Enhanced lift assist device systems and methods

Abstract

Enhanced Lift Assist Device Systems and Methods are described. The systems and methods are suitable for a lift assist device or an enhanced lift assist device, and include, but are not limited to, a gripper for retention, movement and subsequent placement of an object such as a building element, power saving systems and methods, power down and power restore systems and methods, power and signal handling systems and methods, and impact sensor system systems and methods.

Description

[0001] TECHNICAL FIELD

[0002] The present invention relates generally to lifting equipment, and more particularly to Systems and Methods applicable to an Enhanced Lift Assist Device where a user interacts with the Enhanced Lift Assist Device to direct lifting, placement and manipulation of items.

[0003] BACKGROUND ART

[0004] Various hoists and lifts for the lifting and placement of heavy items are currently available. This equipment reduces fatigue and injury among workers, increases productivity, speeds up completion of jobs, and improves the overall quality of the job. Unfortunately these devices do not provide portable and item specific movement to a resolution needed for final placement of items such as construction elements, for example, blocks, bricks, and the like. Such final placement is typically performed by a human, and is time consuming, labor intensive, and prone to human fatigue and injury. In addition, many larger and bulkier items require multiple workers for movement and placement of an item, and often require specialized fixtures or tools for movement and placement of the item. Oftentimes, the use of multiple workers is either not possible or is cost prohibitive. What is therefore needed is a device that allows a single worker to handle large, heavy and bulky items. What is also needed is a device that moves and places an item while under the direct control of the worker where movement of the item by the worker is assisted by the device through the application of force by the user where the user applied force is supplemented and effectively amplified by the device. What is also needed is an adaptable and multi-functional device allowing for operation in an environment such as a construction site or the like. Further, safety and power conservation are needed in such a device that heretofore does not exist.

[0005] DISCLOSURE OF THE INVENTION

[0006] In accordance with the present invention, there are provided systems and methods applicable to a lift assist device. These systems and methods include, but are not limited to, a novel gripper for retention, movement and subsequent placement of an object such as a building element, power saving systems and methods, power down and pow’er restore systems and methods, power and signal handling systems and methods, and impact sensor system systems and methods.

[0007] The gripper of the present invention comprises a first appendage comprising a first gripping module having a body with a gripping cam pivotally connected to the body; a gripping cam shaft connecting the gripping cam to a lower crank; an upper crank pivotally connected to a motor; a lower link connecting the lower crank to the upper crank; an x-axis adjustment block connecting the first appendage to a second appendage; and an attachment member that retains the connected first appendage and second appendage. In some embodiments, the gripper further comprises a torsion spring in communication with the gripping cam.

[0008] The x-axis adjustment block of the gripper may further comprise a series of openings to receive a retention pin where the placement of the retention pin determines the distance between the first appendage and the second appendage. In some embodiments, the second appendage of the gripper comprises a stationary leg.

[0009] In some embodiments, the second appendage of the gripper comprises a gripping module having a gripping cam pivotally connected to the body.

[0010] In some embodiments, the gripper further comprises a stop bar located between the first appendage and the second appendage.

[0011] In some embodiments, the first appendage gripping cam of the gripper comprises a friction increasing surface.

[0012] In some embodiments, the second appendage gripping cam of the gripper comprises a friction increasing surface. Further, the present invention includes an enhanced lift assist device comprising the gripper of the present invention; an adjustable base operatively coupled to an articulating arm assembly; an operating handle coupled to the gripper; a lifting element driven by a drive motor where a distal end of the lifting element is connected to the operating handle; a force sensor that detects force applied by a user; a force amplifier that converts user applied force received by the force sensor to mechanical force applied to the building element gripper to provide for movement of a building element by the building element gripper; an energy storage device; and a microprocessor configured to conserve electrical energy in the energy storage device by sensing a user inactivity time period and engaging an electromechanical brake to maintain load retention.

[0013] The lifting element of the enhanced lift assist device may comprise a belt containing at least one conductive element wherein the enhanced lift assist device further comprises a moving contact for conveying electrical power and / or signals through the conductive element of the belt to the control handle.

[0014] In some embodiments, the user inactivity time period is a configurable amount of time.

[0015] In some embodiments, an additional configurable amount of time can be specified where the passage of the additional configurable amount of time results in shut off of a majority of functions of the enhanced lift assist device.

[0016] In some embodiments, the microprocessor is configured to restore the majority' of functions of the enhanced lift assist device by sensing a power cycle of the enhanced lift assist device. Further, the present invention includes an enhanced lift assist device comprising the gripper of the present invention; an adjustable base operatively coupled to an articulating arm assembly; an operating handle coupled to the gripper; a lifting element driven by a drive motor where a distal end of the lifting element is connected to the operating handle; a force sensor that detects force applied by a user; a force amplifier that converts user applied force received by the force sensor to mechanical force applied to the building element gripper to provide for movement of a building element by the building element gripper; an accelerometer contained within the operating handle; and a microprocessor configured to interact with the accelerometer.

[0017] In some embodiments, the lifting element of the enhanced list assist device comprises a belt containing at least one conductive element and wherein the enhanced lift assist device further comprises a moving contact for conveying electrical power and / or signals through the conductive element of the belt to die control handle. In some embodiments, the microprocessor of the enhanced lift assist device is configured such that if the operating handle is shaken by a user the accelerometer provides a signal to the microprocessor to return the enhanced lift assist device to an active state. In some embodiments, the microprocessor of the enhanced lift assist device is configured such that if the accelerometer senses an impact the accelerometer then provides a signal to the microprocessor to restrict the motion of the entranced lift assist device.

[0018] In some embodiments, the microprocessor of the entranced lift assist device is further configured such that if the accelerometer senses an impact the accelerometer then provides a signal to the microprocessor to restrict the motion of the enhanced lift assist device for a specified period of time and then ramp motion functionality from zero to normal once the specified period of time elapses.

[0019] The present invention further includes a method for moving building elements, the method comprising the steps of retaining a building element with the enhanced lift assist device; moving the retained building element with the enhanced lift assist device; and releasing the retained building element with the enhanced lift assist device.

[0020] The present invention further includes a method for moving building elements, the method comprising the steps of retaining a building element with the enhanced lift assist device; moving the retained building element with the enhanced lift assist device; and releasing the retained building element with the enhanced lift assist device.

[0021] The foregoing paragraph has been provided by way of introduction, and is not intended to limit the scope of the invention as described by this specification and the attached drawings and claims.

[0022] BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The invention will be described by reference to the following drawings, in which like numerals refer to like elements, and in which:

[0024] Figure 1 is a perspective view of an Enhanced Lift Assisi Device;

[0025] Figure 2 is a flowchart depicting a power save and system wake method of the present invention;

[0026] Figure 3 is a flowchart depicting an impact detection method of the present invention;

[0027] Figure 4 is a bottom perspective view of a gripper of the present invention; Figure 5 is a top perspective view of the gripper of the present invention;

[0028] Figure 6 is a profile plan view of the gripper of the present invention;

[0029] Figure 7 is a side plan view of tire gripper of the present invention;

[0030] Figure 8 is a rotated profile plan view of the gripper of the present invention in a spring compressed position;

[0031] Figure 9 is a rotated profile plan view of the gripper of the present invention in a bottom dead center position;

[0032] Figure 10 is a rotated profile plan view of the gripper of the present invention in a top dead center position; Figure 11 is a bottom perspective view of a further embodiment of the gripper of the present invention;

[0033] Figure 12 is a top perspective view of the further embodiment of the gripper of the present invention; Figure 13 is a profile plan view of the further embodiment of the gripper of the present invention;

[0034] Figure 14 is a side plan view of the further embodiment of the gripper of the present invention;

[0035] Figure 15 is a perspective view of the further embodiment of the gripper of the present invention; Figure 16 is a profile plan view of the further embodiment of the gripper of the present invention in a top dead center position; and

[0036] Figure 17 is a profile plan view of the further embodiment of the gripper of the present invention in a bottom dead center position.

[0037] The present invention will be described in connection with a preferred embodiment, however, it will be understood that there is no intent to limit the invention to the embodiment described. On the contrary, the intent is to cover all alternatives, modifications, and equivalents as may be included wdthin the spirit and scope of the invention as defined by this specification, drawings and claims attached hereto.

[0038] BEST MODE FOR CARRYING OUT THE INVENTION

[0039] The present invention, as described and depicted herein, includes an enhanced lift assist device with systems and methods suitable for use with a lift assist device or an enhanced lift assist device.

[0040] A lift assist device allows a user to directly interact with an item, such as a building component or tool, to control the movement of that item without the necessity of an interface. The worker applies force to the item in the direction required, be it up, down, to either side, or some combination thereof. The lift assist device then assists the user relative to the force that was inputted, to move the item in the correct way. This movement is done directly with the worker contacting and moving the item as if weight were not an issue. The lift assist device senses, collects, processes and reacts to the forces applied by the worker to the item to create a sense of ease and weightlessness. The reaction by the enhanced lift assist device to a user applied force may be, for example, amplification, resistance, or nothing (ignore input). In one embodiment of the present invention, the lift assist device provides lift assistance in the vertical axis, while horizontal movement is not mechanized. In some embodiments, the present, invention has degrees of freedom to allow for manual horizontal movement while in others horizontal movement is driven through electrical / hydraulic means by actuators, motors, or the like. This is accomplished through human force and associated movement thereof. In these embodiments, proper leveling of the motion surface is critical both to ensure ease of horizontal movement as well as safety of the worker while working with a suspended load. This applies to various embodiments of the present invention including, but not limited to, an arm based system as well as a mono-rail based system.

[0041] In Published United States Patent Application US-2023-0076909-A1 by Construction Robotics, LLC and entitled Enhanced Lift Assist Device, an enhanced lift assist device is described where the systems and methods disclosed herein can be applied. The entire disclosure of this Published United States Patent Application US 2023 / 0076909 Al is incorporated herein by reference in its entirety as permissible by national or regional laws.

[0042] Further, in Published United States Patent Application US 2020 / 0369494 Al by Construction Robotics, LLC and entitled Building Element Lift Enhancer, a building element lift enhancer is described where the systems and methods disclosed herein can be applied. The entire disclosure of this Published United States Patent Application US 2020 / 0369494 Al is incorporated herein by reference in its entirety as permissible by national or regional laws.

[0043] In addition, in Published United States Patent Application US 2021 / 0154833 Al by Construction Robotics, LLC and entitled Intuitive Control of Lifting Equipment, the systems and methods disclosed herein can be applied to the systems disclosed in this published United States Patent Application. The entire disclosure of this Published United States Patent Application US 2021 / 0154833 Al is incorporated herein by reference in its entirety as permissible by national or regional laws.

[0044] Systems and methods suitable for use with a lift assist device or an enhanced lift assist device, and further described herein, include a battery save method, a system wake method, a power and signal handling system and method, an impact sensor system and method, and a gripper device, system and method.

[0045] Figure I depicts a perspective view of an Enhanced Lift Assist Device 100. The Enhanced Lift Assist Device depicted is a novel belt based version where the lifting element 105 is a belt. In other embodiments of the present invention, the lifting element 105 may be a cable, a rope, a chain, wire rope, or the like. The belt may be made of a rubber or similar flexible material, and may be reinforced with fibers, threads, or strands of polyester, metal, aramid, or the like. In some embodiments, the lifting element may have metallic elements that may serve to transmit electrical signals and / or power. An electrically conductive belt which serves as the lifting element 105 negates the need for a large and expensive battery or a coil cord. Either no battery or a small battery or ultracapacitor may instead be placed in an operating handle 107 or the like. A battery, capacitor or ultracapacitor may be needed to handle instantaneous current draw from the electric motor during start up, high load conditions, or other power intensive operations such as fast cycling, gripper binding, or the like. With a conductive belt arrangement, a means to transfer electrical power from a stationary to a moving element is needed. A slip ring and brush arrangement, for example, may be employed. A brush or related stationary' contact may also be employed having electrically direct contact with a conductive surface of the electrically conductive belt. One example of an electrically conductive belt is United States Published Patent Application 20150285334 to the Gates Corporation, Denver, Colorado, the entire disclosure of which is incorporated herein by reference in its entirety. In some embodiments of the present invention, electrical signals may be conveyed through the electrically conductive belt either with separate conductive elements or constituents or through a modulation technique such as power carrier modulation with the appropriate signal processing and filtering needed for such an arrangement.

[0046] In one embodiment, power is sent through a slip-ring inside tire machine attached to the main hoist motor. The slip ring allows power to be transmitted through a spinning shaft without breaking or tangling wires. Once power exits the slip ring, it is transmitted through steel strands that also serve to reinforce the lifting belt and provides the bulk of its lifting strength. After current travels through the lifting belt, it terminates through a connector which supplies powder to the operating handle circuits, and to the gripper servos via a super capacitor. The purpose of the capacitor is to make up for the high resistance in the steel conductors which allow limited current to pass through. The super capacitor is sized to operate the gripper wdthout brownouts.

[0047] In one embodiment of the present invention, 12 of 14 available steel strands (6+,6-) are employed, leaving the outermost strands unpowrered to protect against w7ear and tear which could potentially expose and short those strands.

[0048] In one embodiment of the present invention, copper strands are employed to allow for a lower resistance current path.

[0049] While there are a multitude of mechanical and electrical components and systems that make up the Enhanced Lift Assist Device 100, for clarity and ease of description the Enhanced Lift Assist Device 100 can be fundamentally described in terms of an adjustable base 101 that is coupled or otherwise attached to an articulating arm assembly 103. It should be noted that the adjustable base 101 may also be considered a self-leveling base. For example, there may be uses that require tire enhanced lift assist device 100 to be operated on an incline, at an angle, or other orientation that is facilitated by adjustment and operation of the adjustable base 101.

[0050] The Enhanced Lift Assist Device includes a motor, a means to roll, store and deploy the lifting element 105, as wrell as the operating handle 107. As seen in Figure 1, a gripper 400 can be seen attached to the operating handle 107. The operating handle provides a wray for a user to interact with the gripper 400 and move a retained element. The operating handle contains electronics including a microprocessor, memory and related computer readable media that provides overall electronic control of the Enhanced Lift Assist Device. In addition, an energy storage device such as a battery or ultracapacitor is contained in the operating handle 107. An electrical interface between the operating handle 107 and the gripper 400 is also provided. The operating handle 107 may also, in some embodiments, include sensors and devices such as, for example, an accelerometer.

[0051] To provide necessary functionality to the Enhanced Lift Assist Device, a force sensor and a force amplifier are contained within the Enhanced Lift Assist Device. The force sensor may be any device that can determine and measure force applied to the operating handle such as a load cell or indirect measurement of the current draw of a motor. The force sensor converts applied force into an analog signal (voltage or current) whose amplitude represents the applied force. This analog signal is in turn directed to an analog to digital converter where it is converted to a digital signal for further processing by the microcontroller or microprocessor. A force amplifier converts the user applied force received by the force sensor to a mechanical force applied to a tool such as a gripper by way of translating an analog signal from the force sensor to proportional power applied to the motor and drum arrangement that drives the lifting element 105. Providing power to the Enhanced Lift Assist Device by way of an energy storage device or devices, such as batteries or ultracapacitors, is desirable for reasons such as portability. With the use of energy storage devices, power conservation systems and methods are desirable.

[0052] Turning now to Figure 2, a flowchart depicting a power save and system wake method of the present invention is depicted.

[0053] In one embodiment of the present invention, the system is battery operated and uses lithium ion batteries. It is desirable to have the battery last a very long time, and in that regard the present invention uses a two-stage sleep mode.

[0054] The microprocessor contained in the operating handle 107 is configured to conserve electrical energy in the energy storage device or devices by sensing a user inactivity time period and engaging an electromechanical brake to maintain load retention. The user inactivity time period is a configurable amount of time, and may be set by an operator or a system administrator, for example. A further user inactivity period may also be specified where such prolonged user inactivity results in a shut off of a majority of functions of the Enhanced Lift Assist Device. Such a shut down may be referred to as “Sleep Mode” or the like. In step 201 of Figure 2, the system is in an off state and has been turned on in step 203. If a user does not provide input in a specified time ti, the system enters a standby mode in step 205. In this mode, the electromechanical brake mounted to the motor engages, reducing the motor burden to preserve the energy that would be used to hold a load in the air. In standby, all systems remain energized but are not operational to the operator. The standby mode will activate automatically when there is no activity on the machine for a configurable amount of time ti (e.g. 5 minutes). To activate the system for operation, the user simply enables the on button in step 211. If the system continues to sit in standby mode for an additional configurable amount of time t2, the machine will shut itself off completely in step 207, a state known as Sleep Mode. The only module that will remain powered is a wake-up circuit, which has the ability to power the machine back on fully.

[0055] To wake the machine from Sleep Mode in step 209, there are two options. Option 1 Power Cycle: The user turns the main power disconnect switch off and back on. Once the system is reset, it automatically starts up in Standby Mode and returns to step 205. This is a safe state. Operator input is needed to turn the system frilly on by enabling the on button.

[0056] Option 2 Shake to Wake uses a low power circuit that remains on as long as the disconnect switch is on. Onboard is an accelerometer which monitors acceleration of the machine in the X, Y and Z axis. When an operator yanks the handle at the end of the belt with enough energy to shake the Shake to Wake (STW) module past an adjustable set threshold, the module sends a signal to an onboard system, which triggers the main power to be enabled and the system starts up in Standby Mode. This enables the user to awake the machine up from Sleep Mode, without the need to climb or access the on-off switch itself.

[0057] Turning now to Figure 3, a flowchart depicting an impact detection method of the present invention can be seen. To help with the controls of human assist, in one embodiment of the present invention an accelerometer or similar device is incorporated into a circuit or circuit board or circuit board assembly contained in the operating handle. When an impact is detected by the accelerometer and related circuitry, the gripper is restricted from making any unintended motions in the controls. This is an extra layer of controls input that allows the central processing unit in the system to determine the difference between an impact with the load and a user pulling sharply up on the handle. In normal operation 301, when an impact is detected by the accelerometer in step 303, the ability to move up or down (down forces) is removed and position is held such that forces are initially not active in step 305, and then after a specified time interval forces are ramped in step 307 from zero to normal over a specified time interval (such as, for example, two seconds). Once ramping is complete, the system returns to normal operation in step 301.

[0058] An improved gripper device, system and method will be described, and can be seen in Figures 4-10. Such a gripper attaches to the control handle 107 and allows for reliable gripping of a range of different block types used for construction while being mechanically robust enough to hold the block regardless of electrical input (including loss of electrical function).

[0059] The gripper may be made from a metal such as aluminum, steel, stainless steel, titanium or the like, and may be machined, cast, 3D printed, or otherwise fabricated. In some embodiments, the gripper may be made at least partially from a polymer, carbon fiber, or the like.

[0060] The gripper incorporates several layers of safety and innovation. In the open / ungripped position and the closed / gripped orientations power draw from the servo drives is limited, allowing the cams to remain open or closed when power is shut off. Going over center locks the cams in place.

[0061] The cam linkage is spring loaded closed, so if the servo power is cut at any point past the over center position, the gripper will automatically close. When power is lost during movement, the gripper will close on a block to prevent the potential for the block to fall and cause harm to the operator or others.

[0062] The cam linkage has a bottoming spring so that if the cam strikes an object (such as a block web) anywhere in its travel, the servo will be able to complete its full range of travel to the over center position, at the bottom of stroke. The bottoming spring thus keeps consistent known pressure on the block and the servo motors. The cams are designed in such a way that they will guarantee a “rod lock ' condition where the force of the block being pulled by gravity will cause the cam to press harder on the block rather than slipping out. This is accomplished using a novel offset spiral profile designed into the cam. There is also a biased “saw tooth” grip knurling to allow maximum friction against the payload. The cam design also prevents unintended opening of the gripper with load. For example, if for some reason with a gripped block the servos were given an un-grip command, the geometry would not allow the cam to be cycled into the un-gripped state without first removing the load weight from the gripper (i.e. setting it on the ground).

[0063] When picking up loads with a gripper mechanism (specific to masonry or not), often powered actuated components are used. This is particularly true in applications of automation and robotics. While this approach is flexible and robust under normal conditions, it does not tend to work well in applications where the variation between one and a subsequent material is not consistent in dimension or surface characteristic. This is particularly true when using an electric servo or stepper motor to achieve the motion, as these components often execute moves to a specific angle rather than an output torque. These mechanisms are also vulnerable to power loss and erroneous input which would normally either cause the gripping mechanism to slacken and drop the load, or in the case of an erroneous signal would make the gripper un-grip when the use or system are not intending to do so.

[0064] Figure 4 depicts a bottom perspective view of a gripper of the present invention 400. A first appendage comprising a first gripping module 401 having a body with a first gripping cam 501 (see Figure 5) and a second appendage comprising a second gripping module 403 having a body with a first gripping cam 421 can be seen where a portion of a building element, such as the webbing in a masonry block, is placed between the first gripping module 401 and the second gripping module 403 to allow for subsequent retention of the webbing and associated masonry block. An x-axis adjustment block 427 connects the first appendage gripping module 401 and the second appendage gripping module 403 where the x-axis adjustment block 427 adjusts the space between the first gripping module 401 and the second gripping module 403 to support gripping and retention of various size building elements. In some embodiments, the x-axis adjustment block 427 comprises a series of openings to receive a retention pin 429 where the placement of the retention pin 429 determines the distance between the first appendage and the second appendage. In addition, an attachment member 425 can be seen which allows for the attachment of the gripper to a control handle by way of a fastening device such as a pin, a shackle, a cleat, a bolt, a screw, or the like.

[0065] During a gripping operation, a servo motor within the gripper exerts torque on the servo horn 405. This torque is transferred into quasi-linear force via the upper pivot pin 415 and the upper crank 407. The upper crank 407 is pivotally connected to a motor. This force is transferred through the compression spring 409 which then acts on the lower link 411. The lower link 411 connects the lower crank 413 to the upper crank 407. The lower link 411 exerts a force on the lower pivot pin 417 which then imparts a torque on the gripping cam shaft 419 through the lower crank 413 via the lower link 411. The gripping cam shaft 419 is connected to the second gripping cam 421. The torque causes the second gripping cam 421 to put contact pressure against the pay load. The second gripping cam 421 is designed in such a way that the resulting force causes a “rod lock” condition in which the force of gravity causes the normal force against the payload to increase rather than slippage occurring. This rod lock condition may be accomplished with either a constant radius or a variable radius (for example a spiral or other non-circular profile). In a condition where the payload is of a width that prevents the full stroke of the servo and linkage, the compression spring 409 will take up the extra movement and provide a constant pressure on the face of the second gripping cam 421.

[0066] In the event that the power is lost to the servo, the torsion spring 423 applies direct torque to the gripping cam, keeping it in contact with the payload. A stop bar 431 can also be seen that serves to properly orient the vertical y-axis position of a retained building element.

[0067] It should be noted that in some embodiments the gripping cam 421 and / or 501 comprises a friction increasing surface such as a texture, a geometric pattern, or the like.

[0068] Figure 5 is a top perspective view of the gripper of the present invention 400 that also shows the first gripping cam 501.

[0069] Figure 6 is a profile plan view of the gripper of the present invention 400 that clearly shows the first gripping module 401 and the second gripping module 403.

[0070] Figure 7 is a side plan view of the gripper of the present invention 400.

[0071] Figures 8-10 depict the gripper 400 in various operating states. Figure 8 is a rotated profile plan view of the gripper of the present invention in a spring compressed position. Figure 9 is a rotated profile plan view of the gripper of the present invention in a bottom dead center position, and Figure 10 is a rotated profile plan view of the gripper of the present invention in a top dead center position.

[0072] The Servo has two operational positions: Top Dead Center and Bottom Dead Center. When the servo is in the Top Dead Center position as seen in Figure 8, the mechanical arrangement allows the servo to see no torque so that it does not consume pov / er or risk premature wear-out. The same is achieved in Bottom Dead Center position. If the cam is rod locked against a payload, the servo is tuned such that it will not provide enough torque to the gripping cam to release it from the payload. The cams may only un-grip when the weight of the payload is taken off the cams and transferred to another body such as the floor or a wall. The indirect spring linkage also limits the force applied to the gripping cam so drat if someone were to get their fingers between the payload and the cam, the force is limited. This not only protects the user, but the payload as well.

[0073] Thus, the novel gripper described and depicted herein uses springs to achieve full stroke from a servo motor in a linkage-driven gripper for masonry applications, uses compact servos to actuate a linkage-driven gripper for masonry applications, uses a fail-safe mechanism of springs to maintain grip on a payload in the event of a power / servo failure, uses a tuned servo drive which cannot provide enough torque to un-grip unless the load is taken off (payload set down), uses an over-center (top / bottom dead center) linkage to save power and servo life in a linkage-driven gripper, and uses indirect-drive spring linkage to limit the force exerted on the payload.

[0074] In some embodiments of the present invention the gripper may comprise a stationary leg. A stationary leg may take the place of one of the appendages, such as the first appendage or the second appendage. The stationary' leg may, in some embodiments, comprise a friction enhancing surface or other features that improve the retention of an element under retention. Features may also accommodate unique or geometrically specific attributes of an element under retention. One embodiment of such an arrangement is depicted by way of Figures 11- 17, and will be further described below.

[0075] Figure 11 is a bottom perspective view of a further embodiment of the gripper of the present invention. In Figure 11, the gripper includes a stationary leg I I 01 instead of a first gripping module. The first appendage is thus the stationary leg 1101, and may, in some embodiments be adjustable to support retention of various elements. For example, the x-axis adjustment block 1127 serves to move the stationary' leg 1101 in relation to the second appendage and related gripping module.

[0076] The first appendage comprising the stationary leg and a second appendage comprising a second gripping module 1103 having a body with a first gripping cam 1121 can be seen where a portion of a building element, such as the webbing in a masonry block, is placed between the stationary leg 1101 and the second gripping module 1103 to allow for subsequent retention of the webbing and associated masonry block (or another type of element such as a building element). An x-axis adjustment block 1127 connects the stationary leg 1101 and the second appendage gripping module 1103 where the x-axis adjustment block 1127 adjusts the space between the stationary leg 1101 and the second gripping module 1103 to support gripping and retention of various size building elements. In some embodiments, the x-axis adjustment block 1127 comprises a series of openings to receive a retention pin 1129 where the placement of the retention pin 1129 determines the distance between the first appendage and the second appendage. In addition, an attachment member 1125 can be seen which allows for the attachment of the gripper to a control handle by wray of a fastening device such as a pin, a shackle, a cleat, a bolt, a screw, or the like.

[0077] During a gripping operation, a servo motor within the gripper exerts torque on the servo horn 1105. This torque is transferred into quasi-linear force via the upper pivot pin 1115 and the upper crank 1107. The upper crank 1107 is pivotally connected to a motor. This force is transferred through the compression spring 1109 which then acts on the lower link 1111. The lower link 1111 connects the I ower crank 1113 to the upper crank 1107. The lower link 1111 exerts a force on the lower pivot pin 117 which then imparts a torque on the gripping cam shaft 1119 through the low'er crank 1113 via the lower link 1111. The gripping cam shaft 1119 is connected to the second gripping cam 1121. The torque causes the second gripping cam 1121 to put contact pressure against the payload. The second gripping cam 1121 is designed in such a way that the resulting force causes a “rod lock” condition in which the force of gravity causes the normal force against the payload to increase rather than slippage occurring. This rod lock condition may be accomplished with either a constant radius or a variable radius (for example a spiral or other non-circular profile).

[0078] In a condition where the payload is of a width that prevents the full stroke of the servo and linkage, the compression spring 1109 will take up the extra movement and provide a constant pressure on the face of the second gripping cam 1121.

[0079] In the event that the power is lost to the servo, a torsion spring (as previously described) applies direct torque to the gripping cam, keeping it in contact with the payload.

[0080] A stop bar 1123 can also be seen that serves to properly orient the vertical y-axis position of a retained building element.

[0081] It should be noted that in some embodiments the gripping cam 1121 comprises a friction increasing surface such as a texture, a geometric pattern, or the like. Figure 12 is a top perspective view of the further embodiment of the gripper of the present invention. In figure 12, the stationary leg 1101 can be clearly seen along with a friction increasing surface 1131. In some embodiments, the friction increasing surface 1131 may be affixed to the stationary leg 1101 by way of a fastener such as bolts, screws or the like so that the friction increasing surface 1131 can be replaced or substituted for a different friction increasing surface with characteristics specific to a given job.

[0082] Figure 13 is a profile plan view of the further embodiment of the gripper of the present invention. The second appendage gripping module 1103 and the first appendage stationary leg 1101 can be seen. It should be noted that in some embodiments of the gripper of the present invention a roller or similar device is employed toward the bottom of an appendage such as that seen toward the bottom of the second appendage gripping module 1103.

[0083] Figure 14 is a side plan view of the further embodiment of the gripper of the present invention. Figure 15 is a perspective view of the further embodiment of the gripper of the present invention.

[0084] Figure 16 is a profile plan view of the further embodiment of the gripper of the present invention in a top dead center position.

[0085] Lastly, Figure 17 is a profile plan view of the further embodiment of the gripper of the present invention in a bottom dead center position.

[0086] The present invention further includes a method for moving building elements, the method comprising the steps of retaining a building element with the enhanced lift assist device as described and depicted herein, moving the retained building element with the enhanced lift assist device, and releasing the retained building element with the enhanced lift assist device. The present invention further includes a method for moving building elements, the method comprising the steps of retaining a building element with the gripper as described and depicted herein, moving the retained building element with the gripper, and releasing the retained building element with the gripper.

[0087] The methods disclosed herein may be performed by a human user, or may be performed by a computer. In some embodiments, the methods disclosed herein may be performed partially by a computer and partially by a human user. It is, therefore, apparent that there has been provided, in accordance with the various objects of the present invention, enhanced lift assist device systems and methods.

[0088] While the various objects of this invention have been described in conjunction with preferred embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of this specification, claims and drawings appended herein.

Claims

What is claimed is:

1. A gripper for use with an enhanced lift assist device, the gripper comprising:A first appendage comprising a first gripping module having a body with a gripping cam pivotally connected to the body; a gripping cam shaft connecting the gripping cam to a lower crank; an upper crank pivotally connected to a motor; a lower link connecting the lower crank to the upper crank; an x-axis adjustment block connecting the first appendage to a second appendage; and an attachment member that retains the connected first appendage and second appendage.

2. The gripper of claim 1, further comprising a torsion spring in communication with the gripping cam.

3. The gripper of claim 1, wherein the x-axis adjustment block comprises a series of openings to receive a retention pin where the placement of the retention pin determines the distance between the first appendage and the second appendage.

4. The gripper of claim 1, wherein the second appendage comprises a stationary leg.

5. The gripper of claim 1 , wherein the second appendage comprises a gripping module having a gripping cam pivotally connected to the body.

6. The gripper of claim 1, further comprising a stop bar located between the first appendage and the second appendage.

7. Tire gripper of claim 1, wherein the first appendage gripping cam comprises a friction increasing surface.

8. The gripper of claim 5, wherein the second appendage gripping cam comprises a friction increasing surface.

9. Aii enhanced lift assist device comprising: the gripper in accordance with claim 1 ; an adjustable base operatively coupled to an articulating arm assembly; an operating handle coupled to the gripper; a lifting element driven by a drive motor where a distal end of the lifting element is connected to the operating handle; a force sensor that detects force applied by a user; a force amplifier that converts user applied force received by the force sensor to mechanical force applied to the building element gripper to provide for movement of a building element by the building element gripper; an energy storage device; a microprocessor configured to conserve electrical energy in the energy storage device by sensing a user inactivity time period and engaging an electromechanical brake to maintain load retention.

10. The enhanced lift assist device of claim 9, wherein the lifting element comprises a belt containing at least one conductive element and wherein the enhanced lift assist device further comprises a moving contact for conveying electrical power and / or signals through the conductive element of the belt to the control handle.

11. The enhanced lift assist device of claim 9, wherein the user inactivity’ time period is a configurable amount of time.

12. The enhanced lift assist device of claim 11, wherein an additional configurable amount of time can be specified where the passage of the additional configurable amount of time results in shut off of a majority of functions of the enhanced lift assist device.

13. The enhanced lift assist device of claim 12, wherein the microprocessor is configured to restore the majority of functions of the enhanced lift assist device by sensing a power cycle of the enhanced lift assist device.

14. An enhanced lift assist device comprising: the gripper in accordance with claim 1 ; an adjustable base operatively coupled to an articulating arm assembly; an operating handle coupled to the gripper; a lifting element driven by a drive motor where a distal end of the lifting element is connected to the operating handle: a force sensor that detects force applied by a user; a force amplifier that converts user applied force received by the force sensor to mechanical force applied to the building element gripper to provide for movement of a building element by the building element gripper; an accelerometer contained within the operating handle; and a microprocessor configured to interact with the accelerometer.

15. The enhanced lift assist device of claim 14, wherein the lifting element comprises a belt containing at least one conductive element and wherein the enhanced lift assist device further comprises a moving contact for conveying electrical power and / or signals through the conductive element of the belt to the control handle.

16. The enhanced lift assist device of claim 14, wherein the microprocessor is configured such that if the operating handle is shaken by a user the accelerometer provides a signal to the microprocessor to return the enhanced lift assist device to an active state.

17. The enhanced lift assist device of claim 14, wherein the microprocessor is configured such that if the accelerometer senses an impact the accelerometer then provides a signal to the microprocessor to restrict the motion of the enhanced lift assist device.

18. The enhanced lift assist device of claim 17, wherein the microprocessor is further configured such that if the accelerometer senses an impact the accelerometer then provides a signal to the microprocessor to restrict the motion of the enhanced lift assist device for a specified period of time and then ramp motion functionality from zero to normal once the specified period of time elapses.

19. A method for moving building elements, the method comprising the steps of; retaining a building element with the enhanced lift assist device of claim 9; moving the retained building element with the enhanced lift assist device of claim 9; and releasing the retained building element with the enhanced lift assist device of claim 9.

20. A method for moving building elements, the method comprising the steps of: retaining a building element with the enhanced lift assist device of claim 14; moving the retained building element with the enhanced lift assist device of claim 14; and releasing the retained building element with the enhanced lift assist device of claim 14.

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