EP4673609A1 - Machine for the transport and placement of poles on the ground - Google Patents

Machine for the transport and placement of poles on the ground

Info

Publication number
EP4673609A1
EP4673609A1 EP24712949.7A EP24712949A EP4673609A1 EP 4673609 A1 EP4673609 A1 EP 4673609A1 EP 24712949 A EP24712949 A EP 24712949A EP 4673609 A1 EP4673609 A1 EP 4673609A1
Authority
EP
European Patent Office
Prior art keywords
machine
fact
poles
gripping
positioning
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.)
Pending
Application number
EP24712949.7A
Other languages
German (de)
French (fr)
Inventor
Sergio TASSINARI
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.)
Orteco SRL
Original Assignee
Orteco SRL
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Orteco SRL filed Critical Orteco SRL
Publication of EP4673609A1 publication Critical patent/EP4673609A1/en
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
    • E01F15/02—Continuous barriers extending along roads or between traffic lanes
    • E01F15/04—Continuous barriers extending along roads or between traffic lanes essentially made of longitudinal beams or rigid strips supported above ground at spaced points
    • E01F15/0484—Installing; Repairing; Adjusting
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
    • E04H12/347—Arrangements for setting poles in the ground

Definitions

  • the present invention relates to a machine for the transport and placement of poles on the ground.
  • poles to be driven into the ground to build supporting structures for additional components are well known in many industries. For example, such operations are carried out for the construction of photovoltaic plant fields, road safety structures (guard rails), fences, etc.
  • the poles are first placed on the ground in the proximity of predefined pole driving locations, then they are driven into the ground by means of special pole driving machines.
  • the positioning operations are carried out by means of traditional operator-driven motor vehicles such as trucks or the like.
  • the motor vehicle provided with the poles is driven by an operator to the driving location, and finally, the same operator picks up a predefined pole and places it in a respective placement area arranged in the proximity of the driving location.
  • the pole is picked up by means of gripping means, mounted on the motor vehicle itself or on additional machines, and operated by the operator.
  • the main aim of the present invention is to devise a machine for the transport and placement of poles on the ground which allows reducing the timing related to the placement of poles in the proximity of the relevant pole driving locations.
  • Another object of the present invention is to devise a machine for the transport and placement of poles on the ground which allows reducing the risk of human error and enable accurate pole placement.
  • a further object of the present invention is to devise a machine for the transport and placement of poles on the ground which also allows different types of poles to be properly placed in relevant different pole driving locations.
  • Another object of the present invention is to devise a machine for the transport and placement of poles on the ground which allows the aforementioned drawbacks of the prior art to be overcome within the framework of a simple, rational, easy and effective to use as well as affordable solution.
  • Figure 1 is an axonometric view of the machine according to the invention.
  • Figures 2-6 are axonometric views of the machine according to the invention at different stages of gripping and placement of a pole.
  • reference numeral 1 globally denotes a machine for the transport and placement of poles on the ground.
  • poles relates to bodies which have been elongated along relevant directions of development, made of metal material and intended to be driven in the ground by means of special pole driving machines.
  • the poles are intended for the construction of supporting structures for additional components.
  • the poles can be used for the construction of photovoltaic plant fields, road safety structures (guard rails), fences, etc.
  • the machine 1 comprises: at least one base frame 2; movement means 3 associated with the base frame 2 and adapted to move the machine 1 within a work area A; holding means 4 associated with the base frame 2 and adapted to hold and support a plurality of poles P intended to be placed where the relevant positioning areas Z are located in the work area A; self-driving means 5 operationally connected to the movement means 3 and configured to arrange the machine 1 where the positioning areas Z are located; at least one processing and control unit 6 configured to store a map of the positioning areas Z and to operate the self-driving means 5 depending on the map.
  • the machine 1 is automatically movable within the work area A and does not require to be driven by an operator.
  • positioning area means a zone of the work area A, which is arranged adjacent to a driving location of the pole P, on which the pole P lies resting on the ground. The positioning of the pole P in the positioning area Z promotes the subsequent pole driving operations.
  • the processing and control unit 6 is directly programmable with the map of the positioning areas Z.
  • the processing and control unit 6 is programmable with a map of the driving locations and is configured to process a corresponding map of the positioning areas Z.
  • the positioning area Z may be automatically determined by the processing and control unit 6, considering that one of the ends of the pole P placed on the ground must be in the proximity of and at a predefined distance from the driving location.
  • the self-driving means 5 comprise at least one tracking device operationally connected to the processing and control unit 6 and configured to detect the position of the machine 1 in the work area A.
  • the tracking device allows constantly determining the position of the machine 1 so that it can be moved by means of the self-driving means 5.
  • the tracking device is of the type of a satellite tracking device. It cannot, however, be ruled out that the tracking device may be of a different type.
  • the processing and control unit 6 is configured to store a predefined path in the work area A and to operate the self-driving means 5 depending on the predefined path.
  • the self-driving means 5 take action on the movement means 3 to displace the machine 1 within the work area A and to arrange it where the positioning areas Z are located.
  • the movement means 3 comprise a wheel or track system and allow the actual displacement of the machine 1 to the work area A to allow it to be properly positioned where the positioning area Z is located.
  • the self-driving means 5 also comprise presence detecting means 7 configured to detect the presence of obstacles in the work area A.
  • the presence detecting means 7 allow determining any obstacles present along the path during the movement of the machine 1.
  • the presence detecting means 7 are configured to generate a presence signal, while the processing and control unit 6 is configured to stop the movement means 3 depending on this signal.
  • processing and control unit 6 can also be configured to process a new path depending on the presence signal in order to avoid the obstacle.
  • the presence detecting means 7 allows making the movement of the machine 1 safer, especially when operators are present in the work area A.
  • the presence detecting means 7 are selected from the list comprising: infrared sensor, image capturing devices, distance sensors.
  • the presence detecting means 7 are arranged at multiple locations on the machine 1 so as to detect the presence of obstacles in the surrounding environment substantially 360°.
  • the holding means 4 are configured to hold the poles P substantially horizontally.
  • the poles P are arranged on the holding means 4 so that the relevant directions of development are substantially horizontal and parallel to each other.
  • the poles P are arranged side by side and arranged one on top of the other to define a plurality of rows and columns.
  • the holding means 4 comprise a substantially horizontal resting surface 8.
  • the holding means 4 also comprise retaining members 9, associated with the resting surface 8 and extending transversely thereto and configured to hold the poles P on the resting surface itself and prevent any transverse movement of the same poles.
  • the holding means 4 are associated with the base frame 2 in a removable manner.
  • the holding means 4 comprise at least one holding assembly defining a respective resting surface 8 and respective retaining members 9.
  • the holding assembly is loadable with the poles P and then transferable to the base frame 2 at a later time.
  • the machine 1 can also comprise a plurality of holding assemblies adapted to hold respective types of poles P which are different or the same.
  • the holding means 4 are locked together with the base frame 2.
  • the machine 1 also comprises automatic gripping and positioning means 10 associated with the base frame 2, operationally connected to the processing and control unit 6 and adapted to grasp one of the poles P and to position it where the relevant positioning area Z is located.
  • the automatic gripping and positioning means 10 are configured to automatically position the pole P where the positioning area Z is located. In other words, the automatic gripping and positioning means 10 do not require manual operation but are operated automatically through the processing and control unit 6.
  • the machine 1 is, therefore, configured to autonomously position itself in a positioning area Z and to automatically release the relevant pole P where the area itself is located.
  • the automatic gripping and positioning means 10 comprise: at least one gripping assembly 11 configured to grasp the pole P; and at least one positioning assembly 12 associated with the base frame 2, supporting the gripping assembly 11 and configured to move the latter to position the pole P.
  • the positioning assembly 12 is configured to move the gripping assembly 11 between: a gripping position, wherein it is moved close to the holding means 4 and is adapted to grasp the pole P; and at least one raising position, wherein it is moved away from the holding means 4; a release position, wherein it is arranged where the positioning area Z is located and is adapted to release the pole P.
  • the positioning assembly 12 comprises movement members 13, 14 configured to move the gripping assembly 11 between the gripping position, the raising position and the release position along at least a first substantially vertical direction DI and along a second substantially horizontal direction D2.
  • the positioning assembly 12 may be of a different type and comprise, e.g., an articulated arm.
  • the movement members 13, 14 comprise at least one displacement device 13 configured to move the gripping assembly 11 along the first direction D 1.
  • the displacement device 13 allows lifting/lowering the gripping assembly 11. Specifically, the displacement device 13 allows positioning the gripping assembly 11 in the gripping position and in the release position.
  • the displacement device 13 comprises a telescopic arm.
  • the displacement device 13 also comprises one or more motorized actuators.
  • the movement members 13, 14 also comprise at least one shifting device 14 configured to move the gripping assembly 11 along the second direction D2.
  • the shifting device 14 enables the horizontal movement of the gripping assembly 11 on top of the holding means 4.
  • the gripping assembly 11 is movable between a first raised position, wherein it is arranged on top of the holding means 4, where the pole P to be picked up is located, and a second raised position, wherein it is arranged beyond the holding means 4, on top of the positioning area Z.
  • the shifting device 14 is, therefore, adapted to move the gripping assembly 11 between the first raised position and the second raised position, while the displacement device 13 is adapted to move the gripping assembly 11 between the first raised position and the gripping position and between the second raised position and the release position.
  • the shifting device 14 comprises a telescopic arm.
  • the shifting device 14 also comprises one or more motorized actuators.
  • the gripping assembly 11 comprises at least one gripping device 15 adapted to retain the pole P during the movement.
  • the gripping assembly 11 comprises at least two gripping devices 15 arranged along a third direction D3 which is substantially horizontal and perpendicular to the second direction D2.
  • the poles P are, therefore, arranged on the holding means 4 and are parallel to the third direction D3.
  • the gripping assembly 11 comprises a supporting structure 16 associated with the positioning assembly 12 and extending along the third direction D3.
  • the gripping devices 15 are arranged at the ends of the supporting structure 16. In this way, the gripping assembly 11 is able to easily retain even those poles P provided with considerable length.
  • the gripping device 15 is of the magnetic type.
  • the poles P are made at least partly of ferromagnetic material.
  • the gripping device 15 of the magnetic type allows the pole P to be retained by magnetic interaction, avoiding the interactions with the adjacent poles P which could cause accidental displacement of the poles themselves.
  • the gripping device 15 of the magnetic type also allows the size of the gripping assembly 11 to be reduced and to facilitate the movement thereof.
  • the gripping device 15 is of the type of an electromagnet and can be electrically activated/deactivated.
  • the processing and control unit 6 is further configured to activate/deactivate the gripping device 15.
  • the machine 1 also comprises scanning means 19 associated with the base frame 2, operationally connected to the processing and control unit 6 and configured to detect at least one datum representative of the number of poles P and at least one datum of position of each of the poles P on the holding means 4.
  • the processing and control unit 6 is configured to process the datum of number of poles P and the datum of position of each of the poles P and to operate the automatic gripping and positioning means 10 depending on the aforementioned data.
  • the processing and control unit 6 determines the position of the poles P on the holding means 4 and allows them to be picked up by the automatic gripping and positioning means 10.
  • the scanning means 19 are configured to detect at least one datum representative of the type of the poles P. It should be specified in fact that, within the work area A, there may be a need to also place and, later, drive poles P of different types.
  • the poles P may differ in at least one of: shape, size, material, etc.
  • the data on the type of pole P and the positioning thereof on the holding means 4 are programmed in advance on the processing and control unit 6 by an operator.
  • the processing and control unit 6 is configured to store a predefined datum relating to the type of pole P for each of the positioning areas Z.
  • the processing and control unit 6 is programmed with the predefined data relating to the type of pole P to be placed in each of the positioning areas P.
  • the processing and control unit 6 is then configured to operate the automatic gripping and positioning means 10 depending on the datum of type and on the predefined datum.
  • the processing and control unit 6 is configured to store a predefined path in the work area A and to operate the self-driving means 5 depending on the predefined path.
  • the processing and control unit 6 can be configured to process a positioning path depending on the datum of type and on the predefined datum.
  • the processing and control unit 6 can be configured to process a faster and more efficient path depending on the position of the poles P on the holding means 4 and on the relevant type.
  • the scanning means 19 can also be configured to detect the number of rows of poles P and the number of columns of poles P.
  • the scanning means 19 are associated with the gripping assembly 11. In this case, during the movement of the gripping assembly 11, the scanning means 19 scan the poles P and detect the relevant data.
  • the scanning means 19 comprise at least one distance sensor.
  • the distance sensor is a laser sensor.
  • the scanning means 19 are, therefore, configured to detect the distance of the gripping assembly itself from the underlying poles P and are able to detect the profile thereof and consequently the type thereof.
  • the scanning means 19 can be attached to the base frame 2.
  • the scanning means 19 may also comprise at least one image capturing device.
  • the gripping assembly 11 comprises at least one distance sensor 17 configured to detect a datum of distance of the gripping device 15 from the holding means 4.
  • the distance sensor 17 is configured to detect the distance of the gripping device 15 from the pole P.
  • the distance sensor 17 is operationally connected to the processing and control unit 6 and allows precise movement of the gripping assembly along the first direction D 1.
  • the gripping assembly 11 may comprise a different system for the detection of the distance, e.g. a camera system.
  • the gripping assembly 11 also comprises at least one probing device 18, which is operationally connected to the processing and control unit 6 and adapted to detect the presence of the pole P.
  • the probing device 18 When positioning towards the gripping position, the probing device 18 is adapted to contact the pole P and to detect the actual presence thereof.
  • the processing and control unit 6 operates the automatic gripping and positioning means 10 only in the event of the pole P being actually present at the predetermined position. By doing so, the machine 1 ensures that the poles P are placed where all the planned positioning areas Z are located.
  • the processing and control unit 6 is programmed with the map of the work area A and of the positioning areas Z.
  • the processing and control unit 6 is programmed with the map of the work area A and of the driving locations and independently processes a map of the positioning areas Z.
  • the processing and control unit 6 is further programmed with the data for the type of pole P for each of the driving locations.
  • the scanning means 19 scan the poles P and detect the position thereof on the holding means themselves, their number and, possibly, their type.
  • the processing and control unit 6 processes the positioning path and operates the self-driving means 5.
  • the processing and control unit 6 operates the self-driving means depending on a predefined path.
  • the machine 1 stops and the processing and control unit 6 operates the automatic gripping and positioning means 10 to pick up and position the pole P.
  • the gripping assembly 11 is brought to a first raised position, by means of the shifting device 14, on top of the pole P to be positioned ( Figure 2).
  • the gripping assembly 11 is lowered to the gripping position, where the gripping devices 15 are arranged in contact with the pole P and are activated to grasp it by magnetic interaction (Figure 3), and then raised to the first raised position ( Figure 4).
  • the shifting device 14 then provides for the shift of the gripping assembly 11 beyond the holding means 4, on top of the respective positioning area Z ( Figure 5).
  • the displacement device 13 lowers the gripping assembly 11 to the release position where the gripping devices 15 are deactivated to release the pole P ( Figure 6).
  • the operation is repeated automatically for each of the positioning areas Z.
  • this machine allows reducing the risk of human error and allows for accurate pole placement.
  • this machine also allows different types of poles to be placed correctly in relevant different positioning areas.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The machine (1) comprises: - movement means (3) adapted to move the machine (1) within a work area (A); - holding means (4) adapted to support a plurality of poles (P) intended to be placed where relevant positioning areas (Z) are located in the work area (A); self-driving means (5); - one processing and control unit (6) configured to operate said self-driving means (5) depending on a map of the positioning areas (Z); - automatic gripping and positioning means (10) adapted to grasp one of the poles (P) and to position it where the relevant positioning area (Z) is located; - scanning means (19) configured to detect at least one datum representative of the number of poles (P) and at least one datum of position of each of the poles (P) on the holding means (4), the processing and control unit (6) being configured to process the data and to operate the automatic gripping and positioning means (10) depending on the data.

Description

MACHINE FOR THE TRANSPORT AND PLACEMENT OF POLES ON THE GROUND
Technical Field
The present invention relates to a machine for the transport and placement of poles on the ground.
Background Art
The use of poles to be driven into the ground to build supporting structures for additional components is well known in many industries. For example, such operations are carried out for the construction of photovoltaic plant fields, road safety structures (guard rails), fences, etc.
Specifically, the poles are first placed on the ground in the proximity of predefined pole driving locations, then they are driven into the ground by means of special pole driving machines.
Typically, the positioning operations are carried out by means of traditional operator-driven motor vehicles such as trucks or the like.
The motor vehicle provided with the poles is driven by an operator to the driving location, and finally, the same operator picks up a predefined pole and places it in a respective placement area arranged in the proximity of the driving location. Alternatively, in the case of poles having excessive size and/or weight, the pole is picked up by means of gripping means, mounted on the motor vehicle itself or on additional machines, and operated by the operator.
It is obvious, therefore, that such operations involve a huge expenditure of time and resources, especially in cases where the work area is very large and the poles are many.
The fact is also to be underlined that, in some geographical areas, weather conditions (excessive heat or cold, rainfall, etc.) may result in additional slowdowns and/or operational difficulties for the operators.
Again, the placement of poles carried out by an operator is considerably subject to human error with the risk of placing the pole in the wrong area of the work area. This issue is even more pronounced when it is necessary to place poles of different types at corresponding different pole driving locations. Description of the Invention
The main aim of the present invention is to devise a machine for the transport and placement of poles on the ground which allows reducing the timing related to the placement of poles in the proximity of the relevant pole driving locations.
Another object of the present invention is to devise a machine for the transport and placement of poles on the ground which allows reducing the risk of human error and enable accurate pole placement.
A further object of the present invention is to devise a machine for the transport and placement of poles on the ground which also allows different types of poles to be properly placed in relevant different pole driving locations.
Another object of the present invention is to devise a machine for the transport and placement of poles on the ground which allows the aforementioned drawbacks of the prior art to be overcome within the framework of a simple, rational, easy and effective to use as well as affordable solution.
The aforementioned objects are achieved by this machine for the transport and placement of poles on the ground having the characteristics of claim 1.
Brief Description of the Drawings
Other characteristics and advantages of the present invention will become more apparent from the description of a preferred, but not exclusive, embodiment of a machine for the transport and placement of poles on the ground, illustrated by way of an indicative, yet non-limiting example in the accompanying tables of drawings in which:
Figure 1 is an axonometric view of the machine according to the invention;
Figures 2-6 are axonometric views of the machine according to the invention at different stages of gripping and placement of a pole.
Embodiments of the Invention
With particular reference to these figures, reference numeral 1 globally denotes a machine for the transport and placement of poles on the ground.
In the context of this disclosure, the term “poles” relates to bodies which have been elongated along relevant directions of development, made of metal material and intended to be driven in the ground by means of special pole driving machines. The poles are intended for the construction of supporting structures for additional components. For example, the poles can be used for the construction of photovoltaic plant fields, road safety structures (guard rails), fences, etc.
The machine 1 according to the invention comprises: at least one base frame 2; movement means 3 associated with the base frame 2 and adapted to move the machine 1 within a work area A; holding means 4 associated with the base frame 2 and adapted to hold and support a plurality of poles P intended to be placed where the relevant positioning areas Z are located in the work area A; self-driving means 5 operationally connected to the movement means 3 and configured to arrange the machine 1 where the positioning areas Z are located; at least one processing and control unit 6 configured to store a map of the positioning areas Z and to operate the self-driving means 5 depending on the map.
In actual facts, the machine 1 is automatically movable within the work area A and does not require to be driven by an operator.
In the context of this disclosure, the expression “positioning area” means a zone of the work area A, which is arranged adjacent to a driving location of the pole P, on which the pole P lies resting on the ground. The positioning of the pole P in the positioning area Z promotes the subsequent pole driving operations.
In accordance with a preferred embodiment, the processing and control unit 6 is directly programmable with the map of the positioning areas Z. Alternatively, the processing and control unit 6 is programmable with a map of the driving locations and is configured to process a corresponding map of the positioning areas Z. For example, the positioning area Z may be automatically determined by the processing and control unit 6, considering that one of the ends of the pole P placed on the ground must be in the proximity of and at a predefined distance from the driving location.
In this way, it is possible to get rid of the need for additional processing of the map of the positioning areas Z by an operator.
Advantageously, the self-driving means 5 comprise at least one tracking device operationally connected to the processing and control unit 6 and configured to detect the position of the machine 1 in the work area A.
The tracking device allows constantly determining the position of the machine 1 so that it can be moved by means of the self-driving means 5.
In accordance with a preferred embodiment, the tracking device is of the type of a satellite tracking device. It cannot, however, be ruled out that the tracking device may be of a different type.
Conveniently, the processing and control unit 6 is configured to store a predefined path in the work area A and to operate the self-driving means 5 depending on the predefined path.
The self-driving means 5 take action on the movement means 3 to displace the machine 1 within the work area A and to arrange it where the positioning areas Z are located.
The movement means 3 comprise a wheel or track system and allow the actual displacement of the machine 1 to the work area A to allow it to be properly positioned where the positioning area Z is located.
Conveniently, the self-driving means 5 also comprise presence detecting means 7 configured to detect the presence of obstacles in the work area A.
The presence detecting means 7 allow determining any obstacles present along the path during the movement of the machine 1.
The presence detecting means 7 are configured to generate a presence signal, while the processing and control unit 6 is configured to stop the movement means 3 depending on this signal.
As an alternative to or in combination thereof, the processing and control unit 6 can also be configured to process a new path depending on the presence signal in order to avoid the obstacle.
The presence detecting means 7 allows making the movement of the machine 1 safer, especially when operators are present in the work area A.
The presence detecting means 7 are selected from the list comprising: infrared sensor, image capturing devices, distance sensors.
Conveniently, the presence detecting means 7 are arranged at multiple locations on the machine 1 so as to detect the presence of obstacles in the surrounding environment substantially 360°.
The holding means 4 are configured to hold the poles P substantially horizontally. In detail, the poles P are arranged on the holding means 4 so that the relevant directions of development are substantially horizontal and parallel to each other. In actual facts, the poles P are arranged side by side and arranged one on top of the other to define a plurality of rows and columns.
In accordance with the embodiment shown in the figures, the holding means 4 comprise a substantially horizontal resting surface 8.
Conveniently, the holding means 4 also comprise retaining members 9, associated with the resting surface 8 and extending transversely thereto and configured to hold the poles P on the resting surface itself and prevent any transverse movement of the same poles.
In accordance with the embodiment shown in the figures, the holding means 4 are associated with the base frame 2 in a removable manner. In the present case, the holding means 4 comprise at least one holding assembly defining a respective resting surface 8 and respective retaining members 9.
The holding assembly is loadable with the poles P and then transferable to the base frame 2 at a later time. The machine 1 can also comprise a plurality of holding assemblies adapted to hold respective types of poles P which are different or the same.
In accordance with an alternative embodiment, the holding means 4 are locked together with the base frame 2.
The machine 1 also comprises automatic gripping and positioning means 10 associated with the base frame 2, operationally connected to the processing and control unit 6 and adapted to grasp one of the poles P and to position it where the relevant positioning area Z is located.
The automatic gripping and positioning means 10 are configured to automatically position the pole P where the positioning area Z is located. In other words, the automatic gripping and positioning means 10 do not require manual operation but are operated automatically through the processing and control unit 6.
The machine 1 is, therefore, configured to autonomously position itself in a positioning area Z and to automatically release the relevant pole P where the area itself is located.
Conveniently, the automatic gripping and positioning means 10 comprise: at least one gripping assembly 11 configured to grasp the pole P; and at least one positioning assembly 12 associated with the base frame 2, supporting the gripping assembly 11 and configured to move the latter to position the pole P.
In detail, the positioning assembly 12 is configured to move the gripping assembly 11 between: a gripping position, wherein it is moved close to the holding means 4 and is adapted to grasp the pole P; and at least one raising position, wherein it is moved away from the holding means 4; a release position, wherein it is arranged where the positioning area Z is located and is adapted to release the pole P.
In accordance with the embodiment shown in the figures, the positioning assembly 12 comprises movement members 13, 14 configured to move the gripping assembly 11 between the gripping position, the raising position and the release position along at least a first substantially vertical direction DI and along a second substantially horizontal direction D2.
It cannot, however, be ruled out that the positioning assembly 12 may be of a different type and comprise, e.g., an articulated arm.
Advantageously, the movement members 13, 14 comprise at least one displacement device 13 configured to move the gripping assembly 11 along the first direction D 1.
The displacement device 13 allows lifting/lowering the gripping assembly 11. Specifically, the displacement device 13 allows positioning the gripping assembly 11 in the gripping position and in the release position.
Advantageously, the displacement device 13 comprises a telescopic arm. The displacement device 13 also comprises one or more motorized actuators.
The movement members 13, 14 also comprise at least one shifting device 14 configured to move the gripping assembly 11 along the second direction D2.
The shifting device 14 enables the horizontal movement of the gripping assembly 11 on top of the holding means 4. In this regard, it is specified that the gripping assembly 11 is movable between a first raised position, wherein it is arranged on top of the holding means 4, where the pole P to be picked up is located, and a second raised position, wherein it is arranged beyond the holding means 4, on top of the positioning area Z.
The shifting device 14 is, therefore, adapted to move the gripping assembly 11 between the first raised position and the second raised position, while the displacement device 13 is adapted to move the gripping assembly 11 between the first raised position and the gripping position and between the second raised position and the release position.
Advantageously, the shifting device 14 comprises a telescopic arm. The shifting device 14 also comprises one or more motorized actuators.
The gripping assembly 11 comprises at least one gripping device 15 adapted to retain the pole P during the movement.
Conveniently, the gripping assembly 11 comprises at least two gripping devices 15 arranged along a third direction D3 which is substantially horizontal and perpendicular to the second direction D2.
The poles P are, therefore, arranged on the holding means 4 and are parallel to the third direction D3.
Specifically, the gripping assembly 11 comprises a supporting structure 16 associated with the positioning assembly 12 and extending along the third direction D3. The gripping devices 15 are arranged at the ends of the supporting structure 16. In this way, the gripping assembly 11 is able to easily retain even those poles P provided with considerable length.
Advantageously, the gripping device 15 is of the magnetic type. In fact, the poles P are made at least partly of ferromagnetic material.
The gripping device 15 of the magnetic type allows the pole P to be retained by magnetic interaction, avoiding the interactions with the adjacent poles P which could cause accidental displacement of the poles themselves.
The gripping device 15 of the magnetic type also allows the size of the gripping assembly 11 to be reduced and to facilitate the movement thereof.
In more detail, the gripping device 15 is of the type of an electromagnet and can be electrically activated/deactivated. For this purpose, the processing and control unit 6 is further configured to activate/deactivate the gripping device 15.
The machine 1 also comprises scanning means 19 associated with the base frame 2, operationally connected to the processing and control unit 6 and configured to detect at least one datum representative of the number of poles P and at least one datum of position of each of the poles P on the holding means 4.
The processing and control unit 6 is configured to process the datum of number of poles P and the datum of position of each of the poles P and to operate the automatic gripping and positioning means 10 depending on the aforementioned data.
Using the scanning means 19, the processing and control unit 6 determines the position of the poles P on the holding means 4 and allows them to be picked up by the automatic gripping and positioning means 10.
Advantageously, the scanning means 19 are configured to detect at least one datum representative of the type of the poles P. It should be specified in fact that, within the work area A, there may be a need to also place and, later, drive poles P of different types. For example, the poles P may differ in at least one of: shape, size, material, etc.
As an alternative to or in combination thereof, the data on the type of pole P and the positioning thereof on the holding means 4 are programmed in advance on the processing and control unit 6 by an operator.
At the same time, the processing and control unit 6 is configured to store a predefined datum relating to the type of pole P for each of the positioning areas Z. In other words, prior to the positioning operations, the processing and control unit 6 is programmed with the predefined data relating to the type of pole P to be placed in each of the positioning areas P.
The processing and control unit 6 is then configured to operate the automatic gripping and positioning means 10 depending on the datum of type and on the predefined datum.
As stated above, the processing and control unit 6 is configured to store a predefined path in the work area A and to operate the self-driving means 5 depending on the predefined path.
As an alternative to or in combination thereof, the processing and control unit 6 can be configured to process a positioning path depending on the datum of type and on the predefined datum. For example, the processing and control unit 6 can be configured to process a faster and more efficient path depending on the position of the poles P on the holding means 4 and on the relevant type.
The scanning means 19 can also be configured to detect the number of rows of poles P and the number of columns of poles P.
The processing and control unit 6, in addition to being able to process a path depending on the poles P to be placed, can also be configured to process a pattern of picking up the poles P from the holding means 4 depending on the data acquired from the scanning means 19.
In accordance with the embodiment shown in the figures, the scanning means 19 are associated with the gripping assembly 11. In this case, during the movement of the gripping assembly 11, the scanning means 19 scan the poles P and detect the relevant data.
Advantageously, the scanning means 19 comprise at least one distance sensor. Preferably, the distance sensor is a laser sensor.
During the movement of the gripping assembly 11, the scanning means 19 are, therefore, configured to detect the distance of the gripping assembly itself from the underlying poles P and are able to detect the profile thereof and consequently the type thereof.
As an alternative to or in combination thereof, the scanning means 19 can be attached to the base frame 2. In accordance with an additional embodiment, not shown in the figures, the scanning means 19 may also comprise at least one image capturing device.
Advantageously, the gripping assembly 11 comprises at least one distance sensor 17 configured to detect a datum of distance of the gripping device 15 from the holding means 4. In detail, the distance sensor 17 is configured to detect the distance of the gripping device 15 from the pole P.
The distance sensor 17 is operationally connected to the processing and control unit 6 and allows precise movement of the gripping assembly along the first direction D 1.
It cannot, however, be ruled out that the gripping assembly 11 may comprise a different system for the detection of the distance, e.g. a camera system.
Conveniently, the gripping assembly 11 also comprises at least one probing device 18, which is operationally connected to the processing and control unit 6 and adapted to detect the presence of the pole P. When positioning towards the gripping position, the probing device 18 is adapted to contact the pole P and to detect the actual presence thereof. In this way, the processing and control unit 6 operates the automatic gripping and positioning means 10 only in the event of the pole P being actually present at the predetermined position. By doing so, the machine 1 ensures that the poles P are placed where all the planned positioning areas Z are located.
The operation of the machine according to the invention is as follows.
First, the processing and control unit 6 is programmed with the map of the work area A and of the positioning areas Z. Alternatively, the processing and control unit 6 is programmed with the map of the work area A and of the driving locations and independently processes a map of the positioning areas Z.
The processing and control unit 6 is further programmed with the data for the type of pole P for each of the driving locations.
After that, once the poles P have been loaded on top of the holding means 4, the scanning means 19 scan the poles P and detect the position thereof on the holding means themselves, their number and, possibly, their type.
At this point, the processing and control unit 6 processes the positioning path and operates the self-driving means 5. Alternatively, the processing and control unit 6 operates the self-driving means depending on a predefined path.
Where a positioning area Z is located, the machine 1 stops and the processing and control unit 6 operates the automatic gripping and positioning means 10 to pick up and position the pole P.
In detail, the gripping assembly 11 is brought to a first raised position, by means of the shifting device 14, on top of the pole P to be positioned (Figure 2).
After that, by means of the displacement device 13, the gripping assembly 11 is lowered to the gripping position, where the gripping devices 15 are arranged in contact with the pole P and are activated to grasp it by magnetic interaction (Figure 3), and then raised to the first raised position (Figure 4).
The shifting device 14 then provides for the shift of the gripping assembly 11 beyond the holding means 4, on top of the respective positioning area Z (Figure 5).
Finally, the displacement device 13 lowers the gripping assembly 11 to the release position where the gripping devices 15 are deactivated to release the pole P (Figure 6).
The operation is repeated automatically for each of the positioning areas Z.
It has, in practice, been ascertained that the described invention achieves the intended objects, and in particular, the fact is emphasized that the machine according to the invention for the transport and placement of poles on the ground makes it possible to reduce the time related to the placement of poles at the relevant driving locations.
In addition, thanks to the presence of the self-driving means and of the automatic gripping and positioning means, this machine allows reducing the risk of human error and allows for accurate pole placement.
Finally, this machine also allows different types of poles to be placed correctly in relevant different positioning areas.

Claims

1) Machine (1) for the transport and placement of poles on the ground characterized by the fact that it comprises: at least one base frame (2); movement means (3) associated with said base frame (2) and adapted to move said machine (1) within a work area (A); holding means (4) associated with said base frame (2) and adapted to hold and support a plurality of poles (P) intended to be placed where the relevant positioning areas (Z) are located in said work area (A); self-driving means (5) operationally connected to said movement means (3) and configured to arrange said machine (1) where said positioning areas (Z) are located; at least one processing and control unit (6) configured to store a map of said positioning areas (Z) and to operate said self-driving means (5) depending on said map; automatic gripping and positioning means (10) associated with said base frame (2) and operationally connected to said processing and control unit (6) and adapted to grasp one of said poles (P) and to position it where the relevant positioning area (Z) is located; scanning means (19) associated with said base frame (2), operationally connected to said processing and control unit (6) and configured to detect at least one datum representative of the number of poles (P) and at least one datum of position of each of said poles (P) on said holding means (4), said processing and control unit (6) being configured to process said datum of number of poles (P) and said datum of position of each of said poles (P) and to operate said automatic gripping and positioning means (10) depending on said datum.
2) Machine (1) according to claim 1, characterized by the fact that said scanning means (19) are configured to detect at least one datum representative of the type of said poles (P) and by the fact that said processing and control unit (6) is configured to store a predefined datum related to the type of pole (P) for each of said positioning areas (Z) and to operate said automatic gripping and positioning means (10) depending on said datum of type and said predefined datum.
3) Machine (1) according to one or more of the preceding claims, characterized by the fact that said scanning means (19) comprise at least one distance sensor.
4) Machine (1) according to one or more of the preceding claims, characterized by the fact that said distance sensor is a laser sensor.
5) Machine (1) according to one or more of the preceding claims, characterized by the fact that said scanning means (19) comprise at least one image capturing device.
6) Machine (1) according to one or more of the preceding claims, characterized by the fact that said scanning means (19) are attached to said base frame (2).
7) Machine (1) according to one or more of the preceding claims, characterized by the fact that said scanning means (19) are associated with said gripping assembly (11).
8) Machine (1) according to one or more of the preceding claims, characterized by the fact that said processing and control unit (6) is configured to store a predefined path in said work area (A) and to operate said self-driving means (5) depending on said predefined path.
9) Machine (1) according to one or more of the preceding claims, characterized by the fact that said automatic gripping and positioning means (10) comprise: at least one gripping assembly (11) configured to grasp said pole (P); and at least one positioning assembly (12) associated with said base frame (2), supporting said gripping assembly (11) and configured to move said gripping assembly (11) between: a gripping position, wherein it is moved close to said holding means (4) and is adapted to grasp said pole (P); and at least one raising position, wherein it is moved away from said holding means (4); a release position, wherein it is arranged where said positioning area (Z) is located and is adapted to release said pole (P).
10) Machine (1) according to one or more of the preceding claims, characterized by the fact that said positioning assembly (12) comprises movement members (13, 14) configured to move said gripping assembly (11) between said gripping position, said raising position and said release position along a first substantially vertical direction (DI) and along a second substantially horizontal direction (D2).
11) Machine (1) according to one or more of the preceding claims, characterized by the fact that said movement members (13, 14) comprise at least one displacement device (13) configured to move said gripping assembly (11) along said first direction (DI).
12) Machine (1) according to one or more of the preceding claims, characterized by the fact that said movement members (13, 14) comprise at least one shifting device (14) configured to move said gripping assembly (11) along said second direction (D2).
13) Machine (1) according to one or more of the preceding claims, characterized by the fact that at least one of either said displacement device (13) or said shifting device (14) comprises a telescopic arm.
14) Machine (1) according to one or more of the preceding claims, characterized by the fact that said gripping assembly (11) comprises at least two gripping devices (15) arranged along a third direction (D3) which is substantially horizontal and perpendicular to said second direction (D2), said poles (P) being arranged on said holding means (4) parallel to said third direction (D3).
15) Machine (1) according to one or more of the preceding claims, characterized by the fact that said gripping device (15) is of the magnetic type, said poles (P) being made at least partly of ferromagnetic material.
16) Machine (1) according to one or more of the preceding claims, characterized by the fact that said gripping assembly (11) comprises at least one distance sensor
(17) configured to detect a datum of distance of said gripping device (15) from said holding means (4).
17) Machine (1) according to one or more of the preceding claims, characterized by the fact that said gripping assembly (11) comprises at least one probing device
(18), operationally connected to said processing and control unit (6) and adapted to detect the presence of said pole (P). 18) Machine (1) according to one or more of the preceding claims, characterized by the fact that said self-driving means (5) comprise at least one tracking device operationally connected to said processing and control unit (6) and configured to detect the position of said machine (1) in said work area (A). 19) Machine (1) according to one or more of the preceding claims, characterized by the fact that said tracking device is of the type of a satellite tracking device.
20) Machine (1) according to one or more of the preceding claims, characterized by the fact that said self-driving means (5) comprise presence detecting means (7) configured to detect the presence of obstacles in said work area (A).
EP24712949.7A 2023-03-02 2024-02-27 Machine for the transport and placement of poles on the ground Pending EP4673609A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102023000003825A IT202300003825A1 (en) 2023-03-02 2023-03-02 MACHINE FOR TRANSPORTING AND POSITIONING POLES ON THE GROUND
PCT/IB2024/051846 WO2024180465A1 (en) 2023-03-02 2024-02-27 Machine for the transport and placement of poles on the ground

Publications (1)

Publication Number Publication Date
EP4673609A1 true EP4673609A1 (en) 2026-01-07

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Application Number Title Priority Date Filing Date
EP24712949.7A Pending EP4673609A1 (en) 2023-03-02 2024-02-27 Machine for the transport and placement of poles on the ground

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EP (1) EP4673609A1 (en)
AU (1) AU2024230850A1 (en)
IT (1) IT202300003825A1 (en)
WO (1) WO2024180465A1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900012816A1 (en) * 2019-07-24 2021-01-24 Geosec S R L Self-propelled device for driving poles into the ground
US12492570B2 (en) * 2019-09-18 2025-12-09 Orteco—S.R.L. Machine for the introduction of poles into the ground, particularly for the reinforcement of safety barriers
US20220170291A1 (en) * 2020-12-02 2022-06-02 N. Eric Knudsen Fence post layout systems and methods

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IT202300003825A1 (en) 2024-09-02
AU2024230850A1 (en) 2025-10-16

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