure) for a second load. This occurs, for example, in the end effector shown in the figures of this request. In the example, 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. Once again, it is an advantage that this arrangement and associated control switches are made available on the end effector, to be directly accessible for the user at the workstation. This clearly increases the productivity and flexibility of the pneumatic construction crane on a worksite. It is therefore also an implementing form of the pneumatic end effector as described herein, in which 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).
As has already been indicated above, it is a characteristic of the end effector of the present invention that the pneumatic control does not relate to the mechanical grabbing arm, which is operated purely mechanically manually via the control lever(s). In a specific implementing form, and as the figures show, 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). 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.
Often the user has easy access to the control switches for the pneumatic control of the full-load control when picking up the load, but no longer when placing the load. So in most cases it suffices that the additional switch on the handle is a switch for switching off the pneumatic control of the full-load control.
Insofar as the grabbing arm and the pneumatic control of the end effector can be disconnected, it must also be possible to disconnect the additional switch in these implementing forms. This is possible, for example, because the switch that is pneumatically connected to the pneumatic control of the handle is removable. Alternatively, 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.
In a preferred form, 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. By means of 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. 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. Therefore, in an implementing form of a pneumatic end effector according to the invention, 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. In an example shown here, the (double) scissors are manipulated via the control levers using two symmetrically positioned bars.
In addition to the vertically oriented handle on the mechanical grabbing arm, 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. To further improve the ergonomics of the end effector, 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. In an implementing form of the pneumatic end effector according to the invention, 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. In particular, the load is one or two building blocks. Especially with this application, it may be an advantage that 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. For example, with building blocks where the grabbing elements must be centred in relation to the building block to fit into the central openings in the building block. So in an implementing form of the invention, 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.
In a specific implementing form, 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. In this case, the support points will therefore also be fitted with spacers; preferably spacers that can shift vertically in relation to the support point. 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. With reference to the enclosed figures, in a specific implementing form, the spacers (31) can move up and down freely in containers (30) in which they were suspended, e.g. they slide upwards if the lateral support point (27) is placed on the ground when picking up a building block (25) in order to make the bottom edge of the building block equal to the bottom of the support point. When releasing the load, 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.

BRIEF DESCRIPTION OF THE FIGURES

With specific reference to the figures, it must be emphasised that the specifics shown serve only as examples and for the purposes of illustrating the discussion of the various implementation forms of the invention under consideration. They are being proposed with the aim of furnishing what is regarded as the most useful and instant description of the principles and conceptual aspects of the invention. No attempt has been made in this respect to show more structural details of the invention other than those necessary for a fundamental understanding of the invention. The description in combination with the figures clarify for experts in the field how the various forms of the invention can be executed in practice.

BILL OF MATERIALS - FIGURES

1.: Pneumatic end effector
2.: Pneumatic control
3.: Mechanical grabbing arm
4.: Mechanical grabbing arm coupling
5.: Vertical handle
6.: Control lever vertical handle
6a.: Control lever vertical handle top
6b.: Control lever vertical handle bottom
8.: Suspension axle vertical handle
9.: Adjustment mechanism suspension vertical handle
10.: Mechanical transmission control lever(s)
10a.: Transmission rod adjustment mechanism
10b.: Symmetrically arranged adjustable transmission rods
11.: Scissor mechanism
12.: Scissor mechanism head
13.: Closing spring for the closing mechanism
14.: Bottom of the scissor mechanism
15.: Adjustable grabbing elements
15a.: Adjustable finger-shaped grabbing elements
16.: Pneumatic control off switch for full-load control
16a.: Pneumatic control off switch on the vertical handle
16b.: Pneumatic control off switch on the horizontal handle
17.: Pneumatic connecting hoses
18.: Pneumatic couplings
19.: Zero-point control
20.: Full-load control
20a.: Full-load control for first load
20b.: Full-load control for second load
21.: Control switch for activating/deactivating the brakes
22.: Full-load control manometer
23.: Horizontal handle
23a.: U-shaped horizontal handle
24.: Pneumatic control on switch for full-load control
24a.: Pneumatic control on switch for the first load
24b.: Pneumatic control on switch for the second load
25.: Load
25a.: Single (first) load (building block)
25b.: Double (second) load (building blocks)
26.: Central openings in a building block
27.: Lateral support point
28.: Vertically adjustable suspension axle for lateral support point
29.: Horizontally adjustable suspension axle for lateral support point
30.: Suspension spacer(s)
31.: Spacer(s)

Fig. 1 : Perspective side view of a grabbing arm according to the invention
Fig. 2 : Rear view of a grabbing arm according to the invention
Fig. 3 : Perspective front view of an end effector according to the invention
Fig. 4 : Perspective overhead view of the grabbing arm loaded with a single building block
Fig. 5 : Perspective front view of an end effector according to the invention loaded with two building blocks.

DETAILED DESCRIPTION

The following description in combination with the figures makes clear to experts in the field how, by way of example, the method of the invention can be executed in practice.
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).
These figures 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. As explained below, and in particular in the presence of a lateral support point (27) for the load on the vertically positioned handle, it is preferable for 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. By placing the handle at 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.
In the implementing form shown, 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. Two bars on either side of the grabbing arm (10b) provide a symmetrical transfer of the manipulation from a lever to the grabbing arm. In the example shown here, 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.
In the implementing form shown here, 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. As a result, 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. When the lever is opened, the head of the scissors (12) is pulled upwards and the scissors close. In the implementing form shown here, 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.
In figure 3 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. We also see 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). On the left side to switch on the counterweights for the full-load controls (24a, 24b), on the right side with a push button (16b) to switch off the counterweights for the full-load controls. 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. Once the zero-point and full-loads have been set on the pneumatic control, a control that is directly accessible to the user at the load, the end effector can be easily operated using the two handles, with two operational zones within the plane of the grabbing arm. A first zone is located at the top of the grabbing arm and below the pneumatic control, which is also referred to hereafter as the centre console. This zone comprises on the sides the switches on the horizontal U-shaped handle of the pneumatic control (24a, 24b, 16b) and centrally one of the control levers (6a) of the vertical handle on the mechanical grabbing arm. In the implementing form shown in figure 5, on the horizontal U-shaped handle of the pneumatic control on the left, there are two switches for switching on (24a, 24b) the pneumatic control of the first and second full-load control respectively, and on the right a switch (16b) for switching off the pneumatic control of the full-load control. A second zone is located at the bottom of the plane, also called lower console, of the grabbing arm and centrally comprises one of the control levers (6b) of the vertical handle on the mechanical grabbing arm, as well as the additional switch (16a) for switching off the counterweights for the full-load controls.
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. Here too, 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.
In figure 6, the handle is also fitted with a support point (27) that is pushed sideways against the building block at the bottom of it (25). In the implementing form shown here, 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. In addition to a vertical adjustment, 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. Moreover, in the case of the building blocks, this means that only the front edge of the blocks first makes contact with the blocks that have already been placed. As a result there is no immediate, full contact with the mortar present, which facilitates the quick repositioning of the blocks.
This end effector is provided with full-load controls and the aforementioned handles and therefore:

1. Adjustable for different types of blocks. In our case, for example, 9 and 14 cm and 19 cm wide.
2. Horizontally operable when lifting and unloading.
3. Vertically operable at the bottom for unloading and at the top for lifting and unloading.

The possibility of unloading and clamping at the bottom occurs, for example, if you are on a scaffold 1.40 m high and the blocks are stacked below, then it is easy to drop the grabbing arm from the scaffold into the holes of the block with the top control lever on the vertical handle.
Additional operating convenience is then obtained if 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). Thus, in an additional implementing form according to the invention, 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).
The possibility of being able to unload on the top occurs when you are standing on the concrete deck and you want to place a last row of blocks on e.g. 1.60 metres height with the machine, then it becomes difficult to get to the horizontal U-shaped handle. For this reason the vertical handle can be used where a release button is located to release the clamp in the block and use the handle to lift it upwards to still lift the clamp out of the block.
The practical manipulation can then be listed as follows, with control from the centre console, from the bottom console or a combination of both.

Control from the centre console

1. Retract the control lever on the vertical handle at the top until the grabbing arm's scissors open.
2. Put the fingers of the grabbing arm into the holes of the blocks.
3. With the left hand weight selector, select 1 or 2 blocks on the horizontal U-shaped handle. This automatically gives the block the same counterweight, making it appear weightless.
4. The block(s) can now be manipulated.
5. Lowering of the load if the two spacers hit the lower block together and level.
6. With the right hand, press the weight switch-off button on the horizontal U-shaped handle, which deactivates weightlessness and automatically shifts the grabbing arm into loose position in the holes of the block.
7. Retract the control lever on the vertical handle at the top until the scissors of the grabbing arm open and the fingers can be taken out of the holes of the blocks.
8. Ready for new action.

Control from the centre and bottom console

1. Retract the control lever on the vertical handle at the top until the grabbing arm's scissors open.
2. Put the fingers of the grabbing arm into the holes of the blocks.
3. With the left hand weight selector, select 1 or 2 blocks on the horizontal U-shaped handle. This automatically gives the block the same counterweight, making it appear weightless.
4. Now you can manipulate the block(s) in height by using the vertical handle using the bottom handle.
5. Lowering of the load if the two spacers hit the lower block together and level.
6. Press the weight switch-off button on the vertical handle at the bottom, thereby deactivating the weightlessness and automatically placing the grabbing clamp in the loose position in the holes of the block.
7. Retract the control lever on the vertical handle at the bottom until the clamp opens and the fingers can be taken out of the holes of the blocks.
8. Ready for new action.

Claims

A pneumatic end effector (1) for the manipulation of a load (25) with a pneumatic construction crane comprising:
a. A pneumatic control (2) and

b. A mechanical grabbing arm (3) characterised in that;
the mechanical grabbing arm is fitted with a vertically oriented handle (5) with a control lever for opening and closing the mechanical grabbing arm above (6a) and below (6b).
A pneumatic end effector according to claim 1, where the pneumatic control comprises at least one full-load control (20) and at least one switch for respectively switching on (24) and switching off (16) the pneumatic control of the full-load control.
A pneumatic end effector according to claim 1, where the handle is also fitted with a switch (16b) for switching off the pneumatic control of the full-load control.
The pneumatic end effector according to claim 3, where 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 (18).
The pneumatic end effector according to claim 1, where the mechanical grabbing arm comprises a scissor mechanism (11), characterized in that the scissors at one end (14) are fitted with interchangeable and adjustable grabbing elements (15) and at the other end (12) are manipulated using the control levers on the vertically oriented handle (5).
The pneumatic end effector according to claim 5, in which the scissors are manipulated by means of two symmetrically set-up bars (10b) via the control levers.
The pneumatic end effector according to one of the previous claims in which the pneumatic control contains a horizontally oriented handle (23); preferably extending over the working width of the mechanical grabbing arm.
The pneumatic end effector according to claim 2, where the handle is fitted with at least one switch for the respective switching on (24) and off (16) of the pneumatic control of the full-load control.
The pneumatic end effector according to one of the previous claims whereby the pneumatic control is further provided with a zero-point control (19).
The pneumatic end effector according to one of the previous claims, where the handle of the grabbing arm is fitted with a lateral support point (27) for the load.
The pneumatic end effector according to claim 10, where the lateral support point is adjustable; more particularly adjustable according to the height and width of the load.
The pneumatic end effector according to claims 10 or 11, where the lateral support point supports the load at the bottom.
The pneumatic end effector according to claims 10 to 12, where the support point is fitted with a spacer (31).
The pneumatic end effector according to claim 13, where the spacer can be moved vertically in relation to the support point.
The pneumatic end effector according to claims 13 or 14, where the spacer passes through the bottom edge of the load when lifting the load.