WO2017217871A1

WO2017217871A1 - Manipulator attachment

Info

Publication number: WO2017217871A1
Application number: PCT/NZ2017/050081
Authority: WO
Inventors: Paul David KITCHINGMAN; Allan Robert DEVINE
Original assignee: Badger Equipment Limited
Priority date: 2016-06-15
Filing date: 2017-06-15
Publication date: 2017-12-21
Also published as: AU2017204036A1

Abstract

A manipulator attachment is provided comprising a base member, a first bracket, and a first rotary actuator connected to the base member and the first bracket and adapted to rotate the first bracket relative to the base member about a first rotational axis. The attachment further comprises a second bracket and a second rotary actuator connected to the first bracket and the second bracket and adapted to rotate the second bracket relative to the first bracket about a second rotational axis which is substantially perpendicular to the first rotational axis. The attachment further comprises a mounting portion and a third rotary actuator connected to the second bracket and adapted to rotate the mounting portion relative to the second bracket about a third rotational axis which is substantially perpendicular to both the first rotational axis and the second rotational axis. Gripping means for a manipulator attachment are also described.

Description

MANIPULATOR ATTACHMENT

TECHNICAL FIELD

The present invention relates to a manipulator attachment, and in particular to a manipulator attachment which allows movement of a gripping means about three perpendicular axes.

BACKGROUND ART

Traditionally cranes have been used to move heavy objects into a required position. One or more harness elements (sometimes referred to as "strops") are looped under the object or through an attachment point, and are attached to the crane hook. A problem with this system is that the object is relatively free to rotate. As a result, one or more tag lines may be attached to the object so that one or more workers can manually control the rotation of the object. This may be dangerous for the workers involved as they must stand beneath the suspended object. The degree of control available to the workers may also be limited, particularly if the object is very heavy or when it is a substantial distance above the ground. This may mean that the crane can only be used to place the object near its final position, following which the object must be moved into a final position by alternative means without assistance from the crane.

Another problem with using cranes is the need to position the boom of the crane above the position in which the object is to be placed. In some circumstances, for example where the object is a large beam or purlin which is to be installed as part of a building structure, this may be particularly inconvenient, particularly if it is necessary to pick the object up from within the boundaries of the structure.

An alternative to the use of traditional cranes are multi-axis manipulators such as those marketed by Palfinger and Konshofer. However, these offer at most two true axes of rotation. In addition, the manipulators may be relatively wide and unwieldy due to the use of hydraulic cylinders to cause rotation around one of the available axes. All references, including any patents or patent applications cited in this specification are hereby incorporated by reference. No admission is made that any reference constitutes prior art. The discussion of the references states what their authors assert, and the applicants reserve the right to challenge the accuracy and pertinency of the cited documents. It will be clearly understood that any reference to prior art herein does not constitute an admission that prior art forms part of the common general knowledge in the art, in New Zealand or in any other country.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like, are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense, that is to say, in the sense of "including, but not limited to".

It is an object of the present invention to address at least one of the foregoing problems or at least to provide the public with a useful choice.

Further aspects and advantages of the present invention will become apparent from the ensuing description which is given by way of example only. DISCLOSURE OF THE INVENTION

According to one aspect of the present invention there is provided a manipulator attachment comprising: a base member, a first bracket, and a first rotary actuator connected to the base member and the first bracket and adapted to rotate the first bracket relative to the base member about a first rotational axis; the attachment further comprising a second bracket and a second rotary actuator connected to the first bracket and the second bracket and adapted to rotate the second bracket relative to the first bracket about a second rotational axis which is substantially perpendicular to the first rotational axis; the attachment further comprising a third rotary actuator connected to the second bracket and adapted to rotate a mounting portion relative to the second bracket about a third rotational axis which is substantially perpendicular to both the first rotational axis and the second rotational axis.

Preferably the mounting portion is integrally formed with the third rotary actuator.

Preferably the manipulator attachment further comprises a gripping means connected to the mounting portion.

Preferably gripping means comprises at least one pair of opposed jaws. Preferably the gripping means comprises two pairs of spaced apart jaws.

Preferably the sets of jaws are provided side-by-side in a parallel, spaced apart relationship. Preferably the gripping means comprises a gripping means base member, wherein each jaw is rotatably mounted to the gripping means base member.

Preferably each jaw rotates relative to the gripping means base member about a respective axis of rotation, wherein the axes of rotation are substantially co-planar. Preferably the gripping means base member is connected to the mounting portion by a mounting means.

Preferably the mounting means is configured such that the plane containing the axes of rotation of the jaws is substantially perpendicular to the third rotational axis. Alternatively the mounting means may be configured such that the plane containing the axes of rotation of the jaws is substantially parallel to the third axis of rotation. Preferably, the mounting means is integrally formed with the gripping means base member.

Preferably, each jaw has a substantially L-shaped portion with a gripping surface at an end of the L- shaped portion.

Preferably the gripping means comprises a linear actuator mounted at a first end to the gripping means base member, wherein a second end of the linear actuator is connected to each jaw by a connecting member.

Preferably a first end of the connecting member is rotatably connected to the linear actuator and a second end of the connecting rod is rotatably connected to the respective jaw at a point spaced apart from the rotatable connection to the gripping means base member.

Preferably each jaw has an arcuate inner gripping surface. Preferably the inner gripping surface has a substantially constant radius.

Preferably each jaw has a substantially arcuate outer surface.

In another embodiment the gripping means comprises a gripping means base member, and each jaw is connected to the gripping means base member by at least one first linkage member and at least one second linkage member. Preferably a first end of the or each first linkage member is rotatable connected to the jaw and a second end of the or each linkage member is rotatably connected to the gripping means base member.

Preferably a first end of the or each second linkage member is rotatable connected to the jaw and a second end of the or each linkage member is rotatable connected to a jaw actuation means, wherein the or each second linkage member is rotatably connected to the gripping means base member between the first and second ends of the second linkage member.

Preferably the manipulator attachment has a longitudinal axis which is substantially parallel to the third rotational axis.

Preferably the arrangement allows a range of movement of the first bracket relative to the base member of at least 180°.

Preferably arrangement allows a range of movement of the second bracket relative to the first bracket member of at least 180°. Preferably the arrangement allows a range of movement of the mounting portion relative to the second bracket member of at least 180°.

According to a second aspect of the present invention there is provided a kit of parts for a manipulator attachment, the kit comprising: a base member, a first bracket, and a first rotary actuator connectable to the base member and the first bracket to rotate the first bracket relative to the base member about a first rotational axis; a second bracket and a second rotary actuator connectable to the first bracket and the second bracket to rotate the second bracket relative to the first bracket about a second rotational axis which is substantially perpendicular to the first rotational axis; and a third rotary actuator connectable to the second bracket to rotate a mounting portion relative to the second bracket about a third rotational axis which is substantially perpendicular to both the first rotational axis and the second rotational axis.

Preferably the kit comprises a gripping means comprising at least one pair of opposed jaws.

According to a third aspect of the present invention there is provided a gripping means for use with a manipulator attachment, the gripping means comprising a gripping means base member and at least one pair of opposed jaws, wherein each jaw is rotatably mounted to the gripping means base member.

Preferably the gripping means comprises two pairs of spaced apart jaws.

Preferably each jaw has an arcuate inner gripping surface.

Preferably the inner gripping surface has a substantially constant radius.

Preferably each jaw has a substantially arcuate outer surface.

According to another aspect of the present invention there is provided a manipulator attachment and/or a gripping means for use with a manipulator attachment substantially as herein described with reference to the accompanying drawings.

BRIEF DESCRIPTION OF DRAWINGS

Further aspects of the present invention will become apparent from the following description which is given by way of example only and with reference to the accompanying drawings in which:

Figure 1 Is a perspective view from the front and one side of a manipulator attachment of the present invention.

Figure 2 is a perspective view from the below and an opposite side of the manipulator

attachment of Figure 1.

Figure 3 is a perspective view of one embodiment of a first bracket of the manipulator

attachment of Figure 1.

Figure 4 is a perspective view of one embodiment of a second bracket of the manipulator attachment of Figure 1.

Figure 5 is a perspective view of an alternative embodiment of the second bracket. Figure 6 is a perspective view of a gripping means for use with the manipulator attachment.

Figure 7 is a perspective view of a variant of the gripping means shown in Figure 6.

Figure 8 is a perspective view of another gripping means for use with the manipulator

attachment. BEST MODES FOR CARRYING OUT THE INVENTION

Referring first to Figures 1, 2 and 3, a manipulator attachment according to one aspect of the present invention is generally referenced by arrow 100. The attachment 100 comprises a base member 1 which in use is attached to a suitable host machine such as a crane, for example a Hiab™ loader crane.

A first rotary actuator 2 is connected to the base member 1 and to a first bracket 3. The first rotary actuator 2 can rotate the first bracket 3 relative to the base member 1 about a first rotational axis A.

The rotary actuator 2 is preferably of a type in which a central portion of the actuator (not visible) can be controlled to rotate relative to an outer housing 4 of the actuator. In one embodiment the rotary actuators are hydraulically operated, for example the BVC model rotary actuator made by HKS Group of Germany may be used. In the embodiment shown the base member 1 is connected to the outer housing 4 of the actuator 2, and the first bracket 3 is connected to the central portion of the actuator 2.

As shown in Figure 3, the first bracket 3 comprises a base portion 5 and two flanges 6 extending perpendicularly from the base portion 5 for connection to the central portion of the actuator. The flanges 6 preferably comprise a semi-circular top portion 7 and sides 8 which taper outwardly between the top portion 7 and the base portion 5. The flanges 6 are preferably substantially identical in shape, and are mounted so as to be substantially parallel. The flanges 6 and base 5 are provided with mounting apertures 9 for receiving suitable fasteners (not shown).

Referring back to Figures 1 and 2, a second rotary actuator 10 is connected to the first bracket 3 and to a second bracket 11. In the example shown the second bracket 11 is connected to the central portion of the second rotary actuator 10. The second rotary actuator 10 is adapted to rotate the second bracket 11 relative to the first bracket 3 about a second rotational axis B which is substantially perpendicular to the first rotational axis A.

In the embodiment shown in Figures 1 and 2, the second bracket 11 has substantially the same shape as the first bracket 3, but the mounting apertures 9 in the base 5 are arranged for connection to the centre of a rotary actuator, rather than for connection to the outer housing of a rotary actuator, as shown in Figure 4. In some embodiments (not shown) a single design of bracket may be provided with all of the required mounting apertures 9 and may be used as both the first and second brackets 3, 11. An alternative embodiment of the second bracket, generally referenced by arrow 11A, is shown in Figure 5. In this embodiment the second bracket 11 comprises a base portion 5 and first side flanges 6 having substantially the same shape and configuration as those of the first bracket 3 and second bracket 11 shown in Figures 3 and 4. However, the alternative second bracket 11A further comprises a web portion 12 which extends perpendicularly to the base portion 5 on the opposite side of the base portion 5 to the first flanges 6, and a second flange 13 extending substantially parallel to the base portion 5. The web portion 12 is preferably substantially parallel to the first flanges 6. The second bracket 11 comprises mounting apertures 9 for use in mounting the third rotary actuator 14. In use, the central portion of the third rotary actuator 14 is mounted between the base 5 and the second flange 13 of the second bracket 11A. The second bracket 11A is shaped and configured such that a mounting portion 15 of the third rotary actuator 14 can rotate relative to the second bracket 11 about a third rotational axis C that is perpendicular to both the first and second rotational axes A, B. In preferred embodiments the third rotation axis C is substantially parallel to a longitudinal axis of the apparatus 100.

Referring back to Figures 1 and 2, the central portion of the third rotary actuator 14 is mounted to the base 5 of the second bracket 11. The second bracket 11 is shaped and configured such that a mounting portion 15 of the third rotary actuator 14 can rotate relative to the second bracket 11 about a third rotational axis C that is perpendicular to both the first and second rotational axes A, B. In preferred embodiments the third rotation axis C is substantially parallel to a longitudinal axis of the apparatus 100.

A gripping means may in use be mounted to the mounting portion 15 of the third rotary actuator 13. The gripping means may take a variety of forms depending on the particular item which is to be gripped and manipulated.

One embodiment of the gripping means, adapted for gripping beams, in particular "I" beams, is shown in Figure 6, and is generally referenced by arrow 16. The gripping means 16 comprises at least one pair of jaws 17, and more preferably two spaced apart pairs of jaws 17 (not shown). The or each pair of jaws 17 is rotatably mounted to a gripping means base member 18. Each jaw 17 comprises a substantially L-shaped portion 19 and a connecting portion 20 extending at an angle to the L-shaped portion 19. The connecting portion 20 is mounted to the gripping means base member 18.

The legs 17 are arranged such that the end portions 21 of the L shaped portions 19 face each other, such that the end 21 of each leg operates as gripping surface 21a in use. The shape of the legs 17 is such that the gripping surface 21a of the legs 17 can engage a web of an I beam without fouling on the flange of the I beam.

The gripping means 16 is actuated by a linear actuator, typically a hydraulic cylinder or "ram" 22. A first end 23 of the linear actuator is rotatably connected to the gripping means base member 18 and a second end 24 of the linear actuator 22 is connected to each jaw 17 by respective connecting members 25. The connecting members 25 have rotatable connections at the first and second ends 26, 27. As can be seen in Figure 6, the connection of the connecting member 25 to the jaw 19 is spaced apart from the connection of the jaw 19 to the gripping means base member 18.

Figure 7 shows a variant of the gripping means shown in Figure 6. In this embodiment the end portions 21 of the legs 17 are provided with transverse gripping pads 21b which are adapted to engage a flange of the I beam. In this embodiment the L shaped portions 19 of the legs 17 may form an angle of less than 90°, for example around 80°, and so an additional angled connecting portion 20 may not be necessary. Referring next to Figure 8 , another embodiment of a gripping means 16, adapted for use in gripping pipes and the like, is shown. In this embodiment each jaw 28 has a substantially convex arcuate outer surface 29 and a substantially concave arcuate inner gripping surface 30. The inner surface 30 preferably has at least a portion having a substantially constant radius, the portion preferably extending at least 90°.

An abutment means 31 is provided between the jaws 29. In the embodiment shown the abutment means 31 comprises two curved inner jaw members 33, but in other embodiments the abutment means may comprise two substantially flat abutment surfaces 32 arranged at substantially 90° to each other as best seen in the embodiment shown in Figure 1. In yet another embodiment (not shown) the inner jaw members 33 may be omitted and the bracket component 34 provided between the second end 24 of the linear actuator 22 and the connecting members 25 may function as the abutment means.

The abutment means 31 is arranged to abut one side of a pipe while the jaws 29 engage an opposite side. In the embodiment shown in Figure 8 two sets of jaws 29 are provided in a parallel, spaced apart relationship, in order to allow the pipe or other member to be manipulated stably.

The axes of rotation 35 of the jaws 29, 17 in each set or pair of jaws 29, 17 are preferably substantially co-planar. The gripping means 16 shown in Figure 8 has a mounting means in the form of a base bracket 36 which connects the base members 18 to the mounting portion 15 of the third rotary actuator 14. The base bracket 36 is configured such that the plane containing the axes of rotation 35 of the jaws 29 (relative to the gripping means base member 18) is substantially perpendicular to the third rotational axis C. In this embodiment the third rotational axis C may intersect a building element or item which is held, in use, by the gripping means 16. In this embodiment the gripping means 16 can be engaged with or disengaged from a building element or item by movement of the attachment 100 in a direction which is parallel to the third rotational axis C.

A similar base bracket 36 may also be used with the gripping means 16 shown in Figure 6. In some embodiments (not shown) the base bracket 36 may be integrally formed with the base member 18. In alternative embodiments the mounting means 36 may be arranged such that the plane containing the axes of rotation 35 of the jaws 29 (relative to the gripping means base member 18) is substantially parallel to the third axis of rotation C. In this embodiment the gripping means 16 can be engaged with or disengaged from a building element or item by movement of the attachment 100 in a direction which is perpendicular to the third rotational axis C.

Those skilled in the art will appreciate that the present invention provides a manipulator attachment which allows objects such as pipes, beams and other objects to be lifted and precisely positioned by a single operator, without the need for the use of tag lines. When used in construction of structures, the invention may allow positioning of purlins and the like from below.

Those skilled in the art will also appreciate that by omitting one or more of the rotary actuators and related brackets, the invention may be configured as a two axis or single axis manipulator attachment.

The entire disclosures of all applications, patents and publications cited above and below, if any, are herein incorporated by reference.

Reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that that prior art forms part of the common general knowledge in the field of endeavour in any country in the world. The invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features.

Where in the foregoing description reference has been made to integers or components having known equivalents thereof, those integers are herein incorporated as if individually set forth.

It should be noted that various changes and modifications to the presently preferred embodiments described herein will be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the invention and without diminishing its attendant advantages. It is therefore intended that such changes and modifications be included within the present invention.

The invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, in any or all combinations of two or more of said parts, elements or features.

Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the scope thereof.

Claims

WHAT WE CLAIM IS

1. A manipulator attachment comprising: a base member, a first bracket, and a first rotary actuator connected to the base member and the first bracket and adapted to rotate the first bracket relative to the base member about a first rotational axis; the attachment further comprising a second bracket and a second rotary actuator connected to the first bracket and the second bracket and adapted to rotate the second bracket relative to the first bracket about a second rotational axis which is substantially perpendicular to the first rotational axis; the attachment further comprising a third rotary actuator connected to the second bracket and adapted to rotate a mounting portion relative to the second bracket about a third rotational axis which is substantially perpendicular to both the first rotational axis and the second rotational axis.

2. The manipulator attachment of claim 1 wherein the mounting portion is integrally formed with the third rotary actuator.

3. The manipulator attachment of claim 1 or 2 wherein further comprising a gripping means connected to the mounting portion.

4. The manipulator attachment of claim 3 wherein the gripping means comprises at least one pair of opposed jaws.

5. The manipulator attachment of claim 4 wherein the gripping means comprises two pairs of spaced apart jaws.

6. The manipulator attachment of claim 5 wherein the sets of jaws are provided side-by-side in a parallel, spaced apart relationship.

7. The manipulator attachment of any one of claims 3 to 6 wherein the gripping means comprises a gripping means base member, wherein each jaw is rotatably mounted to the gripping means base member.

8. The manipulator attachment of claim 7 wherein each jaw rotates relative to the gripping means base member about a respective axis of rotation, wherein the axes of rotation are substantially co-planar.

9. The manipulator attachment of claim 8 wherein the gripping means base member is connected to the mounting portion by a mounting means.

10. The manipulator attachment of claim 9 wherein the mounting means is configured such that the plane containing the axes of rotation of the jaws is substantially perpendicular to the third rotational axis.

11. The manipulator attachment of claim 9 wherein the mounting means is configured such that the plane containing the axes of rotation of the jaws is substantially parallel to the third axis of rotation.

12. The manipulator attachment of any one of claims 9 to 11 wherein the mounting means is

integrally formed with the gripping means base member.

13. The manipulator attachment of any one of claims 4 to 12 wherein each jaw has a substantially L-shaped portion with a gripping surface at an end of the L-shaped portion.

14. The manipulator attachment of any one of claims 4 to 12 wherein each jaw has an arcuate inner gripping surface.

15. The manipulator attachment of claim 14 wherein the inner gripping surface has a substantially constant radius.

16. The manipulator attachment of claim 14 or 15 wherein each jaw has a substantially arcuate outer surface.

17. The manipulator attachment of any one of claims 7 to 16 wherein a linear actuator is mounted at a first end to the gripping means base member and a second end of the linear actuator is connected to each jaw by a connecting member.

18. The manipulator attachment of claim 17 wherein a first end of the connecting member is

rotatably connected to the linear actuator and a second end of the connecting rod is rotatably connected to the respective jaw at a point spaced apart from the rotatable connection to the gripping means base member.

19. The manipulator attachment of any one of claims 1 to 18 wherein the manipulator attachment has a longitudinal axis which is substantially parallel to the third rotational axis.

20. The manipulator attachment of any one of claims 1 to 19 wherein the arrangement allows a range of movement of the first bracket relative to the base member of at least 180°.

21. The manipulator attachment of any one of claims 1 to 20 wherein the arrangement allows a range of movement of the second bracket relative to the first bracket member of at least 180°.

22. The manipulator attachment of any one of claims 1 to 21 wherein the arrangement allows a range of movement of the mounting portion relative to the second bracket member of at least 180°.

23. A kit of parts for a manipulator attachment, the kit comprising: a base member, a first bracket, and a first rotary actuator connectable to the base member and the first bracket to rotate the first bracket relative to the base member about a first rotational axis; a second bracket and a second rotary actuator connectable to the first bracket and the second bracket to rotate the second bracket relative to the first bracket about a second rotational axis which is substantially perpendicular to the first rotational axis; and a third rotary actuator connectable to the second bracket to rotate a mounting portion relative to the second bracket about a third rotational axis which is substantially perpendicular to both the first rotational axis and the second rotational axis.

24. The kit of parts of claim 23 wherein the mounting portion is integrally formed with the third rotary actuator.

25. The kit of parts of claim 23 or 24 wherein the kit comprises a gripping means comprising at least one pair of opposed jaws.