WO1995014821A1 - Method of laying paving stones and an associated laying device - Google Patents
Method of laying paving stones and an associated laying device Download PDFInfo
- Publication number
- WO1995014821A1 WO1995014821A1 PCT/EP1994/003864 EP9403864W WO9514821A1 WO 1995014821 A1 WO1995014821 A1 WO 1995014821A1 EP 9403864 W EP9403864 W EP 9403864W WO 9514821 A1 WO9514821 A1 WO 9514821A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gripper
- sensor
- laying
- laying device
- gripping
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—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
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
- B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
Definitions
- the invention relates to a method for laying paving stones according to the preamble of claim 1 and a laying device for this purpose according to the preamble of claim 10.
- Paving for walkable and navigable surfaces is popular not only because of the design options, but also because of the absorption capacity for surface water and the durability that can be achieved with a comparatively simple substructure, since they can adapt to deformations or subsidence of the subsurface to a considerable extent.
- the possibility of mechanical laying is of last importance, in which it has been possible to transport a whole layer of a delivered stone package and to the laid paving using laying vehicles over the freshly laid, not yet vibrated and grouted paving start. This has made it possible to drastically rationalize the laying work previously carried out manually by paving and to multiply the daily performance of the skilled workers.
- This now largely mechanized way of working has been perfected, which under the normally prevailing additional conditions, such as the adaptability to different plastering tasks and justifiable effort, can hardly expect drastic performance improvements.
- the typical, recurring activity of the skilled worker now consists of swinging back and forth with the laying device between a stack of stones provided, for example, on a pallet and the boundary of the fresh plaster advancing with laying work, an entire layer of the stack of stones to grasp the edges of stones in rows and rows with a gripper, to lift them, to transport them and to set them flush at the edge of the paving with the previously laid paving.
- the workload and the working speed are determined from the operations that are to be carried out as precisely and quickly as possible, in which there are typical sequences of processes such as aligning, closing, lifting the gripper in the area of the stone stack or Aligning, opening and lifting the gripper on the pavement edge is possible.
- the object of the invention is now to provide a method for laying paving stones or a laying device therefor, which moreover makes possible significant simplifications in work and simplifications and thus also substantial increases in performance during laying. According to the invention, this object is achieved by a method according to the preamble of claim 1 with the characterizing features of claim 1.
- an automatic triggering can be achieved in the gripping movement by a sensor triggering the gripping movement when the stack of stones approaches or touches the stone movement
- the worker can be relieved of a particularly delicate and demanding part of his operating work . He only needs to bring the gripper into a gripping position by, for example, placing the gripper on the stack of stones in order to thereby automatically trigger a preceding alignment movement, but otherwise in any case the gripping movement and preferably also the subsequent lifting movement. In the meantime, the worker can already do his next step, namely the transport of the stone layer dedicate .
- a very corresponding improvement can be achieved when the stone layer is set down with an automatic setting movement of the stones triggered by a sensor, namely when the gripper controls the opening and lifting of the gripper when the stone layer is placed on the freshly paved edge.
- a corresponding sensor signal can be obtained in various ways. In principle, it is thus possible to determine whether the gripper is in the gripping position by means of a mechanical button arranged in the area of the gripper, by a proximity sensor operating contactlessly with light, ultrasound or the like, by a light barrier and the like. In the first place, an approach or an installation with respect to the stone stack is monitored.
- the aforementioned sensor monitoring can be used accordingly when the stones are deposited.
- contact sensors or non-contact sensors for example on the side of the gripper facing the driver's cab of a laying vehicle, can detect a close approach to the ground, ie to the pavement that has already been laid, and can completely lower and open the gripper in order to do so then pull up.
- a weight monitoring of the gripper or with a pressure monitoring for an associated pressure-medium-actuated drive there is a simple determination that the gripper is attached in order to trigger the corresponding sequence of depositing functions and the retraction of the gripper.
- a more reliable combination of the sensor signal with additional signals for example also a sensor signal for the weight of the gripper or for the pressure in a pressure circuit, to a pressure-medium-actuated actuator for the gripper, from which it can be seen whether the gripper carries a position of stones, so that the next operation must be a triggering operation or whether the gripper is empty so that a gripping operation must follow.
- additional signals can also be entered by hand, just as it is possible to mask out false signals by means of a manual switch.
- efforts are preferably made to save simple and uncritical operations in order to make work easier.
- a laying device which realizes the functions explained above, in particular a sensor for the impact of the gripper on a stone stack and / or on a laying edge.
- Fig. 1 to a laying device for laying
- FIG. 4 front view of a gripper
- FIG. 5 gripper of FIG. 4 in side view in gripping position.
- a mobile laying device designated overall by 1, takes the uppermost one from a factory-made stone package 2 with a number of stone layers 3 lying one above the other
- Each layer of stones should be laid in such a way that the laying device moves over the freshly laid paving and the layer of stones is flush with the edge of the previously laid paving (Fig. 2) and is applied there as an extension of the paving (Fig 3).
- the laying device then moves back to the stone package, fetches the next layer 3 from this stone package 2 and in turn places it on the edge of the paving, so that the paving progresses layer by layer.
- a laying device of the type in question is known for example from DE-PS 29 10 719.
- a stone pliers 4 are equipped with a number of gripping jaws 5 lying next to each other on both sides of the gripping pliers 4, each pressing individually on a curb of the stone layer 3 to be detected, so that tolerance errors not from stone to stone Pressure errors and thus lead to the stone layer collapsing during lifting and transport.
- the gripping tongs 4 furthermore comprise alignment strips 6 and 7 which pivot on swivel arms 8 and 9 with the aid of an actuator 10 transversely to the gripping jaws 5 against a stone layer which Move stones together without gaps and align the gripper 4 with respect to the stone position.
- the gripping jaws 5 grasp and pick up the stones, the gripping pliers shown being intended to be a "mechanical" gripper in the sense that the own load of the gripper and the stone position detected by it is not (shown in detail) ) Lifting mechanisms are converted into gripping forces, so that there is a smooth transition between gripping and lifting in a uniform lifting movement of a suspension 11 for the gripping tongs 4. It goes without saying that in the present case a hydraulic gripping actuation is also used, in which the gripping jaws 5 are pressed together by hydraulic cylinders.
- the operations to be triggered as quickly as possible, but in exact succession are the alignment by means of the straightening bars 6, 7, the closing of the gripping tongs by moving the gripping jaws 5 and the lifting of the gripping tongs on the suspension 12. Errors in the succession the movements in the sense that the gripping jaws 5 already grasp before alignment or that the gripping tongs 4 raise before the gripping jaws 5 have gripped, easily lead to the stones falling out and to lengthy and labor-intensive malfunctions.
- FIG. 5 shows a further hydraulic actuating member 11 to recognize, which bridges the lever mechanism of the mechanical gripper 4 and allows the gripper to open.
- This actuator is actuated when the laying vehicle has arrived at the laying location and the stone layer still held in the gripping tongs 4 has found its place for laying down, as shown in FIGS. 2 and 3.
- the straightening strips 6 and 7 must then be folded up from the pressure position according to FIG. 5 into the position according to FIG. 4.
- the gripping jaws 5 must be released to release the stone layer, the gripping tongs 4 must then be raised so that they come free from the ground for the return journey and the laying vehicle must be switched and steered for the return journey to the stone package.
- the placement of the stones can be carried out automatically by the sensor control, so that the driver only has to make an effort to move to the stone package or the place of installation precisely, but not at these critical points still have different pulling, gripping and lifting movements or Check triggering and lifting movements and have to control.
- a sensor 13 in the form of a hydraulic pressure sensor is used for this purpose, which monitors the pressure in a hydraulic actuator 14, which in turn moves a boom 15 holding the gripping pliers 4 vertically.
- the installation site according to FIG. 2 is reached.
- a lowering of the gripping tongs 4 is sufficient in order to rest when the Stone position and / or the gripper 4 to achieve a pressure drop in the actuator 14, which is sensed by the sensor 13 and reported to the controller 16.
- the controller 16 thus triggers the opening of the gripper and then its raising.
- the sensor 13 delivers a practically identical signal when the gripper strikes the stone package or the installation site, but this should result in the stones being picked up and lifted and the stones being released.
- an alternating function could be installed in the control circuit 16, which alternately triggers a gripping process or a release process after each signal signal.
- this requires a certain amount of monitoring insofar as a double touchdown should lead to malfunction.
- the signal from the sensor 13 is also recorded and evaluated with regard to the preceding load. So if the sensor indicates that the gripper was empty before touching down, a gripping process is triggered. If the gripper was previously loaded with a layer of stones, a release process is triggered.
- detectors for the height position of the gripper can be installed which - when the gripper is high on the stack - trigger a gripping or when the gripper is deep, they are put down.
- protection against false triggering in the event of brief weight relief of the gripper is preferably provided. If, for example, the gripper is relieved for a short time while driving by rocking the vehicle, for example for less than a quarter of a second, this signal is suppressed by a signal circuit of a basically known type. Only a relief signal that is present for a longer time is accepted and evaluated as a proper sign of the gripper being placed in the control circuit 16.
- the example given here of a sensor in the form of a pressure sensor results in a particularly simple and practical design. It goes without saying that the placement of the gripping tongs 4 on the stone package or on the depositing point can be monitored by different weight sensors or load sensors on the tongs or on the boom.
- proximity sensors of a mechanical or electronic type on the gripping tongs, which monitor the approach of the movable tongs to the fixed target points in the form of the stone package or the paving edge and thus trigger a corresponding sequence of the movements .
- control functions are preferably carried out electrically or electrohydraulically with regard to control elements which are commercially available.
- control elements which are commercially available.
- a hydraulic control can be designed in such a way that valves for releasing successive functions are only actuated when the preceding function has been completed.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU11076/95A AU1107695A (en) | 1993-11-26 | 1994-11-22 | Method of laying paving stones and an associated laying device |
JP7514831A JPH08509279A (en) | 1993-11-26 | 1994-11-22 | Paving stone laying method and equipment |
EP95902083A EP0681627A1 (en) | 1993-11-26 | 1994-11-22 | Method of laying paving stones and an associated laying device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4340256 | 1993-11-26 | ||
DEP4340256.9 | 1993-11-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995014821A1 true WO1995014821A1 (en) | 1995-06-01 |
Family
ID=6503468
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1994/003864 WO1995014821A1 (en) | 1993-11-26 | 1994-11-22 | Method of laying paving stones and an associated laying device |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP0681627A1 (en) |
JP (1) | JPH08509279A (en) |
AU (1) | AU1107695A (en) |
CZ (1) | CZ193395A3 (en) |
PL (1) | PL310006A1 (en) |
WO (1) | WO1995014821A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19936297C1 (en) * | 1999-08-02 | 2001-05-17 | Lutz Vietze | Machine for laying slabs automatically has steered wheels and a grip to select slabs from a stack under programmed control to give the laying position and orientation on the road/sidewalk surface |
CN106012775A (en) * | 2016-06-23 | 2016-10-12 | 陆玥 | Laying device for urban municipal sidewalk floor tile laying robot |
CN106012776A (en) * | 2016-06-23 | 2016-10-12 | 陆玥 | Special tiling machine for intelligent equipment for landscaping tile construction |
CN106087674A (en) * | 2016-06-23 | 2016-11-09 | 陆玥 | A kind of square, high ferro station floor tile builds automation integrated machine with building device |
CN106120521A (en) * | 2016-06-23 | 2016-11-16 | 陆玥 | A kind of Municipal sidewalk ground tile paving robot mechanical hand |
CN106120526A (en) * | 2016-06-23 | 2016-11-16 | 陆玥 | A kind of Municipal sidewalk ground tile paving robot brickwork joint fillers device |
WO2018223164A1 (en) | 2017-06-06 | 2018-12-13 | Printstones Gmbh | Method and device for producing a paving area |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1534201B1 (en) * | 1966-08-12 | 1969-02-20 | Allg Strassenbaubedarfs Gmbh | Method and device for the machine laying of shaped stones |
DE2910719A1 (en) * | 1979-03-19 | 1980-10-02 | Optimas Bauelemente | Mobile paving stone laying machine - has front grab on boom swivelling with wheel axle frame |
EP0087494A2 (en) * | 1982-03-03 | 1983-09-07 | Dr. Barth GmbH | Cart for laying paving elements |
FR2533635A1 (en) * | 1982-09-23 | 1984-03-30 | Albin Alexis | Process for recovering the potential energy developed by a crane and device for implementing this |
US5160055A (en) * | 1991-10-02 | 1992-11-03 | Jlg Industries, Inc. | Load moment indicator system |
-
1994
- 1994-11-22 EP EP95902083A patent/EP0681627A1/en not_active Withdrawn
- 1994-11-22 AU AU11076/95A patent/AU1107695A/en not_active Abandoned
- 1994-11-22 WO PCT/EP1994/003864 patent/WO1995014821A1/en not_active Application Discontinuation
- 1994-11-22 CZ CZ951933A patent/CZ193395A3/en unknown
- 1994-11-22 JP JP7514831A patent/JPH08509279A/en active Pending
- 1994-11-22 PL PL31000694A patent/PL310006A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1534201B1 (en) * | 1966-08-12 | 1969-02-20 | Allg Strassenbaubedarfs Gmbh | Method and device for the machine laying of shaped stones |
DE2910719A1 (en) * | 1979-03-19 | 1980-10-02 | Optimas Bauelemente | Mobile paving stone laying machine - has front grab on boom swivelling with wheel axle frame |
EP0087494A2 (en) * | 1982-03-03 | 1983-09-07 | Dr. Barth GmbH | Cart for laying paving elements |
FR2533635A1 (en) * | 1982-09-23 | 1984-03-30 | Albin Alexis | Process for recovering the potential energy developed by a crane and device for implementing this |
US5160055A (en) * | 1991-10-02 | 1992-11-03 | Jlg Industries, Inc. | Load moment indicator system |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19936297C1 (en) * | 1999-08-02 | 2001-05-17 | Lutz Vietze | Machine for laying slabs automatically has steered wheels and a grip to select slabs from a stack under programmed control to give the laying position and orientation on the road/sidewalk surface |
CN106012775A (en) * | 2016-06-23 | 2016-10-12 | 陆玥 | Laying device for urban municipal sidewalk floor tile laying robot |
CN106012776A (en) * | 2016-06-23 | 2016-10-12 | 陆玥 | Special tiling machine for intelligent equipment for landscaping tile construction |
CN106087674A (en) * | 2016-06-23 | 2016-11-09 | 陆玥 | A kind of square, high ferro station floor tile builds automation integrated machine with building device |
CN106120521A (en) * | 2016-06-23 | 2016-11-16 | 陆玥 | A kind of Municipal sidewalk ground tile paving robot mechanical hand |
CN106120526A (en) * | 2016-06-23 | 2016-11-16 | 陆玥 | A kind of Municipal sidewalk ground tile paving robot brickwork joint fillers device |
CN106012775B (en) * | 2016-06-23 | 2017-12-22 | 肖清潭 | A kind of Municipal sidewalk ground tile paving robot laying apparatus |
CN106012776B (en) * | 2016-06-23 | 2017-12-22 | 肖良荣 | A kind of afforestation floor tile builds the special patch block machine of smart machine |
WO2018223164A1 (en) | 2017-06-06 | 2018-12-13 | Printstones Gmbh | Method and device for producing a paving area |
Also Published As
Publication number | Publication date |
---|---|
CZ193395A3 (en) | 1996-03-13 |
PL310006A1 (en) | 1995-11-13 |
EP0681627A1 (en) | 1995-11-15 |
AU1107695A (en) | 1995-06-13 |
JPH08509279A (en) | 1996-10-01 |
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