WO2020088726A1 - Appareil et procédé de montage de panneaux - Google Patents

Appareil et procédé de montage de panneaux Download PDF

Info

Publication number
WO2020088726A1
WO2020088726A1 PCT/DK2019/050323 DK2019050323W WO2020088726A1 WO 2020088726 A1 WO2020088726 A1 WO 2020088726A1 DK 2019050323 W DK2019050323 W DK 2019050323W WO 2020088726 A1 WO2020088726 A1 WO 2020088726A1
Authority
WO
WIPO (PCT)
Prior art keywords
panel
operator
arm
movable
holding frame
Prior art date
Application number
PCT/DK2019/050323
Other languages
English (en)
Inventor
John Erland ØSTERGAARD
Rune Klausen LARSEN
Lars Andersen
Christoffer SLOTH
Rasmus PEDERSEN
Thomas BAK
Original Assignee
Blue Ocean Robotics Aps
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 Blue Ocean Robotics Aps filed Critical Blue Ocean Robotics Aps
Publication of WO2020088726A1 publication Critical patent/WO2020088726A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/181—Load gripping or retaining means by suction means

Definitions

  • the present invention relates to an apparatus and a method for mount- ing panels, in particular but not exclusively glass wall panels.
  • Glass walls are often used in office buildings or the like, e.g. for sepa- rating larger office spaces into smaller offices, meeting rooms or the like.
  • Typi- cally such walls are constructed of glass panels arranged in and held at top and bottom by rails fitted to the floor and ceiling.
  • the glass panels are typically up to 2-4 m 2 with a thickness of 12-20 mm so they are far too heavy and bulky for one person to handle when manu- ally fitting them into the rails.
  • Two or three persons working well together are typically needed to lift and guide the top of the glass panel into the top rail, align the bottom of the glass panel with the bottom rail, and lower the panel into the bottom rail where it typically rests on spacers for alignment. Alignment is often necessary, because the floors on which the rails are mounted may neither be level nor plane. As will be understood, this process is somewhat delicate, in particular when the panels are glass panels, as glass is known to be brittle and prone to breaking.
  • the internal width of the rails are typically the glass panel thick- ness plus 2 mm, so as to leave a gap of 1 mm on either side, e.g. 14 mm internal rail width for the 12 mm glass panel mentioned above.
  • glass wall panels may weight up to some 150 kg, some undesired heavy and awkward lifting and handling is involved. This is in particular the case in the finals stages of placing the glass wall panel in the rails, as experience has shown that in practice this is best done by only two persons. Since such han- dling may jeopardize the health of the persons, it may even be against occupa- tional health and safety regulations.
  • cranes or lifters To aid personnel in lifting panels it has been suggested to use cranes or lifters.
  • One such crane is disclosed in FR2973360.
  • Another is disclosed in CN204920253U.
  • the cranes use vacuum suction pads on a crane arm to hold, lift and manipulate the panels. Though installation is mentioned, both these cranes are primarily suitable for the transport of the panels, because the oper- ator and the control panel is located at the opposite end of the crane. This may be an advantageous position, when transporting the panels, but most certainly would be inconvenient when manoeuvring the glass panel into the rails.
  • a lifter to aid personnel in lifting panels is also disclosed in EP3214034.
  • the lifter described in EP3214034 is a lifting machine for lifting win- dows, building elements etc. in connection with fitting or removal.
  • the machine is equipped with an extendable arm, which is able to hold and lift a window or a building element, at the end of the arm opposite to the element being lifted is a joystick, which allows an operator to control the machine.
  • the location of the joystick allows an operator to see both the load and the machine while control- ling the machine, but as with the cranes described above the location of the joystick makes it inconvenient when finer manoeuvring of e.g. a glass panel for installation is needed.
  • this object is achieved by an apparatus for installing panels, said apparatus comprising a wheeled mov- able body, a movable arm mounted on said body, a movable holding frame connected to said arm, said movable holding frame comprising a number of fixation devices, a number of actuators for controlling at least the motions of said arm and said holding frame, an operator input device allowing the operator to input control inputs to a control computer, where the computer is adapted for controlling at least two of said actuators in response to a single control input from an operator so as to follow a predetermined pattern of motions allowing effecting the insertion of the panel in both top and bottom rails upon alignment with only one single one of said top or bottom rail wherein, said predetermined pattern comprises a rotary motion of the panel about an axis essentially coin- ciding with an end of the panel.
  • said axis essentially coin- ciding with the end of the panel is less than 5 % of the overall length of the panel away from the end, preferably less than 2 % away, and most preferred less than 1 % away from the end.
  • the input device is a hand held device. This allows the operator to get into close proximity of the panel, in turn, allowing him to verify the alignment of the panel with the rail.
  • the wheeled movable body comprises means for propulsion and steering. This allows the apparatus to transport the panes from a pick-up site, such as a pallet, to the place of installation. Steering may preferably be effected using the same hand-held in- put device controller and allowing the operator to closely inspect the position of the panel when passing turns and bends during transport.
  • the movable arm is tele- scopically extensible in a longitudinal direction and tiltable about a tilt axis per- pendicular to the longitudinal direction. This is an efficient way of providing ad- ditional degrees of freedom, to the degrees of freedom provided in the attach- ment of the movable holding frame to the movable arm.
  • said input device comprises a dead man’s switch. This, allows the operator to immediately interrupt the instal- lation process.
  • Fig. 1 shows a schematic perspective view of an embodiment of the apparatus according to the invention
  • Fig. 2 shows a schematic view of the apparatus of Fig. 1 in the process of picking up a glass panel from a pallet
  • Fig. 3 shows a schematic view of the apparatus of Fig.1 with a glass panel in a first transport position
  • Fig. 4 shows a schematic view of the apparatus of Fig.1 with a glass panel in a second transport position
  • Fig. 5a-5c schematically shows three stages in the process of moving a glass panel from the second transport position to a forward slanted installa- tion position
  • Fig. 6 schematically shows the apparatus with the glass panel moved to the installation position
  • Fig. 7a-7c schematically shows the movements of the glass panel dur- ing alignment
  • Fig. 8 is a top perspective view of a remote control input device
  • Fig. 9 is a bottom perspective view of the remote control input device of Fig. 8, and
  • Fig. 10 shows an alternative embodiment of the apparatus and instal- lation method of the invention.
  • Fig. 1 a perspective view of the apparatus 1 according to the invention.
  • the apparatus 1 comprises a movable wheeled body 2, mov- able on wheels 3, 4.
  • the wheels 3 are preferably individually controlled propul- sion wheels 3 driven by electric motors, which by suitable control via an on- board computer (not shown) may also serve for steering, whereas the wheel 4 is a caster wheel 4 serving as support.
  • a telescopic arm 5 with a proximal end attached to the wheeled body 2 in a hinged manner, i.e. pivotally movable about a horizontal axis FI by means of one or more of linear actuators 6, pref- erably a pair of linear actuators 6 as shown.
  • the telescopic arm 5 is extensible and retractable by means of a further linear actuator (not visible).
  • the linear actuators 6 and the further linear actuator are preferably also controlled via the on-board computer.
  • a movable holding frame 7 is connected to the distal end of the telescopic arm 5. In the embodiment shown, the holding frame 7 corn- prises a generally rectangular construction of end beams 8 and side beams 9 defining a plane.
  • the movable holding frame 7 enjoys three degrees of freedom with respect to the distal end of the telescopic arm 5, i.e. is rotatable about two orthogonal axes X, Y in or parallel to the plane of the movable holding frame 7 and a third axis Z perpendicular to the plane.
  • fixation devices Pre-ably suction pads 10, for engaging and holding a glass wall panel 1 1 , as can be seen in inter alia Figs. 2 and 3.
  • the invention may be used with other panels than glass wall panels 1 1 , such as gypsum, plywood, or chip boards or even concrete panels, but for the purposes of the description, the use with glass wall panels 1 1 is presumed.
  • the apparatus 1 is shown approaching a pallet 12 to pick up a glass wall panel 1 1 stored thereon.
  • the approach and pick-up may be autonomous under the control of the on-board computer using input from sensors suitably arranged on the apparatus 1 .
  • it may be controlled manually via the on-board computer using operator input from a hand held input device 13, e.g. as shown in Figs. 8 and 9.
  • the hand held input device 13 may be adapted for wireless communication with the on-board com- puter in a per se well known manner.
  • the suction pads 10 may be brought into engagement with the glass wall panel 1 1 and suction activated to hold on to the glass wall panel. This is preferably done by suitable extension and tilting of the telescopic arm 5, in conjunction with alignment of the frame 7 in parallel with the glass wall panel 1 1 , so as to register the Z axis with the centre of gravity of the glass wall panel 1 1 . Again this may be done autonomously under the control of the on-board computer, or manually via the hand held input device 13 delivering input to the on board computer.
  • the glass wall panel is then lifted into a suitable transport position, e.g. as shown in Figs. 3 or 4, depending on which bends, turns and other obstacles need to be passed on the way to the installation site. Again this may be manu- ally or autonomously effected, as may the control during the transport.
  • the glass wall panel 1 1 may be swung through a vertical position to a forward slanting position installation po- sition as can be seen in the sequence of Fig. 5a-5c.
  • Fig. 6 the apparatus 1 can be seen in close proximity to an installation site, and with the glass wall panel swung to the forward slant- ing installation position.
  • the glass wall panel 1 1 in the top rail 14 and the bottom rail 15 are now rather narrow tolerances for the insertion of the glass wall panel 1 1 in the top rail 14 and the bottom rail 15.
  • the distance between the edges of the top and bottom rails 14, 15 is shorter than the height of the glass wall panel 1 1 , as otherwise they would not be able to hold the glass wall panel 1 1 .
  • the process of inserting the glass wall panel 1 1 in the rails is therefore much more delicate and demanding than the remainder of the transport, and would not be possible for a single person to perform without the use of a lifting device such as the apparatus of the in- vention, as the glass wall panels may be very heavy, e.g. weigh up to some 150 kg.
  • this sequence has been preprogrammed into the on-board computer for the given height of the glass wall plate 1 1 .
  • the on-board computer already knowledge about the height and the midpoint of the glass wall plate 1 1 from the pick-up process when the frame 7 was aligned with the glass wall plate 1 1 so as to register the z-axis thereof with the centre of gravity of the glass wall panel 1 1 . Therefore, the on-board computer is able to effect the rotary part of the insertion sequence shown in Fig. 7b, as a rotary motion about an axis es- sentially coinciding with an end of the panel, in particular the upper end 1 1 a of the glass wall panel 1 1 . Though, at first, it may seem somewhat unnatural to perform the rotary motion about anything else than the centre of gravity, it turns out the programming the computer not to do so, renders the insertion process much more efficient and space saving.
  • the axis of rotation is not exactly coincident with the upper end of the wall glass plate. It has been found that deviations where said axis essen- tially coinciding with the end of the panel is less than 5 % of the overall length of the panel away from the end, preferably less than 2 % away, and most pre- ferred less than 1 % away from the end, are all acceptable.
  • the operator simply selects the“insert” mode using a selector switch 16 on the hand held input device 13 and presses the control button 17, upon which the on-board computer controls the various actuators to perform the complicated compound movement of sliding and turning the glass wall plate 1 1 up into the upper rail 14 and subsequently lower it into the bottom rail 15. During this the operator will be able to focus entirely on monitoring the upper end 1 1 a of the glass wall plate 1 1 and the rail 14 which is the most critical part of the motion.
  • the hand held input device 13 comprises a dead man’s switch 18 which has to be kept depressed during any motion of the apparatus
  • the dead man’s switch 18 will also allow the motion to be aborted in cases where the above deviations from the coincidence of the rotary axis with the upper end 1 1 a of the glass wall plate 1 1 are not kept or happen to be insuf- ficient. The operator will easily spot this, because his entire focus is on this critical area, and therefore be able to abort, and subsequently reinitiate the in- sertion process.
  • control button 17 is preferably a direction switch or joy-stick which in other modes, such as transport or pick-up, will allow multiple control inputs. In other words, irrespective of how the operator operates the control button 17 in the“insert” mode it will be taken as the one and same input by the on-board computer.
  • Fig. 10 an alternative embodiment of the present in- vention is shown.
  • force sensors such as strain gauges or the like are accommodated.
  • torque or force sensors are accommodated in conjunction with the actuators for the three degrees of freedom of the frame 7 at the distal end of the arm 5.
  • the operator’s ex- ternal force on the glass wall panel 1 1 serves as the control input to follow the predetermined pattern defined by the operator.
  • the glass wall plate will appear to have almost no mass and weight allowing the operator to easily manoeuver the glass wall pan- els through the patterns defined by the operator’s motion, as the actuators re- spond to this as the single, i.e. one and only, control input, from the operator, including the alignment with the upper rail 14 forming part of the overall motion sequence.
  • a dead man’s switch e.g. incorporated in a hand held device with a suction cup or built into the gripper allowing the operator to both push and pull the glass wall panel 11 , when attached to the glass wall panel 11.
  • the hand held device is furthermore fitted with a mode selector switch it will also be able to use the hand held device to control other motions of the apparatus 1 , such as controlling the electric propulsion motors and thus moving the glass wall panel along together with the apparatus during transport.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

L'invention concerne un appareil (1) destiné à l'installation de panneaux. L'appareil (1) comprend un corps mobile sur roues (2), un bras mobile (5) monté sur ledit corps (2), et un cadre de maintien mobile (7) relié audit bras (5). Le cadre de maintien mobile (7) comprend un certain nombre de dispositifs de fixation (10). L'appareil (1) comporte un certain nombre d'actionneurs destinés à commander au moins les mouvements dudit bras (5) et dudit cadre de maintien (7). Un dispositif d'entrée opérateur permet à l'opérateur de saisir des entrées de commande dans un ordinateur de commande. L'ordinateur est configuré pour commander au moins deux desdits actionneurs en réponse à une entrée de commande unique provenant d'un opérateur, de façon à suivre un modèle prédéfini de mouvements permettant d'effectuer l'insertion du panneau dans les rails supérieur et inférieur lors de l'alignement avec un seul des rails supérieur ou inférieur.
PCT/DK2019/050323 2018-10-30 2019-10-28 Appareil et procédé de montage de panneaux WO2020088726A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201870704 2018-10-30
DKPA201870704 2018-10-30

Publications (1)

Publication Number Publication Date
WO2020088726A1 true WO2020088726A1 (fr) 2020-05-07

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PCT/DK2019/050323 WO2020088726A1 (fr) 2018-10-30 2019-10-28 Appareil et procédé de montage de panneaux

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11833677B2 (en) 2022-04-20 2023-12-05 Inventus Holdings Llc Semi-autonomous exoskeleton apparatus for solar panel installation

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2354074A1 (fr) * 2010-02-01 2011-08-10 Trimo d.d. Procédé et appareil pour assembler des éléments de coques de construction
WO2011151440A1 (fr) * 2010-06-02 2011-12-08 Kiener Maschinenbau Gmbh Procédé de montage automatisé de modules sur des dispositifs de réception, en particulier des modules solaires sur des supports, ainsi que dispositifs de montage mobiles pour de tels modules
US20120027550A1 (en) * 2010-07-29 2012-02-02 John Bellacicco Automated installation system for and method of deployment of photovoltaic solar panels
FR2973360A1 (fr) 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
CN204920253U (zh) 2015-06-23 2015-12-30 广西丰歌绿屋建造科技有限公司 砌墙机器人
WO2016200439A1 (fr) * 2015-06-09 2016-12-15 Integrated Construction Enterprises, Inc. Robot d'installation de panneau de construction
US20170081160A1 (en) * 2014-09-23 2017-03-23 Thomas Haug Operating device
DE202016101453U1 (de) * 2016-03-16 2017-06-19 KS CONTROL Schneider/Ruhland GmbH Vorrichtung zum Aufnehmen, Halten- und/oder Positionieren von flächigen Werkstücken, insbesondere Glasplatten
EP3214034A1 (fr) 2016-03-01 2017-09-06 Smartlift A/S Machine de levage autopropulsé, ergonomique et compact

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2354074A1 (fr) * 2010-02-01 2011-08-10 Trimo d.d. Procédé et appareil pour assembler des éléments de coques de construction
WO2011151440A1 (fr) * 2010-06-02 2011-12-08 Kiener Maschinenbau Gmbh Procédé de montage automatisé de modules sur des dispositifs de réception, en particulier des modules solaires sur des supports, ainsi que dispositifs de montage mobiles pour de tels modules
US20120027550A1 (en) * 2010-07-29 2012-02-02 John Bellacicco Automated installation system for and method of deployment of photovoltaic solar panels
FR2973360A1 (fr) 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
US20170081160A1 (en) * 2014-09-23 2017-03-23 Thomas Haug Operating device
WO2016200439A1 (fr) * 2015-06-09 2016-12-15 Integrated Construction Enterprises, Inc. Robot d'installation de panneau de construction
CN204920253U (zh) 2015-06-23 2015-12-30 广西丰歌绿屋建造科技有限公司 砌墙机器人
EP3214034A1 (fr) 2016-03-01 2017-09-06 Smartlift A/S Machine de levage autopropulsé, ergonomique et compact
DE202016101453U1 (de) * 2016-03-16 2017-06-19 KS CONTROL Schneider/Ruhland GmbH Vorrichtung zum Aufnehmen, Halten- und/oder Positionieren von flächigen Werkstücken, insbesondere Glasplatten

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11833677B2 (en) 2022-04-20 2023-12-05 Inventus Holdings Llc Semi-autonomous exoskeleton apparatus for solar panel installation

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