# US 11,299,894 B2 · Boom for material transport > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,894 B2 - Document ID: US11299894B2 - Status: Granted - Kind: B2 - Application number: 17/073,760 - Filed: 2020-10-19 - Published: 2021-11-11 - Granted: 2022-04-12 - Earliest claimed: 2016-07-15 - Assignees: Fastbrick IP Pty Ltd - Applicants: Fastbrick IP Pty Ltd - Inventors: Mark Pivac - Web page: https://patentgrep.com/patent/US11299894B2 ## CPC - B25J 5/06: Manipulators combined with a control cab for the operator - E04G 21/16: Tools or apparatus (devices for erecting fences E04H17/26) - B25J 9/009: {being mechanically linked with one another at their distal ends} - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - B60P 1/36: using endless chains or belts thereon - B66C 23/42: with jibs of adjustable configuration, e.g. foldable - B66C 23/68: foldable or otherwise adjustable in configuration - B66C 23/701: {telescopic} - B66C 23/705: {telescoped by hydraulic jacks} - B66C 23/84: Slewing gear (anti-friction bearings F16C) - E04G 21/122: {Machines for joining reinforcing bars} - E04G 21/22: for setting building elements with mortar, e.g. bricklaying machines - B25J 5/007: {mounted on wheels} - B25J 9/046: {Revolute coordinate type} - B25J 15/026: {actuated by gears} - B25J 18/025: {telescopic} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS - B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00) - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) ## Abstract A foldable boom for conveying an item, said foldable boom being foldable about at least one folding axis, said foldable boom being locatable in a folded stowed position, and moveable to unfolded extended positions; said foldable boom having a near end arranged for pivotal movement about a first horizontal axis located on a turret, said turret being rotatable about a vertical axis; said foldable boom having first conveying apparatus to convey an item therealong, internally within said foldable boom, to a remote end of the foldable boom; wherein said foldable boom is foldable about a folding axis, and a pivoting shuttle equipped with a clamp to releasably hold an item is provided at said folding axis to transfer said item between said first conveying apparatus in boom elements connected about said folding axis. ## Claims ### Claim 1 A boom assembly, the boom assembly including: a. a boom including a plurality of telescopingly engageable tubular elements configured to convey a brick internally via shuttles associated with each element to a remote end of the boom; b. a pivotal clamp that is pivotally mounted to the remote end of the boom, the pivotal clamp configured to: i. receive and clamp a brick presented by a shuttle in a remote end tubular element of the boom; and, ii. present the brick for further handling; and, c. a brick laying and adhesive applying head mounted to the remote end of the boom, the brick laying and adhesive applying head including a spherical geometry robot having a brick laying clamp and moveable between a position to receive and clamp a brick presented by the pivotable clamp, to a position in which the brick is released and laid. ### Claim 2 (depends on 1) The boom assembly according to claim 1, wherein the brick laying and adhesive applying head has a body with arms forming a first clevis which extends obliquely downward from the body. ### Claim 3 (depends on 2) The boom assembly according to claim 2, wherein the arms have apertures to receive pins to pivotally mount the bricklaying and adhesive applying head to the remote end of the boom about a first horizontal axis. ### Claim 4 (depends on 3) The boom assembly according to claim 3, wherein the pivotal clamp is pivotally mounted to the remote end of the boom about the first horizontal axis. ### Claim 5 (depends on 3) The boom assembly according to claim 3, wherein the pivotal clamp has a gripper with jaws that can slide toward or away from the first horizontal axis. ### Claim 6 (depends on 5) The boom assembly according to claim 5, wherein the pivotal clamp is configured to extend its gripper into the remote end tubular element of the boom in order to clamp a brick therein. ### Claim 7 (depends on 6) The boom assembly according to claim 6, wherein the pivotal clamp is further configured to present the brick for application of adhesive by an adhesive applicator. ### Claim 8 (depends on 7) The boom assembly according to claim 7, wherein the pivotal clamp is further configured to rotate a brick with adhesive applied through 180 degrees about the first horizontal axis so that the adhesive is on the bottom of the brick. ### Claim 9 (depends on 8) The boom assembly according to claim 8, wherein the pivotal clamp is further configured to extend the gripper out to present the brick in a position where the robot arm can grasp the brick. ### Claim 10 (depends on 1) The boom assembly according to claim 1, wherein the spherical geometry robot includes a linearly extendable robot arm with a brick laying clamp in the form of a gripper fitted at the lower end thereof. ### Claim 11 (depends on 10) The boom assembly according to claim 10, wherein the spherical geometry robot has six degrees of freedom (6DOF) provided by the following arrangement of joints: a. an arm mount roll joint; b. an arm mount pitch joint; c. an arm mount sliding joint; d. a wrist pitch joint; e. a wrist roll joint; and, f. a gripper yaw joint. ### Claim 12 (depends on 11) The boom assembly according to claim 11, wherein the joints are actuated by servo motors and drives. ### Claim 13 (depends on 10) The boom assembly according to claim 10, wherein the robot arm is mounted to the brick laying and adhesive applying head via a second clevis having a base rotatably supported by the body of the bricklaying and adhesive applying head, the base being rotatable relative to the body about a second horizontal axis which runs normal to an axis through the second clevis in order to provide the arm mount roll joint adjustment. ### Claim 14 (depends on 13) The boom assembly according to claim 13, wherein the second clevis includes a robot arm base rotatably mounted between second clevis arms which provides the arm mount pitch adjustment. ### Claim 15 (depends on 14) The boom assembly according to claim 14, wherein the robot arm has linear guides which cooperate with bearing cars on the arm base to guide linear extension of the robot arm relative to the mount which allows the robot arm to be slidably adjusted. ### Claim 16 (depends on 1) The boom assembly according to claim 1, wherein the boom is foldable about at least one folding axis. ### Claim 17 (depends on 1) The boom assembly according to claim 1, wherein the boom assembly forms parts of a robotic bricklaying machine incorporated in a vehicle. ### Claim 18 (depends on 17) The boom assembly according to claim 17, wherein the robotic bricklaying machine includes a tower and a near end of the boom is mounted to the tower and configured to slew thereabout.