NL2023446B1 - An articulated device, an apparatus for operating a tool, as well as a method for moving an object - Google Patents

Abstract

An articulated device is provided capable of handling large load. The device comprises a first articulated device member and a second articulated device member, and a device actuator system for hingedly moving the first articulated device member and the second articulated device member relative to one another about an axis. To allow the device to handle relative large loads, the device actuator system comprises a double—acting first cilinder and a double—acting second cilinder connected i) at a point of hinged attachment away from the axis, and ii) at points at opposite sides of a plane through the axis.

Description

An articulated device, an apparatus for operating a tool, as well as a method for moving an object The present invention relates to an articulated device comprising a first articulated device member and a second articulated device member, and a device actuator system for hingedly moving the first articulated device member and the second articulated device member relative to one another about an axis.

An apparatus comprising a device according to the preamble is known from WO2010043919. It comprises an arm and a reaction arm that comprises a head which comprises suction cups as the tool to pick up panels, such as glass panes or other construction panels. An actuator system comprises an electrical motor for rotation of a distal primary reaction arm section (and hence the tool) with respect to a proximal primary reaction arm section arm.

A disadvantage of the actuator system is that it is relatively bulky for a given strength, so for exerting large loads the head (the primary reaction arm plus tool) becomes rather bulky.

The object of the present invention is to provide an articulated device capable of handling relatively large loads.

To this end, an articulated device according to the preamble is characterized in that the device actuator system comprises a double-acting first cilinder and a double-acting second cilinder, each — comprising two parts capable of moving relative to one another, and - hingedly connected to both the first articulated device member and the second articulated device member, wherein — one of the first articulated device member and the second articulated device member comprises a point of hinged attachment away from the axis for both - one of said two parts of the first cilinder, and ~ one of said two parts of the second cilinder; and — the other parts of both the first cilinder and the second cilinder being located at points at opposite sides of a plane defined by i) the axis and ii) the point when the centerline through the other of the first articulated device member and the second articulated device member runs parallel with a line through

- the axis, and — the point and perpendicular to the axis.

A device according to the present invention is powerful. The device allows rotation over a large angle, such as >200°, or even >270°, thanks to the use of the cilinders.

Typically the points located at opposite sides of the plane as defined are hingedly fixed to the other articulated device.

The device may be mounted on a platform (190). The platform may be a mobile platform comprising a motor for moving the platform.

The present invention also relates to an apparatus for operating a tool at a variety of angles, sald apparatus comprising an arm, said arm comprising ~ an arm member having a first arm member end section and a second arm member end section, — a reaction arm for the tool, said reaction arm being connected to the second arm member end section and rotatable with respect to the second arm member end section about an axis of rotation, said axis of rotation being transverse to the second arm member end section, and — an actuator for rotating the reaction arm about the axis of rotation; wherein the reaction arm comprises ~ a proximal reaction arm section and a distal reaction arm section, said distal reaction arm section rotatable about an axis with respect to the proximal reaction arm section, and — an actuator system for rotating the proximal reaction arm section and the distal reaction arm section relative to one another.

An apparatus comprising a device according to the preamble is known from WO2010043919. It comprises an arm and a reaction arm that comprises a head which comprises suction cups as the tool to pick up panels, such as glass panes or other construction panels. An actuator system comprises an electrical motor for rotation of a distal reaction arm section {and hence the tool) with respect to a proximal reaction arm section arm.

A disadvantage of the actuator system is that it is relatively bulky for a given strength, so for exerting large loads the head (the reaction arm plus tool) becomes rather bulky.

The object of the present invention is to provide a device capable of handling relatively large loads for a modest size of the head.

To this end, an apparatus according to the preamble is characterized in that the actuator system comprises a double-acting first cilinder and a double-acting second cilinder, each ~ comprising two parts capable of moving relative to one another, and ~ hingedly connected to both the proximal reaction arm section and the distal reaction arm section ; wherein — one of the proximal reaction arm section and the distal reaction arm section comprises a point of hinged attachment away from the axis for both ~ one of said two parts of the first cilinder, and — one of said two parts of the second cilinder; and — the other parts of both the first cilinder and the second cilinder being located at points at opposite sides of a plane defined by i) the axis and ii) the point when the centerline through the other of the proximal reaction arm section and the distal reaction arm section runs parallel with a line through ~ the axis, and ~ the point and perpendicular to the axis.

This allows for relatively large loads to be handled over a range of > 135° and/or even when the proximal reaction arm section and the distal reaction arm section are in line with each other.

The cilinders will typically be hydraulic cilinders.

In contrast to an electric motor, the cilinders take up little space, and thus affect the angle of the rotation of the reaction arm to a lesser extent.

The parts of a cilinder capable of moving relative to one another are a housing and a piston rod.

There is no particular requirement which part is hingedly linked to which reaction arm section, although it will be preferred if at least one piston rod is attached to the point of hinged attachment away from the axis.

According to a favourable embodiment, the reaction arm is a primary reaction arm, and the apparatus comprises a secondary reaction arm having ~ a proximal first end section, and — a distal second end section;

wherein the proximal first end section of the secondary reaction arm is connected to the second arm member end section and the secondary reaction arm is rotatable about said axis of rotation with respect to both the arm member and the primary reaction arm, wherein the actuator is a primary actuator comprising a first member and a second member that can move relative to one another, wherein the apparatus comprises a secondary actuator comprising a third member and a fourth member that can move relative to one another; wherein — the first member is hingeably connected to the arm member away from the second arm member end section, and ~ the second member is hingeably connected to one of 1) the secondary reaction arm away from the proximal first end section, and ii) the third member; — the third member is hingeably connected to one of 1) the secondary reaction arm away from the first end section, and ii) the second member, with at least one of the second member and the third member being hingeably connected to the secondary reaction arm, and — the fourth member is hingeably connected to the primary reaction arm at a distance from the axis of rotation.

Such an apparatus is quite suitable at operating a tool at a wide range of angles. It is possible to rotate the tool about the axis over an angle of more than 190°, such as at least 210°C, and even more than 235° such as at least 270° may be achievable.

The axis will extend tangentially with respect to the axis shared by the arm member and the first and second reactions.

The actuators may, for example, be linear motors.

It is preferred that both the second member and the third member are hingeably connected the secondary reaction arm.

According to a favourable embodiment, at least one of the primary actuator and the secondary actuator is a cilinder, said cilinder defining a first chamber with a first inlet opening for a fluid and a second chamber with a second inlet opening for a fluid and an opening for a piston rod of the cilinder.

The cilinder may be operated by a gas but preferably a liquid as the fluid, wherein during operation a chamber is provided with the fluid while fluid is discharged from the other chamber. To reverse direction, the direction of the flow of fluid is reversed. The cilinder is one member of an actuator and the piston rod the other member. 5 According to a favourable embodiment, both the primary actuator and the secondary actuator are cilinders, and both — the first chamber of the first cilinder and first chamber of the second cilinder are in open connection with each other, and ~ the second chamber of the first cilinder and second chamber of the second cilinder are in open connection with each other.

This makes it easy Lo operate the primary and secondary actuators in a dependant manner.

According to a favourable embodiment, the apparatus comprises at least one primary actuator and at least one secondary actuator, and the ratio R of i) the total internal cross-sectional area of the at least one first cilinder and ii) the total internal cross-sectional area of the at least one second cilinder is less than one.

Thus it is achieved that the second cilinder(s) expands more quickly than the first cilinder(s), as a result of which the primary reaction arm and/or a tool present on the primary reaction arm will be less likely to be hindered by the secondary reaction arm or the at least one second cilinders.

The ratio R is typically between 0.5 and 0.99, and preferably between 0.8 and 0.97.

According to a favourable embodiment, the arm is mounted on a platform.

It may be mounted with the first arm member end section, including via the first arm member end section. Typically, the arm is an articulated arm of a crane. In addition or alternatively, the arm is typically an arm that is rotatably mounted to the platform about an axis transverse to the platform. This makes the arm more versatile.

Preferably the platform comprises a top surface for carrying a load. Most preferably said top surface is interrupted by a slot for receiving the arm below the top surface in a retracted state of the arm. This allows for the platform to have a low volume, advantageous when it is to be transported.

According to a favourable embodiment, the platform is a mobile platform comprising a motor for moving the platform.

The moveable platform will typically comprise wheels and/or tracks. Means for driving the mobile platform, such as a battery, an electric motor will be located below the top surface for bearing a load.

According to a favourable embodiment, the primary reaction arm of the apparatus comprises the tool, wherein the tool is chosen from a drill, a camera, and a gripper.

These provide important uses for the apparatus according to the present invention.

Finally, the present invention relates to a method for handling an object using an articulated device comprising an arm and a head comprising a holding device chosen from a suction cup and a gripper; wherein the articulated is an articulated device according to claim 1 or an apparatus according to any of the claims 2 to 9, and the method comprises the step of using the holding device to hold the object and to actuate at least one double-acting cilinder.

This method is very useful in the construction business, for rotating and/or moving objects such as beams and sheet material (e.g. wood-based sheet material such as multiplex; glass plates or plasterboard).

According to a favourable embodiment, once the centerline of a double-acting cilinder crosses the axis, the action of said double-acting cilinder is reversed.

Reversing the action is performed by providing fluid to the other chamber opposite of the piston or reducing the pressure. Even a negative pressure may be applied to a chamber, although this will typically give a relatively small contribution.

The present invention will now be illustrated with reference to the drawing where Pig. 1A and Fig. 1B show a side view and a perspective view of a mobile platform comprising an apparatus for operating a tool respectively; Fig. 2A through Fig. ZD show a perspective view and a side view of the arm of Fig. 1 respectively in a relatively high and a relatively low position of a tool held by the arm respectively; Fig. 3 shows a more detailed side view of the arm of Fig. 2B; and Fig. 4A to Fig. 4 show top views of the distal end of the arm of the mobile platform of Fig. 1.

Fig. 1A and Fig. 1B show a side view and a perspective view of a mobile platform 190 comprising an apparatus 100 for operating a tool 180 (here a gripper 180) respectively, said apparatus 100 mounted on a base 191 with caterpillar tracks 122 and a top surface 193 for carrying a load, for example construction beams. The top surface is interrupted by a slot 194.

The apparatus 100 is an apparatus for operating the tool 180 at a variety of angles. To this end, the apparatus 100 comprises an arm

110. For transport of the mobile platform 190 (e.g. in a trailer or a van), the mobile platform 190 can be made quite compact by retracting the arm 110 in the slot 194.

In the embodiment discussed here, the arm 110 is an articulated arm 110, comprising with a base arm member 110' rotatable about a vertical axis, a telescopic arm member 110" (first member 110") and a primary reaction arm 110''' for the tool 180.

Fig. ZA through Fig. 2D show a perspective view and a side view of the arm 110 of Pig. 1 respectively in a relatively high and a relatively low position of the tool 180 held by the arm 110 respectively.

The telescopic arm member 110" comprises a first arm member end section 211" and a second arm member end section 212". The primary reaction arm 110''' for the tool is connected to the second arm member end section 212" and rotatable with respect to the second arm member end section 212" about an axis 215. The axis 215 is transverse to the second arm member end section 2127.

So as to allow rotation of the tool 180 over a large angie (compare Fig. 2B with Fig. 2D), the apparatus 100 comprises a secondary reaction arm 220. This secondary reaction arm 220 has a proximal first end section 221, and a distal second end section 222.

The proximal first end section 221 is connected to the second arm member end section 212" and the secondary reaction arm 220 is rotatable about the axis of rotation 215 with respect to both the telescopic arm member 110" and the primary reaction arm 110'''.

To allow for the rotation of the primary reaction arm 110''', the arm 110 comprises a primary actuator 250 and a secondary actuator 260 (actually there are two in the embodiment discussed here, actuator 260' and actuator 260", but for the sake of simplicity of the description reference is made to one only below), in the embodiment of the invention discussed here both hydraulic cilinders. The primary actuator 250 comprises a first member 251 (piston housing 251) and a second member 252 (piston rod 252). The secondary actuator 260 comprising a third member 263 (piston housing 263) and a fourth member 264 (piston rod 264).

The first member 251 of the primary actuator 250 is hingeably connected to the first arm member end section 211" of the telescopic arm member 110". i.e. away from the second arm member end section 212". The second member 252 is hingeably connected to the distal second end section 222 of the secondary reaction arm 220, i.e. at a location away from the proximal first end section 221.

The third member 263 of the secondary actuator 260 is hingeably connected to distal second end section 222 of the secondary reaction arm 220, i.e. away from the first end section 221. The fourth member 264 is hingeably connected to the primary reaction arm 110''' at a location away from the axis 215.

Thus, the primary actuator 250 moves the secondary reaction arm 220 and the secondary actuator 260 that is hingeably connected to said secondary reaction arm 220 moves the primary reaction arm 110''?' carrying the tool 180. This allows for rotation of the primary reaction arm 110''', and thus the tool 180, over a large angle.

Fig. 3 shows a more detailed side view of the arm 110 of Fig. 2B. The actuators are double-acting pistons which according to a preferred embodiment are connected.

The primary actuator 250 has a first inlet 351 and a second inlet 352, with the piston (not shown) in between said two inlets. Similarly, the secondary actuator 260 has a third inlet 363 and a fourth inlet 364, with the piston (not shown) in between said two inlets.

The first inlet 351 and the third inlet 363 are linked (in fluid communication) via a first hydraulic conduit 371 and the second inlet 352 and the fourth inlet 364 are linked via a second hydraulic conduit

372. Now pressurising one of the conduits will operate both of the actuators. If the total cross-sectional piston area of the secondary actuators is larger than that of the primary actuator, the secondary actuators will extend quicker, which helps to reduce undesired interaction of the tool 180 with the telescopic arm member 110".

Fig. 4A to Fig. 4 show top views of the distal end of the arm 110 of the mobile platform 190 of Fig. 1.

The primary reaction arm 110''' comprises a proximal primary reaction arm section 411''' and a distal primary reaction arm section 4127'', with the latter rotatable about an axis 415 with respect to the former. To rotate the distal primary reaction arm section 412'!! about the axis 415, the primary reaction arm 110''' comprises two actuators 450 each hingedly connected to both the proximal primary reaction arm section 411''' and the distal primary reaction arm section 412'''. The distal primary reaction arm section 412"! comprises a point 481 of hinged attachment away from the axis 415 for one end of both the first cilinder 450' and the second cilinder 450%, with the other ends of both the first cilinder 450' and the second cilinder 450" being located at points 482 at opposite sides of a plane defined by i) the axis 415 and ii) the point 481 when the centerline through the proximal reaction arm section 411''' runs parallel with a line through — the axis 415, and ~ the point 481 and perpendicular to the axis 415.

The actuators 450 are double-acting cilinders: first cilinder 450' and second cilinder 450".

To rotate the tool 180 about the axis 415 from the position shown in Pig. 4A to the position shown in Fig. 4C, the double-acting cilinders 450', 450" are both extended. Once the centerline of an actuator crosses the axis 415, its action is reversed, here by providing fluid to the other chamber of said actuator. This allows for relatively heavy loads held by the tool 180 to be rotated.

Claims (11)

-10 - CONCLUSIONS An articulated device comprising a first articulated device element and a second articulated device element, and a device drive system for pivotally moving the first articulated device element and the second articulated device element relative to each other about an axis (415); characterized in that the device drive system comprises a double-acting first cylinder (450 ') and a double-acting second cylinder (450 °'), each of which - comprises two parts movable relative to each other, and - is pivotally connected to both the first articulating device element (411 ° '') as the second articulating device element, wherein - one of the first articulating device element and the second articulating device element includes a point (481) of articulated mounting spaced from the axis (415) for both - one of the two parts of the first cylinder (4507), and - one of the two parts of the second cylinder (450 °), and - the other parts of both the first cylinder (450 °) and the second cylinder (450 ° ') are located at points (482) on opposite sides of a plane defined by i) the axis (415) and 11) the point (481) where the axis passes through the other of the proximal reaction arm section (411 °) and the distal reaction arm section (41 2 °°°) is parallel to a line through - the axis (415) and - the point (481), and perpendicular to the axis (415). Apparatus (100) for operating a tool (180) at a variety of angles, the apparatus (100) comprising an arm (110), said arm (110) comprising: - an arm element (1107) having a first arm member end section (2117) and a second arm member end section (2127), - a reaction arm (110) for the tool (180), the reaction arm (110) being connected to the second arm member end section (2127), and 11 - is rotatable with respect to the second arm member end section (2127) about an axis of rotation (215), the axis of rotation (215) being transverse to the second arm member end section (2127), and - an actuator for rotating the reaction arm (110) about the axis of rotation (215); wherein the response arm (110) comprises: - a proximal response arm section (411 °) and a distal response arm section (412 ° ''), the distal response arm section (412 °) being rotatable to an axis (415) relative to the proximal reaction arm section (411 ° "}), and - a drive system for rotating the proximal reaction arm section (4117) and the distal reaction arm section (412 °"} relative relative to each other, characterized in that the drive system comprises a double-acting first cylinder (450) and a double-acting second cylinder (4507), each of which - comprises two parts that can move relative to each other, and - are pivotally connected to both the primary response arm section (411 ° ° °) and the distal primary response arm section (412 °); where - one of the proximal response arm section (411 ° '') and the distal response arm section (412 ° ° 7) includes a point (481) of hinged mounting remote from the shaft (415) for both - one of the two parts of the ee rst cylinder (4507), if - one of the two parts of the second cylinder (450 °), and - the other parts of both the first cylinder (450 ') and the second cylinder (450 °) are located at points ( 482) on opposite sides of a plane defined by 1) the axis (415) and 11) the point (481) where the axis passes through the other of the proximal reaction arm section (411 ° '') and the distal reaction arm section (41277) is parallel to a line through - the axis (415) and - the point (481) and perpendicular to the axis (415). The device (100) of claim 2, wherein the reaction arm (110) is a primary reaction arm (110 ° ""), and the device (100) comprises a secondary reaction arm (220) with -12- - a proximal first end section (221), and - a distal second end section (222); wherein the proximal first end section (221) of the secondary reaction arm (220) is connected to the second arm element end section (2127) and the secondary reaction arm (220) is rotatable about the axis of rotation (215) relative to both the arm element (1107) as the primary reaction arm (110 ° ''), the actuator being a primary actuator (250) comprising a first element (251) and a second element (252) that can move relative to each other, wherein the device (100) comprises a secondary actuator (260) comprising a third element (263) and a fourth element (264) movable relative to each other; wherein - the first member (251) is pivotally connected to the arm member (1107) spaced from the second arm member end section (2127), and - the second member (252) is pivotally connected to one of 1) the secondary reaction arm (220 ) spaced from the proximal first arm element end section (221) and 11) the third element (263); - the third member (263) is pivotally connected to one of i) the secondary reaction arm (220) spaced from the first end section (221) and ii) the second member (252), at least one of the second member (252) and the third member (263) is pivotally connected to the secondary reaction arm (220), and - the fourth member (264) is pivotally connected to the primary reaction arm (110 °) spaced from the rotary shaft (215). The device (100) of claim 3, wherein at least one of the primary actuator (250) and the secondary actuator (260) is a cylinder, the cylinder defining a first chamber with a first inlet opening (351) for a fluid and a second chamber having a second fluid inlet opening (352) and an opening for a piston rod (264) of the cylinder. -13 - Apparatus (100) according to claim 4, wherein both the primary actuator (250) and the secondary actuator (260) are cylinders, and both - the first chamber of the first cylinder and the first chamber of the second cylinder are in open communication with stand together, and - the second chamber of the first cylinder when the second chamber of the second cylinder is in open communication with each other. The device (100) of claim 5, wherein the device (100) comprises at least one primary actuator (250) and at least one secondary actuator (260), and the ratio R of i) is the total internal cross-sectional area of the at least one first cylinder and ii) the total internal cross-sectional area of the at least one second cylinder is less than one. Apparatus (100) according to any preceding claim, wherein the arm (110) is mounted on a platform (190). The device (100) of claim 7, wherein the platform (190) is a mobile platform (190) that includes a motor for moving the platform (190). The device (100) of any one of claims 2 to 8, wherein the primary reaction arm (110 ° C) of the device (100) comprises the tool (180), the tool (180) being selected from one of the drill, a camera and a grab. A method of handling an object using an articulating device (100) comprising an arm (110) and a head comprising a holding device selected from a suction cup and a gripper; characterized in that the articulating device is an articulated device according to claim 1 or a device (100) according to any one of claims 2 to 9, and the method comprises the step of using the holding device to hold and hold the object. drive at least one double-acting cylinder. -14 - The method of claim 10, wherein as soon as the centerline of a double acting cylinder passes the shaft (415), the action of the double acting cylinder is reversed.