Block transfer apparatus and improved clamping assembly for use therewith

A block delivery system for delivering blocks for placement during construction of a building structure, the block delivery system including:

• a boom for transferring blocks therealong;
• an upstream clamp forming part of a shuttle that delivers blocks along the boom;
• a downstream clamp associated with an end effector of a robotic block placement arm that is programmed to place blocks during construction of the building structure;
• and,
• a block transfer apparatus for transferring a block between the upstream clamp and the downstream clamp, the block transfer apparatus including:
• a frame pivotally mounted to a distal end of the boom;
• and,
• a clamping assembly mounted to the frame and linearly extendable relative thereto, the clamping assembly including a pair of gripper jaws that clamp opposing lateral sides of the block;
• wherein, the block transfer apparatus is configured to:
• receive a block from the upstream clamp, wherein the opposing lateral sides of the block are initially clamped in the gripper jaws in an approximate position;
• rotate to a drop position whereby the gripper jaws release the block and allow it to self-datum onto first and second orthogonal datum surfaces to thereby register an end and top or bottom face of the block in corresponding first and second orthogonal planes;
• re-clamp the block after the drop by applying a clamping force to the opposing lateral sides of the block so as to register the block against a third datum surface defining a third plane orthogonal to both the first and second planes to thereby datum the position of the block with respect to the clamping assembly;
• and,
• present the block clamped in the datumed position for transfer to the downstream clamp.