CA2157261A1 - Multi-part manipulator for mobile equipment - Google Patents
Multi-part manipulator for mobile equipmentInfo
- Publication number
- CA2157261A1 CA2157261A1 CA002157261A CA2157261A CA2157261A1 CA 2157261 A1 CA2157261 A1 CA 2157261A1 CA 002157261 A CA002157261 A CA 002157261A CA 2157261 A CA2157261 A CA 2157261A CA 2157261 A1 CA2157261 A1 CA 2157261A1
- Authority
- CA
- Canada
- Prior art keywords
- module
- swivelling
- manipulator
- component
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Automatic Assembly (AREA)
Abstract
Multi-part manipulator for the manipulation of a bulky and/or heavy component in all three directions of a right-angled spatial coordinate system, which manipulator can be attached releasably on the front on mobile equipment, with a connection part on the equipment side for connecting the manipulator to mobile equipment and means on the component side for gripping the component, the manipulator including three linear modules for moving in the aforesaid three directions along with a swivelling module and a tilting module. The Manipulator allows for the precise positioning of the component independent of the mobile equipment.
Description
21~2~1 The invention relates to a multi-part manipulator for the precise manipulation of a component in all three direc~ions of a right-angled spatial coordinate system and which manipulator can be releasably attached on the front on mobile equipment, with connecting means on the equipment side for connecting the manipulator to the equipment and with a carrying part with brackets on the component side for taking, moving, holding and releasing a component.
For the precise linear shifting of the component in all three directions parallel to the axes, a group of three linear modules are normally provided. One of the linear modules is designed as a shifting module, another as a distancing module and the third one as a lifting module.
The shifting module executes t :V~ Ls in the direction of the transverse axis to the right and left, the distancing module executes movements ~orward and backward in the longitudinal direction of the vehicle and the lif ting module executes movements on the vertical axis upward and downward.
For swivelling the component, a swivelling module ls provided for a swivelling movement about a transverse axis oriented transversely to the longitudinal direction of the vehicle and capable of being stopped in a desired position.
A tilting module tilting about the longitudinal direction of the vehicle in both a clockwise direction and counter clockwise direction and can be stopped in a desired tilted position .
For the precise linear shifting of the component in all three directions parallel to the axes, a group of three linear modules are normally provided. One of the linear modules is designed as a shifting module, another as a distancing module and the third one as a lifting module.
The shifting module executes t :V~ Ls in the direction of the transverse axis to the right and left, the distancing module executes movements ~orward and backward in the longitudinal direction of the vehicle and the lif ting module executes movements on the vertical axis upward and downward.
For swivelling the component, a swivelling module ls provided for a swivelling movement about a transverse axis oriented transversely to the longitudinal direction of the vehicle and capable of being stopped in a desired position.
A tilting module tilting about the longitudinal direction of the vehicle in both a clockwise direction and counter clockwise direction and can be stopped in a desired tilted position .
2~7~61 The mounting or positioning of large plate-shaped and/or rod-shaped components requires several persons at the same lcime when these components have large spatial dimensions and/or have a heavy weight. ~ ^nts such as large surface plates, long rods, carriers, frames or similar items have to be brought into a required position, held there and fastened. Work of this kind is difficult and tiring due to the large dimensions and the heavy weight of such . _~n~Pnts. There is a considerable danger of an accident for the people involved in the work; also, the c~ ~nPnts could be damaged in the mounting process.
A multi-part attachment device f or mobile equipment which can be attached releasably to the front on equipment is known from DE-OS 42 42 667. The attachment device has a connection piece on the device side for connecting the attachment device to the equipment and a carrying part on the construction side with brackets for accepting, moving, holding, and releasing the component as well as intermediate parts between the connection parts and the carrying part, whereby the connection parts are connected to one another and with the connection part as well as the carrying part such that they can move. On an end o~ the attachment device on the device side there is a lifting module which can be connected with the equipment and includes means f or adjusting its height with respect to the equipment by means of a lifting drive as well as being fixed at a desired height. A shifting module is shiftable to both sides of the 2l~72~l front on the lifting module and is shiftable by means of a shifting driver and it can be stopped in a desired lateral position. A distancing module is provided on the shifting module which distancing module can be lengthened or shortened in the longitudinal direction by means of a distancing driver and then held in a desired position. In addition, a swivelling module is positioned swivelably on the front of the distancing module and which can be swivelled by means of a swivelling drive and stopped in a desired swivelled position.
Between the shifting module and the distancing module, a tilting module is provided. Also, a rotating module is provided between the distancing module and the swivelling module. A swivelling module comprises a swivelling arm and a carrying arm, whereby the swivelling arm i8 positioned on its lower end in a swivel bearing on the distancing module or on the rotating module such that it can swivel and on the upper end is connected over an upper swivel bearing with the carrier arm such that it can swivel.
On the carrying aKm, suction cups, ele-;~L gn-~ts or mechanical brackets in the form of clamps or similar items are provided as ~ nent holders, and which are distributed on the carrying arm in a certain pattern or arranged on a certain grid.
In US-PS 3 598 263, a multi-part attachment device for mobile equipment is described whereby a platform is pKovided on the prongs of a height-adjustable carriage of a ~1~72~t stacker truck, on which a rotating disk is positioned.
On the rotating disk, two lower rails arranged parallel to one another are provided and which are connected together on both their ~ree ends by means of a beam on which two upper rails are arranged and which carry a frame. On the upper rail facing the equipment, a vertically arranged U-shaped piece is provided on which two hydraulic cylinders are arranged, one above the other, such that they can swivel. With the other upper rail, two guide pieces arranged in parallel to one another are connected, between which the hydraulic cylinder is conducted laterally. In the middle between the two lower rails, there is a hydraulically operated two-sided cylinder that is positioned transversely. The piston rod is attached to the transverse beam and the cylinder is attached to the frame arranged above the two upper rails. On both ends of the piston rods, a mounting arrangement ~s arranged over a rod assembly and a rotary bearing, on which several suction cups are provided for holding a glass pane.
The lifting carriage arranged on the equipment forms a part of the equipment and is adjustable by height along the lifting pole as a part of the equipment. The platform arranged on the prongs of the lifting carriage is stationary. By means of the transverse double acting cylinder, both the upper cylinders can be shifted to one side with the two upper rails as well as the positioning and conducting upon impact of the double acting hydraulic 2~72~1 cylinder. The carrying frame can be shifted by means of both longit~l~l; n~ l l y positioned cylinders in the longitudinal direction of the vehicle and in the opposite direction. In addition, it is possible through the varying impact of both cylinders, which are arranged over one another and oriented longitudinally to swivel the mounting frame slightly from the vertical position to each side, that is to say above the longitudinal direction of the vehicle and in the opposite direction. The holding frame is rotatable 360 on a rotary pin and can be f ixed at a certain rotary angle by two pins, which can be locked in the opposing grid region. The entire unit is rotatable by means of the rotary disk to both sides at a defined angle, whereby the rotary angle of the spatial indications is limited with regard to the arr~n', of this attachment device with respect to the equipment.
An attachment device for a stacking truck is known from FR-PS 1 316 42~ that i5 adjustable by height by means of a carriage on a lifting beam of the fork lift. The carriage is rotatable about a vertical axis to both sides by a certain defined amount. On the front end of the carriage, a connection part with an upper and a lower ~oint is provided, whereby the hydraulic cylinder and the brackets are connected f lexible on their other ends, in each case with a connection piece turned by 180. Both connection pieces, the hydraulic cylinder and the brackets form a jointed square. On the front end of the front connection part, a holding plate with holding arrangements for holding 21~72~1 and carrying a large surface work piece is provided.
The holding plate on the front connection part is oriented parallel to the floor level for a corr~f3ponrl;ng extension of the piston rod and for a completely retracted piston rod, is oriented perpendicular to the floor level.
In the lifting carriage, a hydraulic cylinder is provided on each side of the vertical axis, which allows the rotating to the left and right.
This attachment device can only be lifted and lowered, rotated by a certain limited amount about a vertical axis and titled about a horizontal transverse axis from a position parallel to the f loor level into a position perpendicular to the f loor level .
From DE-AS 1 006 794, a stacking device with a running gear is known, having on the front end a lifting pole on which a lifting carriage is connected such that it is height adjustable. The lifting pole, together with the liftil~g carriage, belongs directly to the stacking device, that is to say the mobile equipment. A r,. - shaped auxiliary pole is arranged approximately horizontal on the lifting carriage of the lifting pole, on which a carriage equipped with a load carrier can be moved on the longitudinal axis of the All~i l; ~ry pole. The ;~I~x; l; ~ry pole with the carriage and the load carrier represent an attachment device which is designed as a distancing module.
In this case, the mobile equipment comprises a running gear, a lifting pole, a lifting carriage, wherein 2 1 ~ 72~I
the attachment device comprises the auxiliary pole, the carriage and the load carrier. The 6eparation between the mobile equipment and the attachment device thus runs between the lifting carriage of the lifting pole and the equlpment side coupling of the auxiliary pole. The lifting pole and its lifting carriage are fixed, non-removable parts of the equipment and thus do not belong to the attachment device.
They can not be allocated to the accessory equipment.
This attachment device only allows movement in the longitudinal direction of the auxiliary pole or in the longitudinal direction of the vehicle. A lifting of the load carrier with this attachment device is not possible;
rather the lifting takes place via the lifting carriage of the lifting pole, that is to say by means of the mobile equipment. With this known stacking equipment, it is possible to accept loads with the load carrier, to lift or lower these loads, shift them along the auxiliary pole, and if necessary, to subsequently travel with the equipment and f inally to set them down .
From German publication "Deutsche EIebe-und Fordertechnik [German Lifting and Conveying Technology], July, 1988, page 89, a free-view prong adjustment device is known, which shows two prongs arranged on the lifting carriage of a fork lift, wherein both prongs move in opposing directions. There are two hydraulic cylinders, the piston rods of which are attached to the prongs and the cylinders of which are attached to the lifting carriage.
2l572~l That means that both prongs are shifted either in the direction toward each other or in the direction apart from one another. The prongs cannot be moved together out of the range of the fork lift. Thus, only the distance of the two prongs from one another or the loading 6urface of both the prongs can be changed. In any case, the possibility does not exist to move both prongs out of range of the fork lift, for example to shift both prongs in the same direction to only one side of the fork lift.
The attachment device for this fork lift comprises the two prongs and the hydraulic cylinders allocated to them. The lifting carriage itself belongs to the fork lift.
With this fork lift, it is only possible to lift a load, to move this and to lower it again.
From German Utility Patent 92 000 663, an attachment device for a mobile fork lift is known, wherein the attachment device has a frame which is connected with the fork of the fork lift. In addition, the attachment device has an accepting device for accepting and releasing objects to be transported, the accepting device being connected with the frame and being swivelable about a horizontal axis. The accepting device has gripping elements for holding plate-shaped assembly elements. In addition, it is shown that the horizontal axis is oriented transverse to the driving direction of the fork lift and that the accepting device i6 furth~ ~ swivelable about a vertical axis. The horizontal axis and the vertical axis movement can be _ g _ 2~72gl provided in a f irst int~ ~ i Ate piece of the accepting device that is connected swivelably about the vertical axis with the frame and about the horizontal axis with the rest of the accepting device. Through this, the installment of assembly plates in construction of cooling rooms and cooling halls is simplif ied .
Nith this attachment device, it is only possible to accept plates and to rotate about three axes. An exact positioning of these types of plates is not possible with the attachment device; rather, for the exact positioning of plates it is necessary to undertake the positioning of the plates with the fork lift bearing the attachment device.
For tllis, a particularly experienced fork lift operator is required, who must be continually present at such assembly operations . It is not suf f icient to drive into the vicinity of the assembly location and to undertake the exact positioning with the attachment device.
From the German non-PYAm;ned, published patent 25 15 562, an attA~ -nt device for fork lifts with a lifting scaffold for vertical shifting is known and which is capable of operation without additional support means. This arrangement is such that on the fork carrier of the fork lift, a telescoping boom which is adjustable by angle is provided and on the end of which a work platform which is adjustable by angle is coupled. The platform is held in a horizontal position with a hydraulic, tilt-correction device which is positively controlled by the angle adjustment 2l~72~
.
device of the boom. Elements are provided which couple the mechallical, hydraulic and electrical driver devices of the attachment device with the corresponding energy source of the fork lift providing the mechanical, hydraulic or electrical energy.
In Germany Utility Patent 76 35 851, a device for accepting a body, ~r"~ ly a plate, is described. The patent teaches that a frame can be attached on a conveying vehicle which is designed for accepting a drive motor, a pneumatic pump and hydraulics, and whereby a suction plate which can be swivelled by means of an operational cylinder is coupled by means of a ~oint on the frame.
In German Utility Patent 88 13 516, there is shown a fork lift with fork prongs shiftable transversely by a driver in the operation of the f ork carrier and having an accessory device for coupling containers or 6imilar items, preferably containers for storage of hazardous materials and f luids . This arrangement is seen to be such that swivelable, lever-shaped supports are provided around the foot area of the fork prongs which can be lowered by a driver from their folded inactive position on the lifting scaffold of the fork lift onto the fork prongs. The sides or areas facing one another on the inside have formed pieces and/or cogs or 6imilar elements for interlockingly coupling to the containers.
A fastening device for an attachment device for a fork lift is known from German Utility Patent 91 07 033.
2137~1 A device acceptance plate with a prong acceptance device on its lower edge and clamps arranged at a distance over one another are provided above the prong acceptance device. At least one clamp is designed to be shiftable by height. The clamp that is shiftable by height is arranged on a pin, that end o~ which extends out of the clamp extending through an opening of the device acceptance plate and is arranged rotatably on one eccentric disk, whereby the inner diameter of the opening is greater than the diameter of the pin.
From EP 0 311 869 A1, a manipulator for h~nrll ing heavy loads is known, in particular for pressed products wound into rolls and lying loosely over one another in rough formation. A holding device is held on a free end of a rotational axis tilted against the vertical about an orientation angle or of a rigid carrier arm tilted at an angler which is fastened to an assembly device, whereby the holding device can be rotated or swivelled relative to the mounting device. For this, the orientation angle lies between the rotary axis or the carrier arm and a horizontal plane between 30 and 60.
It is an object of the present invention to provide a multi-part manipulator for mobile equipment of the type described above, wherein it is possible to lift and eYactly position ~ ~ nr~nts in the form of bulky plates and long carrier or frames without the exact positioning needing to be conducted with the equipment itself. Rather, it is sufficient to bring the components into the vicinity of the 2l~2~l .
assembly location by means of the equipment, whereby all linear movements, namely lifting, transverse shifting and longitudinal shifting, as well as rotational movements, namely turning in both rotation directions about a vertical axis perp~nf~ r to the floor level, tilting about a longitudinal axis oriented horizontally in the longitudinal direction of travel and swivelling about a horizontal transverse axis oriented transversely to the longitudinal direction of travel, and indeed by a total of more than 180 is conducted with the attachment device.
The manipulator i nr~ a swivelling module which comprises a swivelling pole and two swivel axes arranged in parallel to one another, whereby the swivelling pole is positioned swivelably on its lower end in a swivel bearing on a linear module transverse to the assembly direction and is connected on the upper end over an upper swivel bearing with the tilting module in two rotation axes displaced by 9oo ~
The same problem is also solved in that the swivelling module comprises a swivelling pole with two swivel axes, whereby the upper swivel axis is turned by a rotary drive, which is arranged between the two swivel axes, about the middle longitudinal axis of the swivelling pole in both directions as well as held in a desired position and wherel~y the swivelling pole is positioned swivelably on its lower end in a swivelling bearing on a linear module transverse to the assembly direction as well as on the upper 21~72~1 end over an upper swivel bearing, connected with the tilting module in two rotary axes displaced by 9 0 .
Through this, one achieves a manipulator of the type noted above, which fulfills the objectives of the invention.
Thus, an unmanageable component can be held in a desired position in space, whereby it is irrelevant how or on which slanted, steep, sloping or uneven base the mobile equipment stands on.
As mobile equipment, a fork lift can be considered as an example. When using a fork lift, the lifting module can be omitted if necessary for assembly near the floor, because the fork lift itself in the front area or with its liftillg pole represents the lifting module, so that a manipulator provided for a fork lift only has a shifting module and a distancing module for both rr---in;n~ spatial coordinate directions as well as a swivelling module and a tilting module when the lifting module is not required.
In the case of using a loading crane or an auto-crane as mobile equipment, a lifting module can not be excluded, so that a manipulator for a loading crane or for an auto-crane must have all three linear modules, namely the lifting module, the shifting module and a distancing module.
It should also have the three circular modules, namely the rotary module, the swivelling module and the tilting module, so that the component to be manipulated by the manipulator can be held in a desired spatial position independently from the location of the loading crane or the auto-crane.
21 ~7261 *
Advantageously, a rotary module which can be turned by means of a rotary drive means about one or two rotary axes perpendicular to the floor or horizontal thereto in both rotational directions is provided between the equipment and tlle manipulator.
The rotary module can also be designed and utilized as a work platform. The --n;rlllAtor is preferably designed so that the sequence of the individual modules from the connection piece is selected from the following sequences:
shifting module, distancing module, lifting module;
or shifting module, lifting module, distancing module;
or lifting module, distancing module, shifting module;
or lifting module, shifting module, distancing module;
or distancing module, lifting module, shifting module;
or distancing module, shifting module, lifting module.
The drives of the individual modules can be mecharlical, electrical, hydraulic or pneumatic drives including manual drives.
Suitably, there may be provided component gripping means such as c ~on-ont brackets, devices with suction cups, electromagnets or mechanical brackets in the form of clamps or similar elements, which are distributed on the .~ nont ~lS7~
holder in a certain pattern or arranged on a certain grid.
EIaving thus generally described the invention, reference will now be made to the accompanying drawings illustrating an ~mhor~ nt thereof, in which:
Figure 1 shows a front view of an attachment device designed in accordance with the invention in its inactive position;
Figure 2 shows a side view of the attachment device in the direction of Arrow II in Figure 1;
Figure 2A shows an enlargement of Figure 2 under Line A-B;
Figure 28 shows an enlargement of Figure 2 above Line A-B;
Figure 3 shows a top view of the attachment device in the direction of Arrow III in Figure 1;
Figure 4 shows a side view of the attachment device when accepting a component;
Figure 5 shows a front view of the rotary module as a work platform;
Figure 6 shows a side view in the direction of Arrow VI in Figure 5;
Figure 7 shows a top view in the direction of Arrow VII in Figure 5;
Figure 8 shows a front view of the rotary module as a work platform with coupled attachment device in inactive position;
2~57~1 Figure 9 6hows a side view of Figure 8 in the direction of Arrow IX;
Figure 10 shows a top view of Figure 8 in the direction of Arrow X; and Figure 11 shows a top view of the rotary module as a work platform with a coupled attachment device.
The multi-part manipulator depicted in the drawing is designed for mobile equipment, for example a stacking truckr an auto-crane, or a loading crane. The multi-part manipulator is to be attached releasably to the equipment which is not depicted in detail in the drawing.
As can be seen from Figures 1, 2 and 2A, the manipulator has a connection piece on the equipment side, which comprises an upper support beam 10 and a lower clamp beam 11 and is connected to a connection piece 12 of the mobile equipment which is not depicted in detail in the drawing. On the upper beam 10, a movable base beam 13 is provided parallel to the upper beam 10. Likewise, a beam 15 arranged in parallel to this is arranged under a beam 14, whereby both beams 13 and 15 include a plate 16 between them .
To shift the r-n;r~ tor to the right and left, a cog wheel 17 held in the base beam and engaging the support beam 10 is turned in the appropriate direction.
On the beam 13, there is an upper transverse housing 18 with spindle 19 arranged in housing 18. Likewise, a lower transverse housing 20 is provided with a spindle 21 ~ 572~1 arranged therein.
As is shown in particular in Figure 3, the spindle 19 is positioned in the transverse housing 18 over the entire length of the transverse housing 18. For the spindle 19, there is a rod provided with outer threading 23, which is driven via a chain wheel 24 and a chain (not shown).
A crank 25 is positioned on its end on the housing side in a bearing 27 provided in support roller 26 and on its pole side end on a distancing housing 28 in a rotary bearing 29, whereby the support roller 26 runs in a groove.
A bracket 3 0 is positioned in a bearing 31 arranged on the transverse housing and in a bearing 32 arranged on the crank 25 in its middle area. On a connection 33 of the distancing housing 28, a lifting cylinder 34 is provided and which is connected with the lifting housing 37, 37a, 37b.
The connection between the distancing module and the lifting module takes place over two guide ~-~h Ini ~mc 35 and 35a, which are arranged between the distancing housing 28 and the lifting housing 37, 37a, 37b.
Between the left part 37a and the right part 37b of the lifting housing 37, a swivelling pole 38 is provided.
When turning spindles 19 and l9a by the chain wheel 24, both support rollers 26 and 26a move toward each other. The bearings 29 and 29a move to the front as indicated by lines 39 and 39a in a direction of the arrows 40 and 40a in the longitudinal direction of the vehicle, since the movement in the direction of arrows 40 and 40a is 21~7261 provided by both cranks 30 and 30a.
With a reversed rotation of the spindles 19 and l9a, the swivelling pole 38 moves back, that is to say opposite to the arrows 40 and 40a. That neans that the swivelling pole 38 can be moved forward and backward in the direction of the double arrow 40b in the longitudinal direction of the vehicle .
To lift and lower the swivelling pole 38, thrust piston gears 34 and 34a are provided, with which the manipulator can be shifted upwardly and downwardly in the direction of double arrow 41 along a vertical axis oriented perpendicular to the plane of the f loor.
In Figure 4, the manipulator is depicted in an active position. The distancing module 25, 25a is shifted forward in the direction of arrows 40, 40a and carries the swivelling pole 38 forward. The swivelling pole 38 has on its lower end a joint 48, about which the upper part of the swivelling pole 38 can be tilted forward and back in the direction of the double arrow 50. On swivelling pole 38, a liftillg housing 37, 37a, 37b with a joint 51 is provided. A
cylinder 52 of a thrust piston gear 53 is positioned swivellably on joint 51 with piston rod 54 being positioned swivellably in a joint 55. Swivelling movement is thus possi]~le in the direction of the double arrow 50 o~ the upper part of the swivelling pole 38.
On the upper end of the swivelling pole 38 (Figure 4), a module 42 is provided and which can swivel ~ ~}72gl about a longitudinal axis oriented in the longitudinal direction of the vehicle in the clockwise or counterclockwise direction, that is to say in both directions of double arrow 44. In addition, the module 42 can be tilted about a transverse axis 45 oriented transverse to the longitudinal axis of the vehicle from the top to the front and rear or from the bottom, the reverse to the rear and front in the direction of the double arrow 46.
Module 42 has a connection plate 47 on which the components to be manipulated over an int~ te component 56 are to be attached. The connection plate 47 can be tilted in both directions of the double arrow 44 to both sides over a tilting drive which is not depicted in detail.
On the outer end of the swivelling pole 38, the module 42 is provided, whereby a .~ t 57 to be manipulated is arranged between the carrying plates 47 of the modu~e under arrangement of an int~ te compollent 57.
As seen in Figure 4, the manipulator on a transverse axis can be shifted laterally to both sides on a longitudinal axis oriented in the longitudinal direction of the vehicle to the front and rear and up and down along a vertical axis arranged perpendicular to the floor level. In addition, the lifting pole can be swivelled forward and back in the longitudinal direction of the vehicle by means of joint 48 and thrust piston gear 53. Also, it is possible with module 42 to tilt component 57 about a longitudinal ~72~1 axis oriented in the longitudinal direction of the vehicle and to swivel about a transverse axis oriented transversely and horizontally to the longitudinal direction of the vehicle .
With the manipulator shown in Figure 4, all of the linear movements and all of the circular movements with the exception of rotating about the vertical axis are possible.
As can be seen in Figures 5, 6 and 7, a rotational manipulator 58 is provided which simultaneously serves as a work platform. The rotational manipulator 58 is largely designed to be cylindrical. Manipulator 58 has a coupling 59 on its end on the equipment side, with which it can be coupled to the mobile equipment. On the cylindrical area of the rotational manipulator, a connection piece 60 is provided, which has several bearing groups 61 in its inner area, which is fitted to the curvature of the cylindrical part 62 of the rotational manipulator. On the opposite side, the accepting part has a connecting part 63 corr~pnnfl;r~ to the connecting part of the mobile equipment, on which the manipulator can be coupled in accordance with Figures 1 through 3. In Figures 8, 9 and 10, a manipulator is shown and which is assembled from the parts described in Figures 1, 2, 2A, 2B and 3 and also the parts of rotational manipulator described in Figures 5, 6 and 7.
Thus, it is possible with the manipulator depicted in Figures 8, 9 and 10, to conduct all the linear and ~1~7261 circular movements depicted in Flgure 4 and, in addition to this, also a rotational movement about the vertical axis standing perp~n~ lAr to the floor level. With this r-n;r11lAtor, all possible three-dimensional movements can be conducted in this way, whereby the manipulator can be stopped in a desired position.
In Figure 11, the rotational manipulator 58 is shown on which connection part 60 is turned, in contrast to the drawing in Figure 7, in the direction of arrow 64, in a counterclockwise direction by 90. The rotational manipulator 58 is itself tightly connected with the equipment, and is thus not rotatable. ~he rotational movement of the manipulator takes place on the stationary cylindrical part 62 off the rotational manipulator 58.
It will be understood that the above described embodiment is for purposes of illustration only and that changes and modifications may be made thereto without departing from the spirit and scope of the invention.
A multi-part attachment device f or mobile equipment which can be attached releasably to the front on equipment is known from DE-OS 42 42 667. The attachment device has a connection piece on the device side for connecting the attachment device to the equipment and a carrying part on the construction side with brackets for accepting, moving, holding, and releasing the component as well as intermediate parts between the connection parts and the carrying part, whereby the connection parts are connected to one another and with the connection part as well as the carrying part such that they can move. On an end o~ the attachment device on the device side there is a lifting module which can be connected with the equipment and includes means f or adjusting its height with respect to the equipment by means of a lifting drive as well as being fixed at a desired height. A shifting module is shiftable to both sides of the 2l~72~l front on the lifting module and is shiftable by means of a shifting driver and it can be stopped in a desired lateral position. A distancing module is provided on the shifting module which distancing module can be lengthened or shortened in the longitudinal direction by means of a distancing driver and then held in a desired position. In addition, a swivelling module is positioned swivelably on the front of the distancing module and which can be swivelled by means of a swivelling drive and stopped in a desired swivelled position.
Between the shifting module and the distancing module, a tilting module is provided. Also, a rotating module is provided between the distancing module and the swivelling module. A swivelling module comprises a swivelling arm and a carrying arm, whereby the swivelling arm i8 positioned on its lower end in a swivel bearing on the distancing module or on the rotating module such that it can swivel and on the upper end is connected over an upper swivel bearing with the carrier arm such that it can swivel.
On the carrying aKm, suction cups, ele-;~L gn-~ts or mechanical brackets in the form of clamps or similar items are provided as ~ nent holders, and which are distributed on the carrying arm in a certain pattern or arranged on a certain grid.
In US-PS 3 598 263, a multi-part attachment device for mobile equipment is described whereby a platform is pKovided on the prongs of a height-adjustable carriage of a ~1~72~t stacker truck, on which a rotating disk is positioned.
On the rotating disk, two lower rails arranged parallel to one another are provided and which are connected together on both their ~ree ends by means of a beam on which two upper rails are arranged and which carry a frame. On the upper rail facing the equipment, a vertically arranged U-shaped piece is provided on which two hydraulic cylinders are arranged, one above the other, such that they can swivel. With the other upper rail, two guide pieces arranged in parallel to one another are connected, between which the hydraulic cylinder is conducted laterally. In the middle between the two lower rails, there is a hydraulically operated two-sided cylinder that is positioned transversely. The piston rod is attached to the transverse beam and the cylinder is attached to the frame arranged above the two upper rails. On both ends of the piston rods, a mounting arrangement ~s arranged over a rod assembly and a rotary bearing, on which several suction cups are provided for holding a glass pane.
The lifting carriage arranged on the equipment forms a part of the equipment and is adjustable by height along the lifting pole as a part of the equipment. The platform arranged on the prongs of the lifting carriage is stationary. By means of the transverse double acting cylinder, both the upper cylinders can be shifted to one side with the two upper rails as well as the positioning and conducting upon impact of the double acting hydraulic 2~72~1 cylinder. The carrying frame can be shifted by means of both longit~l~l; n~ l l y positioned cylinders in the longitudinal direction of the vehicle and in the opposite direction. In addition, it is possible through the varying impact of both cylinders, which are arranged over one another and oriented longitudinally to swivel the mounting frame slightly from the vertical position to each side, that is to say above the longitudinal direction of the vehicle and in the opposite direction. The holding frame is rotatable 360 on a rotary pin and can be f ixed at a certain rotary angle by two pins, which can be locked in the opposing grid region. The entire unit is rotatable by means of the rotary disk to both sides at a defined angle, whereby the rotary angle of the spatial indications is limited with regard to the arr~n', of this attachment device with respect to the equipment.
An attachment device for a stacking truck is known from FR-PS 1 316 42~ that i5 adjustable by height by means of a carriage on a lifting beam of the fork lift. The carriage is rotatable about a vertical axis to both sides by a certain defined amount. On the front end of the carriage, a connection part with an upper and a lower ~oint is provided, whereby the hydraulic cylinder and the brackets are connected f lexible on their other ends, in each case with a connection piece turned by 180. Both connection pieces, the hydraulic cylinder and the brackets form a jointed square. On the front end of the front connection part, a holding plate with holding arrangements for holding 21~72~1 and carrying a large surface work piece is provided.
The holding plate on the front connection part is oriented parallel to the floor level for a corr~f3ponrl;ng extension of the piston rod and for a completely retracted piston rod, is oriented perpendicular to the floor level.
In the lifting carriage, a hydraulic cylinder is provided on each side of the vertical axis, which allows the rotating to the left and right.
This attachment device can only be lifted and lowered, rotated by a certain limited amount about a vertical axis and titled about a horizontal transverse axis from a position parallel to the f loor level into a position perpendicular to the f loor level .
From DE-AS 1 006 794, a stacking device with a running gear is known, having on the front end a lifting pole on which a lifting carriage is connected such that it is height adjustable. The lifting pole, together with the liftil~g carriage, belongs directly to the stacking device, that is to say the mobile equipment. A r,. - shaped auxiliary pole is arranged approximately horizontal on the lifting carriage of the lifting pole, on which a carriage equipped with a load carrier can be moved on the longitudinal axis of the All~i l; ~ry pole. The ;~I~x; l; ~ry pole with the carriage and the load carrier represent an attachment device which is designed as a distancing module.
In this case, the mobile equipment comprises a running gear, a lifting pole, a lifting carriage, wherein 2 1 ~ 72~I
the attachment device comprises the auxiliary pole, the carriage and the load carrier. The 6eparation between the mobile equipment and the attachment device thus runs between the lifting carriage of the lifting pole and the equlpment side coupling of the auxiliary pole. The lifting pole and its lifting carriage are fixed, non-removable parts of the equipment and thus do not belong to the attachment device.
They can not be allocated to the accessory equipment.
This attachment device only allows movement in the longitudinal direction of the auxiliary pole or in the longitudinal direction of the vehicle. A lifting of the load carrier with this attachment device is not possible;
rather the lifting takes place via the lifting carriage of the lifting pole, that is to say by means of the mobile equipment. With this known stacking equipment, it is possible to accept loads with the load carrier, to lift or lower these loads, shift them along the auxiliary pole, and if necessary, to subsequently travel with the equipment and f inally to set them down .
From German publication "Deutsche EIebe-und Fordertechnik [German Lifting and Conveying Technology], July, 1988, page 89, a free-view prong adjustment device is known, which shows two prongs arranged on the lifting carriage of a fork lift, wherein both prongs move in opposing directions. There are two hydraulic cylinders, the piston rods of which are attached to the prongs and the cylinders of which are attached to the lifting carriage.
2l572~l That means that both prongs are shifted either in the direction toward each other or in the direction apart from one another. The prongs cannot be moved together out of the range of the fork lift. Thus, only the distance of the two prongs from one another or the loading 6urface of both the prongs can be changed. In any case, the possibility does not exist to move both prongs out of range of the fork lift, for example to shift both prongs in the same direction to only one side of the fork lift.
The attachment device for this fork lift comprises the two prongs and the hydraulic cylinders allocated to them. The lifting carriage itself belongs to the fork lift.
With this fork lift, it is only possible to lift a load, to move this and to lower it again.
From German Utility Patent 92 000 663, an attachment device for a mobile fork lift is known, wherein the attachment device has a frame which is connected with the fork of the fork lift. In addition, the attachment device has an accepting device for accepting and releasing objects to be transported, the accepting device being connected with the frame and being swivelable about a horizontal axis. The accepting device has gripping elements for holding plate-shaped assembly elements. In addition, it is shown that the horizontal axis is oriented transverse to the driving direction of the fork lift and that the accepting device i6 furth~ ~ swivelable about a vertical axis. The horizontal axis and the vertical axis movement can be _ g _ 2~72gl provided in a f irst int~ ~ i Ate piece of the accepting device that is connected swivelably about the vertical axis with the frame and about the horizontal axis with the rest of the accepting device. Through this, the installment of assembly plates in construction of cooling rooms and cooling halls is simplif ied .
Nith this attachment device, it is only possible to accept plates and to rotate about three axes. An exact positioning of these types of plates is not possible with the attachment device; rather, for the exact positioning of plates it is necessary to undertake the positioning of the plates with the fork lift bearing the attachment device.
For tllis, a particularly experienced fork lift operator is required, who must be continually present at such assembly operations . It is not suf f icient to drive into the vicinity of the assembly location and to undertake the exact positioning with the attachment device.
From the German non-PYAm;ned, published patent 25 15 562, an attA~ -nt device for fork lifts with a lifting scaffold for vertical shifting is known and which is capable of operation without additional support means. This arrangement is such that on the fork carrier of the fork lift, a telescoping boom which is adjustable by angle is provided and on the end of which a work platform which is adjustable by angle is coupled. The platform is held in a horizontal position with a hydraulic, tilt-correction device which is positively controlled by the angle adjustment 2l~72~
.
device of the boom. Elements are provided which couple the mechallical, hydraulic and electrical driver devices of the attachment device with the corresponding energy source of the fork lift providing the mechanical, hydraulic or electrical energy.
In Germany Utility Patent 76 35 851, a device for accepting a body, ~r"~ ly a plate, is described. The patent teaches that a frame can be attached on a conveying vehicle which is designed for accepting a drive motor, a pneumatic pump and hydraulics, and whereby a suction plate which can be swivelled by means of an operational cylinder is coupled by means of a ~oint on the frame.
In German Utility Patent 88 13 516, there is shown a fork lift with fork prongs shiftable transversely by a driver in the operation of the f ork carrier and having an accessory device for coupling containers or 6imilar items, preferably containers for storage of hazardous materials and f luids . This arrangement is seen to be such that swivelable, lever-shaped supports are provided around the foot area of the fork prongs which can be lowered by a driver from their folded inactive position on the lifting scaffold of the fork lift onto the fork prongs. The sides or areas facing one another on the inside have formed pieces and/or cogs or 6imilar elements for interlockingly coupling to the containers.
A fastening device for an attachment device for a fork lift is known from German Utility Patent 91 07 033.
2137~1 A device acceptance plate with a prong acceptance device on its lower edge and clamps arranged at a distance over one another are provided above the prong acceptance device. At least one clamp is designed to be shiftable by height. The clamp that is shiftable by height is arranged on a pin, that end o~ which extends out of the clamp extending through an opening of the device acceptance plate and is arranged rotatably on one eccentric disk, whereby the inner diameter of the opening is greater than the diameter of the pin.
From EP 0 311 869 A1, a manipulator for h~nrll ing heavy loads is known, in particular for pressed products wound into rolls and lying loosely over one another in rough formation. A holding device is held on a free end of a rotational axis tilted against the vertical about an orientation angle or of a rigid carrier arm tilted at an angler which is fastened to an assembly device, whereby the holding device can be rotated or swivelled relative to the mounting device. For this, the orientation angle lies between the rotary axis or the carrier arm and a horizontal plane between 30 and 60.
It is an object of the present invention to provide a multi-part manipulator for mobile equipment of the type described above, wherein it is possible to lift and eYactly position ~ ~ nr~nts in the form of bulky plates and long carrier or frames without the exact positioning needing to be conducted with the equipment itself. Rather, it is sufficient to bring the components into the vicinity of the 2l~2~l .
assembly location by means of the equipment, whereby all linear movements, namely lifting, transverse shifting and longitudinal shifting, as well as rotational movements, namely turning in both rotation directions about a vertical axis perp~nf~ r to the floor level, tilting about a longitudinal axis oriented horizontally in the longitudinal direction of travel and swivelling about a horizontal transverse axis oriented transversely to the longitudinal direction of travel, and indeed by a total of more than 180 is conducted with the attachment device.
The manipulator i nr~ a swivelling module which comprises a swivelling pole and two swivel axes arranged in parallel to one another, whereby the swivelling pole is positioned swivelably on its lower end in a swivel bearing on a linear module transverse to the assembly direction and is connected on the upper end over an upper swivel bearing with the tilting module in two rotation axes displaced by 9oo ~
The same problem is also solved in that the swivelling module comprises a swivelling pole with two swivel axes, whereby the upper swivel axis is turned by a rotary drive, which is arranged between the two swivel axes, about the middle longitudinal axis of the swivelling pole in both directions as well as held in a desired position and wherel~y the swivelling pole is positioned swivelably on its lower end in a swivelling bearing on a linear module transverse to the assembly direction as well as on the upper 21~72~1 end over an upper swivel bearing, connected with the tilting module in two rotary axes displaced by 9 0 .
Through this, one achieves a manipulator of the type noted above, which fulfills the objectives of the invention.
Thus, an unmanageable component can be held in a desired position in space, whereby it is irrelevant how or on which slanted, steep, sloping or uneven base the mobile equipment stands on.
As mobile equipment, a fork lift can be considered as an example. When using a fork lift, the lifting module can be omitted if necessary for assembly near the floor, because the fork lift itself in the front area or with its liftillg pole represents the lifting module, so that a manipulator provided for a fork lift only has a shifting module and a distancing module for both rr---in;n~ spatial coordinate directions as well as a swivelling module and a tilting module when the lifting module is not required.
In the case of using a loading crane or an auto-crane as mobile equipment, a lifting module can not be excluded, so that a manipulator for a loading crane or for an auto-crane must have all three linear modules, namely the lifting module, the shifting module and a distancing module.
It should also have the three circular modules, namely the rotary module, the swivelling module and the tilting module, so that the component to be manipulated by the manipulator can be held in a desired spatial position independently from the location of the loading crane or the auto-crane.
21 ~7261 *
Advantageously, a rotary module which can be turned by means of a rotary drive means about one or two rotary axes perpendicular to the floor or horizontal thereto in both rotational directions is provided between the equipment and tlle manipulator.
The rotary module can also be designed and utilized as a work platform. The --n;rlllAtor is preferably designed so that the sequence of the individual modules from the connection piece is selected from the following sequences:
shifting module, distancing module, lifting module;
or shifting module, lifting module, distancing module;
or lifting module, distancing module, shifting module;
or lifting module, shifting module, distancing module;
or distancing module, lifting module, shifting module;
or distancing module, shifting module, lifting module.
The drives of the individual modules can be mecharlical, electrical, hydraulic or pneumatic drives including manual drives.
Suitably, there may be provided component gripping means such as c ~on-ont brackets, devices with suction cups, electromagnets or mechanical brackets in the form of clamps or similar elements, which are distributed on the .~ nont ~lS7~
holder in a certain pattern or arranged on a certain grid.
EIaving thus generally described the invention, reference will now be made to the accompanying drawings illustrating an ~mhor~ nt thereof, in which:
Figure 1 shows a front view of an attachment device designed in accordance with the invention in its inactive position;
Figure 2 shows a side view of the attachment device in the direction of Arrow II in Figure 1;
Figure 2A shows an enlargement of Figure 2 under Line A-B;
Figure 28 shows an enlargement of Figure 2 above Line A-B;
Figure 3 shows a top view of the attachment device in the direction of Arrow III in Figure 1;
Figure 4 shows a side view of the attachment device when accepting a component;
Figure 5 shows a front view of the rotary module as a work platform;
Figure 6 shows a side view in the direction of Arrow VI in Figure 5;
Figure 7 shows a top view in the direction of Arrow VII in Figure 5;
Figure 8 shows a front view of the rotary module as a work platform with coupled attachment device in inactive position;
2~57~1 Figure 9 6hows a side view of Figure 8 in the direction of Arrow IX;
Figure 10 shows a top view of Figure 8 in the direction of Arrow X; and Figure 11 shows a top view of the rotary module as a work platform with a coupled attachment device.
The multi-part manipulator depicted in the drawing is designed for mobile equipment, for example a stacking truckr an auto-crane, or a loading crane. The multi-part manipulator is to be attached releasably to the equipment which is not depicted in detail in the drawing.
As can be seen from Figures 1, 2 and 2A, the manipulator has a connection piece on the equipment side, which comprises an upper support beam 10 and a lower clamp beam 11 and is connected to a connection piece 12 of the mobile equipment which is not depicted in detail in the drawing. On the upper beam 10, a movable base beam 13 is provided parallel to the upper beam 10. Likewise, a beam 15 arranged in parallel to this is arranged under a beam 14, whereby both beams 13 and 15 include a plate 16 between them .
To shift the r-n;r~ tor to the right and left, a cog wheel 17 held in the base beam and engaging the support beam 10 is turned in the appropriate direction.
On the beam 13, there is an upper transverse housing 18 with spindle 19 arranged in housing 18. Likewise, a lower transverse housing 20 is provided with a spindle 21 ~ 572~1 arranged therein.
As is shown in particular in Figure 3, the spindle 19 is positioned in the transverse housing 18 over the entire length of the transverse housing 18. For the spindle 19, there is a rod provided with outer threading 23, which is driven via a chain wheel 24 and a chain (not shown).
A crank 25 is positioned on its end on the housing side in a bearing 27 provided in support roller 26 and on its pole side end on a distancing housing 28 in a rotary bearing 29, whereby the support roller 26 runs in a groove.
A bracket 3 0 is positioned in a bearing 31 arranged on the transverse housing and in a bearing 32 arranged on the crank 25 in its middle area. On a connection 33 of the distancing housing 28, a lifting cylinder 34 is provided and which is connected with the lifting housing 37, 37a, 37b.
The connection between the distancing module and the lifting module takes place over two guide ~-~h Ini ~mc 35 and 35a, which are arranged between the distancing housing 28 and the lifting housing 37, 37a, 37b.
Between the left part 37a and the right part 37b of the lifting housing 37, a swivelling pole 38 is provided.
When turning spindles 19 and l9a by the chain wheel 24, both support rollers 26 and 26a move toward each other. The bearings 29 and 29a move to the front as indicated by lines 39 and 39a in a direction of the arrows 40 and 40a in the longitudinal direction of the vehicle, since the movement in the direction of arrows 40 and 40a is 21~7261 provided by both cranks 30 and 30a.
With a reversed rotation of the spindles 19 and l9a, the swivelling pole 38 moves back, that is to say opposite to the arrows 40 and 40a. That neans that the swivelling pole 38 can be moved forward and backward in the direction of the double arrow 40b in the longitudinal direction of the vehicle .
To lift and lower the swivelling pole 38, thrust piston gears 34 and 34a are provided, with which the manipulator can be shifted upwardly and downwardly in the direction of double arrow 41 along a vertical axis oriented perpendicular to the plane of the f loor.
In Figure 4, the manipulator is depicted in an active position. The distancing module 25, 25a is shifted forward in the direction of arrows 40, 40a and carries the swivelling pole 38 forward. The swivelling pole 38 has on its lower end a joint 48, about which the upper part of the swivelling pole 38 can be tilted forward and back in the direction of the double arrow 50. On swivelling pole 38, a liftillg housing 37, 37a, 37b with a joint 51 is provided. A
cylinder 52 of a thrust piston gear 53 is positioned swivellably on joint 51 with piston rod 54 being positioned swivellably in a joint 55. Swivelling movement is thus possi]~le in the direction of the double arrow 50 o~ the upper part of the swivelling pole 38.
On the upper end of the swivelling pole 38 (Figure 4), a module 42 is provided and which can swivel ~ ~}72gl about a longitudinal axis oriented in the longitudinal direction of the vehicle in the clockwise or counterclockwise direction, that is to say in both directions of double arrow 44. In addition, the module 42 can be tilted about a transverse axis 45 oriented transverse to the longitudinal axis of the vehicle from the top to the front and rear or from the bottom, the reverse to the rear and front in the direction of the double arrow 46.
Module 42 has a connection plate 47 on which the components to be manipulated over an int~ te component 56 are to be attached. The connection plate 47 can be tilted in both directions of the double arrow 44 to both sides over a tilting drive which is not depicted in detail.
On the outer end of the swivelling pole 38, the module 42 is provided, whereby a .~ t 57 to be manipulated is arranged between the carrying plates 47 of the modu~e under arrangement of an int~ te compollent 57.
As seen in Figure 4, the manipulator on a transverse axis can be shifted laterally to both sides on a longitudinal axis oriented in the longitudinal direction of the vehicle to the front and rear and up and down along a vertical axis arranged perpendicular to the floor level. In addition, the lifting pole can be swivelled forward and back in the longitudinal direction of the vehicle by means of joint 48 and thrust piston gear 53. Also, it is possible with module 42 to tilt component 57 about a longitudinal ~72~1 axis oriented in the longitudinal direction of the vehicle and to swivel about a transverse axis oriented transversely and horizontally to the longitudinal direction of the vehicle .
With the manipulator shown in Figure 4, all of the linear movements and all of the circular movements with the exception of rotating about the vertical axis are possible.
As can be seen in Figures 5, 6 and 7, a rotational manipulator 58 is provided which simultaneously serves as a work platform. The rotational manipulator 58 is largely designed to be cylindrical. Manipulator 58 has a coupling 59 on its end on the equipment side, with which it can be coupled to the mobile equipment. On the cylindrical area of the rotational manipulator, a connection piece 60 is provided, which has several bearing groups 61 in its inner area, which is fitted to the curvature of the cylindrical part 62 of the rotational manipulator. On the opposite side, the accepting part has a connecting part 63 corr~pnnfl;r~ to the connecting part of the mobile equipment, on which the manipulator can be coupled in accordance with Figures 1 through 3. In Figures 8, 9 and 10, a manipulator is shown and which is assembled from the parts described in Figures 1, 2, 2A, 2B and 3 and also the parts of rotational manipulator described in Figures 5, 6 and 7.
Thus, it is possible with the manipulator depicted in Figures 8, 9 and 10, to conduct all the linear and ~1~7261 circular movements depicted in Flgure 4 and, in addition to this, also a rotational movement about the vertical axis standing perp~n~ lAr to the floor level. With this r-n;r11lAtor, all possible three-dimensional movements can be conducted in this way, whereby the manipulator can be stopped in a desired position.
In Figure 11, the rotational manipulator 58 is shown on which connection part 60 is turned, in contrast to the drawing in Figure 7, in the direction of arrow 64, in a counterclockwise direction by 90. The rotational manipulator 58 is itself tightly connected with the equipment, and is thus not rotatable. ~he rotational movement of the manipulator takes place on the stationary cylindrical part 62 off the rotational manipulator 58.
It will be understood that the above described embodiment is for purposes of illustration only and that changes and modifications may be made thereto without departing from the spirit and scope of the invention.
Claims (7)
1. A multi-part manipulator adapted for manipulation of a component in all three directions of a right-angled spatial coordinate system and which can be releasably connected to mobile equipment, said manipulator having connecting means on an equipment side for connecting said manipulator to said mobile equipment and with a component gripping means on a component side adapted for holding and releasing the component, a shifting module having drive means for reversably moving in a traverse axis direction, a distancing module having drive means for reversably moving in a longitudinal direction with respect to said mobile equipment and a lifting module having drive means for reversably moving in a vertical direction, a swivelling module having drive means for swivelling about an axis oriented transversely to said longitudinal direction, a tilting module having means for tiling about said longitudinal direction in both a clockwise direction and a counter clockwise direction and adapted to be stopped in a desired tilted position characterized in that the swivelling module comprises a swivelling pole, said swivelling pole being positioned on its lower end in a swivel bearing on said linear module such that it can swivel transversely to the assembly direction, said swivelling pole having an upper end connected by means of an upper swivel bearing with said tilting module, said tilting module being tiltable in two rotary axes displaced by 90°, said swivelling pole being moveable to allow swivelling in two axes parallel to each other.
2. A multi-part manipulator adapted for manipulation of a component in all three directions of a right-angled spatial coordinate system and which can be releasably connected to mobile equipment, said manipulator having connecting means on an equipment side for connecting said manipulator to said mobile equipment and with a component gripping means on a component side adapted for holding and releasing the component, a shifting module having drive means for reversably moving in a traverse axis direction, a distancing module having drive means for reversably moving in a longitudinal direction with respect to said mobile equipment and a lifting module having drive means for reversably moving in a vertical direction, a swivelling module having drive means for swivelling about an axis oriented transversely to said longitudinal direction, a tilting module having means for tiling about said longitudinal direction in both a clockwise direction and a counter clockwise direction and adapted to be stopped in a desired tilted position characterized in that said swivelling module comprises a swivelling pole movable in two swivelling axes, whereby an upper swivelling axis is turned by a rotary drive arranged between the two swivel axes, about the middle longitudinal axis of the swivelling pole in both directions as well as held in a desired position and whereby the swivelling pole is positioned swivelably on its lower end in a swivelling bearing on a linear module transverse to the assembly direction as well as on the upper end over an upper swivel bearing, connected with said tilting module being tiltable in two rotary axes displaced by 90°.
3. A manipulator as defined in Claim 1, characterized in that a rotary module is provided between the equipment and the manipulator, said rotary module having rotary drive means and being arranged to turn about at least one rotary axes perpendicular to a floor level in both rotational directions.
4. A manipulator as defined in claim 1, 2 or 3, characterized in that said rotary module is also a work platform.
5. A manipulator as defined in claim 1, 2 or 3, characterized in that the sequence of the individual module from the connection piece is selected from one of the following sequences:
shifting module, distancing module, lifting module;
shifting module, lifting module, distancing module;
lifting module, distancing module, shifting module;
lifting module, shifting module, distancing module, distancing module, lifting module shifting module;
and distancing module, shifting module, lifting module.
shifting module, distancing module, lifting module;
shifting module, lifting module, distancing module;
lifting module, distancing module, shifting module;
lifting module, shifting module, distancing module, distancing module, lifting module shifting module;
and distancing module, shifting module, lifting module.
6. A manipulator, as defined in claim 1, 2 or 3, characterized in that said drive means of the individual modules can be selected from mechanical, electrical, hydraulic, pneumatic and manual drive means.
7. A manipulator as defined in claim 1, 2 or 3, characterized in that said component gripping means are selected from component brackets, devices with suction cups, electromagnets and mechanical brackets in the form of clamps, said gripping means being distributed on said component holder in a desired pattern or arranged on a grid.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EPP94113535.2 | 1994-08-30 | ||
| EP94113535A EP0699621B1 (en) | 1994-08-30 | 1994-08-30 | Manipulator with several parts for a mobile work apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2157261A1 true CA2157261A1 (en) | 1996-03-01 |
Family
ID=8216242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002157261A Abandoned CA2157261A1 (en) | 1994-08-30 | 1995-08-30 | Multi-part manipulator for mobile equipment |
Country Status (8)
| Country | Link |
|---|---|
| EP (1) | EP0699621B1 (en) |
| JP (1) | JPH08276383A (en) |
| KR (1) | KR960007108A (en) |
| AT (1) | ATE160133T1 (en) |
| AU (1) | AU3022795A (en) |
| CA (1) | CA2157261A1 (en) |
| DE (1) | DE59404585D1 (en) |
| ES (1) | ES2113018T3 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993414B (en) * | 2020-07-28 | 2022-04-12 | 北京轩宇智能科技有限公司 | Mechanical arm multi-joint linkage control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3198366A (en) * | 1961-03-20 | 1965-08-03 | Gen Mills Inc | Billet handling apparatus |
| FR1316425A (en) * | 1962-03-02 | 1963-01-25 | Montedison Spa | Forklift for transporting sheet material |
| GB1604002A (en) * | 1978-05-25 | 1981-12-02 | Laing John Services | Lifting apparatus |
| JPH0757680B2 (en) * | 1988-10-26 | 1995-06-21 | 鹿島建設株式会社 | Wall material transportation mounting device |
| DE4242667C2 (en) * | 1992-12-17 | 1996-04-04 | Paul Lingen | Multi-part manipulator that can be detachably attached to a mobile implement at the front |
-
1994
- 1994-08-30 AT AT94113535T patent/ATE160133T1/en not_active IP Right Cessation
- 1994-08-30 ES ES94113535T patent/ES2113018T3/en not_active Expired - Lifetime
- 1994-08-30 EP EP94113535A patent/EP0699621B1/en not_active Expired - Lifetime
- 1994-08-30 DE DE59404585T patent/DE59404585D1/en not_active Expired - Fee Related
-
1995
- 1995-08-24 AU AU30227/95A patent/AU3022795A/en not_active Abandoned
- 1995-08-25 KR KR1019950026630A patent/KR960007108A/en not_active Application Discontinuation
- 1995-08-30 JP JP7222089A patent/JPH08276383A/en active Pending
- 1995-08-30 CA CA002157261A patent/CA2157261A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| KR960007108A (en) | 1996-03-22 |
| EP0699621A1 (en) | 1996-03-06 |
| AU3022795A (en) | 1996-03-14 |
| DE59404585D1 (en) | 1997-12-18 |
| ES2113018T3 (en) | 1998-04-16 |
| ATE160133T1 (en) | 1997-11-15 |
| JPH08276383A (en) | 1996-10-22 |
| EP0699621B1 (en) | 1997-11-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |