NL2023445B1 - An apparatus for operating a tool, as well as a method for moving an object - Google Patents

An apparatus for operating a tool, as well as a method for moving an object Download PDF

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Publication number
NL2023445B1
NL2023445B1 NL2023445A NL2023445A NL2023445B1 NL 2023445 B1 NL2023445 B1 NL 2023445B1 NL 2023445 A NL2023445 A NL 2023445A NL 2023445 A NL2023445 A NL 2023445A NL 2023445 B1 NL2023445 B1 NL 2023445B1
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Netherlands
Prior art keywords
arm
reaction arm
primary
end section
section
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Application number
NL2023445A
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Dutch (nl)
Inventor
Baars Hendrik
Baars Gerrit
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Baars Hendrik
Baars Gerrit
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Application filed by Baars Hendrik, Baars Gerrit filed Critical Baars Hendrik
Priority to NL2023445A priority Critical patent/NL2023445B1/en
Application granted granted Critical
Publication of NL2023445B1 publication Critical patent/NL2023445B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/302—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with an additional link
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

An apparatus for operating a tool at a variety of angles, said 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. To allow for rotation of the reaction arm about the axis over an angle of over 190°, there is a secondary reaction arm also sharing the axis. The actuator and a secondary actuator cooperate to use the secondary reaction arm for rotation of the reaction arm for the tool.

Description

An apparatus for operating a tool, as well as a method for moving an object The present invention relates to an apparatus for operating a tool at a variety of angles, said 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.
An apparatus according to the preamble is known from W02010043919. The reaction arm comprises a head which comprises suction cups as the tool to pick up panels, such as glass panes or other construction panels. The arm allows for rotation of the reaction arm and hence the tool over about 180°. The object of the present invention is to provide an apparatus allowing for rotation of the reaction arm about the axis over an angle of over 190°.
To this end, an apparatus according to the preamble is characterized in that 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 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.
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 to 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 guickly 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.
According to a favourable embodiment, the primary reaction arm comprises ~ a proximal primary reaction arm section and a distal primary reaction arm section, sald distal primary reaction arm section rotatable about an axis with respect to the proximal primary reaction arm section 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 primary reaction arm section and the distal primary 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 primary reaction arm section and the distal primary reaction arm section are in line with each other. The angle is typically >190°, such ast >210° and may even be >270° thanks to the use of the cilinders.
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 reguirement 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.The axis will extend 3% tangentially with respect to the axis shared by the arm member and the first and second reactions.
Finally, the present invention relates to a method for moving an object from a first location to a second location using an apparatus comprising an arm and a head comprising a holding device chosen from a suction cup and a gripper;, wherein the apparatus is an apparatus according to any of the claims 1 to 8. This method is very useful in the construction business, for 5 moving objects such as beams and sheet material (e.g. wood-based sheet material such as multiplex; glass plates or plasterboard). The present invention will now be illustrated with reference Lo the drawing where Fig. 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. ZA through Fig. 2D 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 192 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. 2A through Fig. ZD show a perspective view and a side view of the arm 110 of Fig. 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 212".
So as to allow rotation of the tool 180 over a large angle (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 1107. 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 4117'' and a distal primary reaction arm section 412'"', 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''', One of the proximal primary reaction arm section 411''' and 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 the axis of rotation of axis 415 and a line parallel to the centerline through the proximal primary reaction arm section 411'''. 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 Fig. 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 1s 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 (9)

-9. CONCLUSIES-9. CONCLUSIONS 1. Inrichting (100) voor het bedienen van een werktuig (180) onder een verscheidenheid aan hoeken, waarbij de inrichting (100) een arm (110) omvat, welke arm (110) het volgende omvat: - een armelement (1107) met een eerste armelementeindsectie (2117) en een tweede armelementeindsectie (2127), - een reactie-arm (110) voor het werktuig (180), waarbij de reactie-arm (110) verbonden is met de tweede armelementeindsectie (212”) en roteerbaar is ten opzichte van de tweede armelementeindsectie (2127) om een rotatie-as (215), waarbij de rotatie-as (215) dwars op de tweede armelementeindsectie (2127) staat, en - een actuator voor het roteren van de reactie-arm (110) om de rotatie-as (215); met het kenmerk, dat de reactie-arm (110) een primaire reactie-arm (110°’’) is, en de inrichting (100) een secundaire reactie-arm (220) omvat met - een proximale eerste eindsectie (221), en - een distale tweede eindsectie (222); waarbij de proximale eerste eindsectie (221) van de secundaire reactie-arm (220) verbonden is met de tweede armelementeindsectie (2127) en de secundaire reactie- arm (220) roteerbaar is om de rotatie-as (215) ten opzichte van zowel het armelement (1107) als de primaire reactie-arm (11077), waarbij de actuator een primaire actuator (250) is die een eerste element (251) en een tweede element (252) omvat die relatief ten opzichte van elkaar kunnenbewegen, waarbij de inrichting (100) een secundaire actuator (260) omvat die een derde element (263) en een vierde element (264) omvat die relatief ten opzichte van elkaar kunnenbewegen; waarbij - het eerste element (251) scharnierbaar verbonden is met het armelement (1107) op afstand van de tweede armelementeindsectie (2127), enA device (100) for operating a tool (180) at a variety of angles, the device (100) comprising an arm (110), said arm (110) comprising: - an arm element (1107) with a first arm member end section (2117) and a second arm member end section (2127), - a reaction arm (110) for the tool (180), wherein the reaction arm (110) is connected to the second arm member end section (212 ") and 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); characterized in that the reaction arm (110) is a primary reaction arm (110 ° ''), and the device (100) comprises a secondary reaction arm (220) with - 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 member (1107) as the primary response arm (11077), the actuator being a primary actuator (250) comprising a first member (251) and a second member (252) movable relative to each other, the device (100) includes a secondary actuator (260) that includes a third element (263) and a fourth element (264) that can move 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 -10 - - het tweede element (252) scharnierbaar verbonden is met één van i) de secundaire reactie-arm (220) op afstand van de proximale eerste armelementeindsectie (221) en 11) het derde element (263); - het derde element (263) scharnierbaar verbonden is met één van 1) de secundaire reactie-arm (220) op afstand van de eerste eindsectie (221) en 11) het tweede element (252), waarbij ten minste één van het tweede element (252) en het derde element (263) scharnierbaar verbonden is met de secundaire reactie-arm (220), en - het vierde element (264) scharnierbaar verbonden is met de primaire reactie-arm (110°°7) op afstand van de rotatie-as (215).- the second member (252) is pivotally connected to one of i) the secondary response arm (220) spaced from the proximal first arm member end section (221) and 11) the third member (263); - the third member (263) is pivotally connected to one of 1) the secondary reaction arm (220) spaced from the first end section (221) and 11) 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 ° 7) spaced from the rotary shaft (215). 2. Inrichting (100) volgens conclusie 1, waarbij ten minste één van de primaire actuator (250) en de secundaire actuator (260) een cilinder is, waarbij de cilinder een eerste kamer definieert met een eerste inlaat-opening (351) voor een fluïdum en een tweede kamer met een tweede inlaat-opening (352) voor een fluidum en een opening voor een zuigerstang (264) van de cilinder.The device (100) of claim 1, 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. 3. Inrichting (100) volgens conclusie 2, waarbij zowel de primaire actuator (250) als de secundaire actuator (260) cilinders zijn, en zowel - de eerste kamer van de eerste cilinder als de eerste kamer van de tweede cilinder in open verbinding met elkaar staan, en - de tweede kamer van de eerste cilinder als de tweede kamer van de tweede cilinder in open verbinding met elkaar staan.The device (100) according to claim 2, 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. 4. Inrichting (100) volgens conclusie 3, waarbij de inrichting (100) ten minste één primaire actuator (250) en ten minste één secundaire actuator (260) omvat, en de verhouding R van 1) de totale inwendige dwarsdoorsnede-oppervlakte van de ten minste één eerste cilinder en 11) de totale inwendige dwarsdoorsnede-oppervlakte van de ten minste één tweede cilinder minder dan één is.The device (100) of claim 3, wherein the device (100) comprises at least one primary actuator (250) and at least one secondary actuator (260), and the ratio R of 1) is the total internal cross-sectional area of the at least one first cylinder and 11) the total internal cross-sectional area of the at least one second cylinder is less than one. 5. Inrichting (100) volgens één van de voorgaande conclusies, waarbij de arm (110) bevestigd is op een platform (190).Apparatus (100) according to any one of the preceding claims, wherein the arm (110) is mounted on a platform (190). “11 -“11 - 6. Inrichting (100) volgens conclusie 5, waarbij het platform (190) een mobiel platform (190) is dat een motor omvat voor het bewegen van het platform (190).The device (100) of claim 5, wherein the platform (190) is a mobile platform (190) that includes a motor for moving the platform (190). 7. Inrichting (100) volgens één van de voorgaande conclusies, waarbij de primaire reactie-arm (110°’’) van de inrichting (100) het werktuig (180) omvat, waarbij het werktuig (180) is gekozen uit een boor, een camera en een grijper.The device (100) of any preceding claim, wherein the primary reaction arm (110 ° ") of the device (100) comprises the tool (180), the tool (180) being selected from a drill, a camera and a grab. 8. Inrichting (100) volgens één van de voorgaande conclusies, waarbij de primaire reactie-arm (110°’’) het volgende omvat: - een proximale primaire reactie-armsectie (411°°°) en een distale primaire reactie- armsectie (412°’’), waarbij de distale primaire reactie-armsectie (412°°’) roteerbaar is om een as (415) ten opzichte van de proximale primaire reactie-armsectie (4117) een dubbelwerkende eerste cilinder (450°) en een dubbelwerkende tweede cilinder (4507), die elk - twee delen omvatten die relatief ten opzichte van elkaar kunnen bewegen, en - scharnierbaar verbonden zijn met zowel de primaire reactie-armsectie (411777) als de distale primaire reactie-armsectie (412°); waarbij - één van de proximale reactie-armsectie (411°’’) en de distale reactie-armsectie (41277) een punt (481) omvat van gescharnierde bevestiging op afstand van de as (415) voor zowel - één van de twee delen van de eerste cilinder (450%), als - één van de twee delen van de tweede cilinder (450), en - waarbij de andere delen van zowel de eerste cilinder (4507) als de tweede cilinder (450°) zich bevinden op punten (482) op tegenoverliggende zijden van een vlak dat gedefinieerd wordt door 1) de as (415) en 11) het punt (481) wanneer de hartlijn door de andere van de proximale reactie-armsectie (411°°’) en de distale reactie- armsectie (412°°’) parallel loopt met een lijn door - de as (415) en - het punt (481), en loodrecht op de as (415).The device (100) of any preceding claim, wherein the primary response arm (110 ° ") includes: a proximal primary response arm section (411 °") and a distal primary response arm section ( 412 ° ''), wherein the distal primary reaction arm section (412 °° ') is rotatable about an axis (415) relative to the proximal primary reaction arm section (4117), a double acting first barrel (450 °) and a double acting second barrel (4507), each of which - comprising - two parts movable relative to each other, and - pivotally connected to both the primary reaction arm section (411777) and the distal primary reaction arm section (412 °); wherein - one of the proximal reaction arm section (411 ° '') and the distal reaction arm section (41277) includes a point (481) of articulated spacer from the shaft (415) for both - one of the two parts of the first cylinder (450%), if - one of the two parts of the second cylinder (450), and - the other parts of both the first cylinder (4507) 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) when the centerline passes through the other of the proximal reaction arm section (411 °) and the distal reaction arm section (412 °° ') is parallel to a line through - the axis (415) and - the point (481), and perpendicular to the axis (415). -12--12- 9. Werkwijze voor het bewegen van een object van een eerste locatie naar een tweede locatie met behulp van een inrichting (100) die een arm (110) en een kop die een houdinrichting die uit een zuignap en een grijper is gekozen, omvat; met het kenmerk, dat de inrichting (100) een inrichting (100) is volgens een van de conclusies 1 tot 8.A method of moving an object from a first location to a second location using a 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 device (100) is a device (100) according to any one of claims 1 to 8.
NL2023445A 2019-07-05 2019-07-05 An apparatus for operating a tool, as well as a method for moving an object NL2023445B1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3662907A (en) * 1970-04-17 1972-05-16 Unic Corp Device for actuating a swingable boom
US5711096A (en) * 1993-10-27 1998-01-27 Komatsu Ltd. Working machine of a hydraulic backhoe having increased blade tip force
WO2010043919A1 (en) 2008-10-17 2010-04-22 Hh Intellitech Aps Lifting vehicle
KR101329119B1 (en) * 2013-08-13 2013-11-14 이준호 High place operation device and high place operation car

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3662907A (en) * 1970-04-17 1972-05-16 Unic Corp Device for actuating a swingable boom
US5711096A (en) * 1993-10-27 1998-01-27 Komatsu Ltd. Working machine of a hydraulic backhoe having increased blade tip force
WO2010043919A1 (en) 2008-10-17 2010-04-22 Hh Intellitech Aps Lifting vehicle
KR101329119B1 (en) * 2013-08-13 2013-11-14 이준호 High place operation device and high place operation car

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