CH677784A5 - - Google Patents

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Publication number
CH677784A5
CH677784A5 CH84489A CH84489A CH677784A5 CH 677784 A5 CH677784 A5 CH 677784A5 CH 84489 A CH84489 A CH 84489A CH 84489 A CH84489 A CH 84489A CH 677784 A5 CH677784 A5 CH 677784A5
Authority
CH
Switzerland
Prior art keywords
handling
working cylinder
coupling
holder
arm
Prior art date
Application number
CH84489A
Other languages
German (de)
Inventor
Wilfried Baeder
Original Assignee
Wilfried Baeder
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to DE19883808121 priority Critical patent/DE3808121C2/en
Priority to DE8803290U priority patent/DE8803290U1/de
Application filed by Wilfried Baeder filed Critical Wilfried Baeder
Publication of CH677784A5 publication Critical patent/CH677784A5/de

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14Conveying or assembling building elements
    • E04G21/16Tools or apparatus
    • E04G21/22Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008Balancing devices
    • B25J19/0012Balancing devices using fluidic devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027Pivot axis separated from column axis
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14Conveying or assembling building elements
    • E04G21/16Tools or apparatus

Description

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description
The invention relates to a handling device for gripping and moving objects of the type mentioned in the preamble of claim 1.
Known handling devices of this type are extremely complicated, expensive and their functionality is not clear. Another major disadvantage is that the load weight balancing device is located in the area of the parallelogram boom and interferes there. The parallelogram boom is therefore restricted in its range of motion. This means that e.g. when lifting and lowering the parallelogram boom does not come as high or as low as possible.
The invention has for its object to provide a handling device of the type mentioned, which is simple, inexpensive and clear in operation and allows passage of the entire range of motion with respect to the parallelogram boom, and this while maintaining the advantages of a load-weight compensation device with a pressure-operated cylinder .
The object is achieved in a handling device of the type mentioned according to the invention by the features in the characterizing part of claim 1. The handling device is thus simple, inexpensive and clear in its mode of operation. This makes the handling device particularly suitable for workshop use, for assembly tasks and also particularly suitable for use on construction sites where e.g. large and heavy objects, such as concrete parts, stones or the like, must be handled. Because the working cylinder is arranged entirely outside the area of the parallelogram boom and in the area of the second parallelogram formed, the entire available range of motion for the parallelogram boom can be traversed and thus fully used. It is therefore possible to use the handling device to achieve the maximum height position made possible by the parallelogram boom when lifting or lowering position when lowering, so that an overall very large stroke is achieved.
Further advantageous developments of the handling device according to the invention result from claims 2-27.
Further details and advantages of the invention can be found in the description below, where these are particularly emphasized.
The complete wording of the claims is not reproduced above solely to avoid unnecessary repetition, but instead is referred to only by mentioning the claim numbers, whereby all these features of the claim are to be regarded as being expressly disclosed here and essential to the invention. All of the features mentioned in the above and the following description, as well as the features that can only be inferred from the drawing, are further components of the invention, even if they are not particularly emphasized and in particular are not mentioned in the claims.
The invention is explained below with reference to an embodiment shown in the drawings.
Show it:
1 is a schematic side view of a handling device for gripping and moving objects,
2, 3 and 4 each show a schematic, partially sectioned plan view of individual parts of the handling device in Fig. 1,
Fig. 5 is a schematic plan view of a detail of the gripping device of the handling device.
In the drawings, a handling device 10 is shown, which is used for gripping and moving objects 11, which may consist of components, concrete parts, stones or the like. Heavy parts, which are usually either not at all or only lifted and moved in an extremely arduous manner by means of physical strength can be.
The handling device 10 is provided with a parallelogram boom 12 which has two links 13, 14 which are approximately parallel to one another. Both links 13, 14 are articulated to a holder 17 with the left end in FIG. 1 in the area of a hinge point 15 or 16 there. For example, the joint axes run horizontally in space. At the other end of the links 13, 14 on the right in FIG. 1 there is attached a receiving device 18, which will be explained in more detail later and which has a sleeve 21 articulated at the ends of the links 13, 14 in the region of the articulation points 19, 20. The receiving device 18 serves for gripping and picking up the objects 11.
The handling device 10 is also provided with a load weight compensation device, generally designated 22, which is effective between the holder 17 and at least one of the two links 13, 14 and has at least one pressure medium-operated, in particular pneumatic, working cylinder 23.
One of the links 13 has at least one support arm 24 which projects transversely at the articulation point 15, specifically at an angle of 90 °, which is fixed thereto, for example welded on. This runs approximately parallel to the connecting members 25 placed on both sides of the working cylinder 23, which are articulated at a distance therefrom on the holder 17 in the region of the hinge axis 26. In Fig. 1 only such a link 25 can be seen. The support arm 24 and both connecting links 25 are connected via two mutually parallel coupling links 27 to form a parallelogram movable by the handlebar 13 with the support arm 24. The coupling members 27 on both sides are articulated at the free end of both connecting links 25 in the region of the articulated axis 28 to the connecting members 25 and at the free end of the support arm 24 in the region of the articulated axis 29 there. The working cylinder 23 is supported on the one hand on the holder 17 and on the other hand on one of the described parts of the parallelogram. With the right end of its housing 30 in FIG. 1,
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on which at least one freely rotatable roller 31 is attached, the working cylinder 23 is supported on a support web 32 in its axial direction. The support web 32 extends approximately at right angles to the longitudinal central axis of the working cylinder 23 and to the longitudinal course of both coupling links 27. With the free end of its piston rod 33, the working cylinder 23 is supported approximately on the middle of an abutment 34 between the two coupling links 27, e.g. articulated. The working cylinder 23 is coupled to both coupling members 27 such that the working cylinder 23 is carried along with the transverse movement of the coupling members 27 during the movement of the parallelogram, formed from the parts 24, 25 and 27, but axially on the supporting web during the longitudinal movement of the coupling members 27 32 is supported and the coupling members 27 are longitudinally movable relative to the working cylinder 23. With a transverse movement of the coupling members 27, the housing 30 of the working cylinder 23 is thus guided in a rolling manner over the roller 31 along the support web 32. Since the piston rod 33 is articulated on the abutment 34, the working cylinder 23 is already carried over it during the transverse movement of the coupling members 27.
As can be seen, the working cylinder 23 runs with its longitudinal central axis - seen in the direction of the transverse movement of the two coupling links 27 - without transverse spacing from the coupling links 27. Since two coupling links 27 are provided in the double-armed embodiment shown, the working cylinder 23 is accommodated between the two coupling links 27. It runs approximately parallel to these, the longitudinal central axis of the working cylinder 23 running within the plane spanned by the two coupling members 27.
The working cylinder 23 is held on the coupling members 27 such that they can be moved in translation. For this purpose, each coupling member 27 has a longitudinal guide 35, only indicated schematically, which can consist of a groove or a longitudinal web. The working cylinder 23 has guide members 36 on each long side of its housing 30, which faces such a longitudinal guide 35, which are guided along the longitudinal guide 35. The guide members 36 are e.g. from rolls. On each long side of the housing 30, e.g. two rollers, spaced apart from one another in the longitudinal direction, can be provided as guide members 36, each of which is guided on the longitudinal guide 35 assigned to this side during the relative displacement between the working cylinder 23 and the coupling members 27. The guide members 36 and the longitudinal guide 35 are in engagement with one another transversely to their longitudinal course for forced entrainment in both directions during the transverse movement of the coupling members 27 in a direction approximately perpendicular to the longitudinal central axis of the working cylinder 23. The roller 31 supported and rolling on the supporting web 32 of the holder 17 is mounted on the same axis on the housing 30 of the working cylinder 23 as its guide rollers on both sides, which form guide members 36 there. This is particularly easy. The support web 32 is - seen in the direction of the connecting members 25 - at a distance from the articulation point 15 of the link 13 with the support arm 24 thereon, so that the support arm 24 and the support web 32 do not interfere. As can be seen in FIG. 2, the support arm 24 is received and mounted in the region of its hinge axis 29 between the fork-like ends of both coupling elements 27.
Fig. 4 shows that the holder 17 is also designed with two arms. It has two mutually parallel arms 37 and one in the region of the articulation axis 15 of the link 13 with a support arm 24, e.g. approximately semicircular plate 38, which can be welded. Both arms 37 extend in a plane that runs approximately parallel to the plane spanned by both coupling members 27, the plane formed by the arms 37 running at a transverse distance and, according to FIG. 1, below the plane spanned by the coupling members 27. The ends of both arms 37 pointing towards the handlebar 13 form a fork, the handlebar 13 with support arm 24 being received and supported in the region of the articulated axis 15 between the ends of the arms 37 there. The support web 32 is fastened to the plate 38 and projects from it.
1 shows that the hinge axis 16 for angling the other link 14 to the holder 17 runs exactly below the hinge axis 15. In this area too, the holder 17 can be designed as a fork 39, between the legs of which the second link 14 is received
The complete holder 17, formed from the arms 37, the plate 38 and an end cross strut 40, is in turn about an approximately perpendicular to the hinge axes 15, 16, 19, 20, 26, 28, 29, e.g. vertically directed in space, pivot axis 41 pivotable on a boom
42 stored. For this purpose, the holder 17 is equipped with a storage fork 43. One fork leg is formed by the plate 38. The arm 42 engages in the bearing fork in the region of the pivot axis 41
43 a.
With its other end, which faces away from the parallelogram boom 12 and the pivot axis 41, the boom 42 is pivotably mounted on a carrier 45 about a second pivot axis 44. The second pivot axis 44 runs approximately parallel to the first pivot axis 41, that is also vertically in space. The carrier 45 is e.g. formed as a column that protrudes from a foot plate 46. The plate 46 with the carrier 45 thereon can be stationary or instead mobile. In the latter case, the carrier 45 is attached to a chassis of a suitable type.
For receiving and storing the boom 42, the carrier 45 is provided with a storage fork 47 at the upper end. One leg of the bearing fork 47 is e.g. formed approximately semicircular plate 48.
In adjacent areas of both pivot axes 41,
44, the arm 42 is each provided with a schematically shown, preferably remotely operable, braking device for optionally blocking or releasing the pivoting about the respective pivot axis 41 or 44. Each braking device has one on the arm 42 by e.g. horizontal axis pivotally mounted brake lever 49, 50, the middle of a tension spring 51 and 52 in
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Braking position is forced. Each brake lever 49, 50 has at a distance from its pivot axis at the end a protruding toward the plate 38 or 48 there buffer 53 or 54, with which the lever 49 or 50 acts non-positively on the respectively assigned plate 38 or 48 . Each braking device has a pressure medium-operated, in particular pneumatic, working cylinder 55 or 56, which engages on the brake lever 49 or 50 and by means of which the braking device can be brought into the released position against the action of the tension spring 51 or 52. It is not further shown that both working cylinders 55, 56 are operated by means of e.g. pneumatic hand switch, which is placed within easy reach in the area of the receiving device 18, can be operated remotely, namely together.
The working cylinder 23 of the load weight compensation device 22 consists of a pneumatic working cylinder. It can be operated remotely by means of a sequential circuit upon actuation of preferably pneumatic hand switches which are provided for actuating the receiving device 18. When the receiving device 18 for gripping an object 11 is switched on, the working cylinder 23 is decelerated via the sequential circuit and is only switched to weight compensation when the receiving device 18 has gripped the object 11 and has also gripped it sufficiently, for which purpose a sufficient counterpressure in the region of e.g. pneumatically operating recording device 18 is a signal. Conversely, when the receiving device 18 is switched on to release a gripped object 11, the working cylinder 23 is first vented and before the object 11 is released, and only then is the receiving device 18 switched to release. This prevents the receiving device 18 from releasing the object 11 before the working cylinder 23 is relieved, which is thus still switched to weight compensation and would cause the parallelogram boom 12 to be thrown up suddenly.
The receiving device 18 has a rod 57 which is held in the sleeve 21 and is coaxial therewith and which can be accommodated with one end in the sleeve 21 in an oscillating manner. The sleeve 21 has an axial distance from the free end of the rod 57, a rubber bearing 58 which surrounds the rod 57 and at least within limits limits pivoting deflections of the rod 57 transversely to the rod axis. This is formed in a simple manner from a plurality of radial rubber buffers 59 which are preferably arranged at the same circumferential angular distances from one another in the sleeve 21 and which bear radially on the rod 57 and are compressible at least within limits. It is indicated only schematically by an arrow 60 that the rod 57 can also be rotatably mounted in the sleeve 21 about the rod axis. In the embodiment shown, this rotary bearing is not provided in the area of the sleeve 21. Instead, the rod 57 is divided, a pivot bearing 61 being arranged between the two coaxial rod sections, by means of which the rod sections can be rotated relative to one another about the rod axis in the direction of arrow 62.
The receiving device 18 has at the free end of the rod 57 a gripping device 63 with two opposing and preferably adjustable clamping jaws 64, 65. The gripping device 63 is equipped with a vibrator 66, indicated only schematically, which can be switched on or off optionally by means of a hand switch (not shown). Are by means of the handling device 10 as objects 11 e.g. lifting, moving and lowering heavy stones, e.g. placed on a mortar layer during bricking, the vibrator 66 can be turned on and compacted by switching on. One clamping jaw 64 of the gripping device 63 is arranged in a fixed manner, but is adjustable for adaptation to objects 11 of different widths to be clamped. The other clamping jaw 65 runs approximately parallel to the fixed clamping jaw 64 and can be clamped by means of a preferably pneumatic working cylinder 67. The clamping jaw 65 is pivotally mounted on the frame of the gripping device 63 in the region of the pivot axis 68 and is provided with an elongated lever 69 on which the working cylinder 67 engages.
A part of the gripping device 63 with the fixed clamping jaw 64 is shown only schematically in FIG. 5. The gripping device 63 has a leveling device or at least parts thereof. The leveling device consists in particular of a light beam or laser beam device. This has a aiming device 70 which works on the principle of rear sight and grain and has, for example, a beam diaphragm 71 and a crosshair disk 72 at a distance therefrom along the fixed clamping jaw 64. When handling the gripping device 63 is to be aligned in such a way that the leveling beam passing through the beam diaphragm 71 passes through the thread circular disk 72 in the center, as a result of which it can be seen that the gripping device 63 and thus the object 11 contained therein with the relevant longitudinal edge running parallel to the fixed clamping jaw 64 exactly on that Level of the light beam is aligned.
In an embodiment not shown, the gripping device 63 has a pivot bearing, by means of which the gripping device 63 can be rotated relative to the rod 57 about its longitudinal axis. This pivot bearing can preferably be capable of being locked, whereby this can preferably be done by hand and by the operator acting on the gripping device 63.
Handles on the gripping device 63 which strive on both sides and which the operator can grip are not shown further. All switches required for the control are expediently within the operator's access area, e.g. on the gripping device 63 and in particular on the protruding handles. This applies e.g. for the pneumatic switch or switches, by means of which the closing and opening movement of the movable clamping jaw 65 - and coupled to it via a follow-up circuit - the actuation of the working cylinder 23 of the load weight compensation device 22 - can be controlled. The e.g. pneumatic
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Switches for actuating the two working cylinders 55, 56 for releasing the respective braking device are located in the same access area for the operator, as is a switch for switching the vibrator 66 on and off. It is also not shown that the gripping device 63 is in the receiving area between the two clamping jaws 64, 65, e.g. on the fixed jaw 64, a sensor, e.g. has a limit switch, via which it is ensured in terms of circuit technology that when the pneumatic switch is actuated in the sense of a closing movement of the gripping device 63 with the working cylinder 23 then activated according to the sequential circuit, such a closing actuation of the movable clamping jaw 65 and activation of the working cylinder 23 is omitted for safety reasons if none Item 1 "I is located between the jaws 64,65 for tightening.
The operation of the handling device 10 is as follows. It is assumed that pivoting actuation around the pivot axes 41, 44 is not desired and that both braking devices with brake levers 49 and 50 and buffers 53 and 54 are in the braking position shown in FIG. 1. Then a lifting / lowering movement and transverse movement can be carried out by moving the receiving device 18 up and down with the aid of the parallelogram arm 12 and pivoting movement about the joint axes 15, 16 and 19, 20. If the handling device 10 e.g. used on a construction site where large and heavy stones are to be handled as objects, in particular to be lifted and moved, the two clamping jaws 64, 65 are first adjusted to the mass of these objects 11 with regard to the span. The handling device 10 can e.g. be erected on a platform that can be raised and lowered vertically, which can also be moved by means of a chassis underneath and on which e.g. the objects 11 are piled up as a supply. Then should an object 11 of this type be removed by the operator, e.g. the mason, the gripping device 63 is moved by hand to the supply, the rod 57 always remaining in the vertical direction in the exemplary embodiment shown. If the gripping device 63 is located over the object 11 to be gripped, the operator e.g. Pneumatic switches for activating the working cylinder 67 of the movable clamping jaw 65 and thus for closing the gripping device 63 are switched on. The movable jaw 65 is closed, whereby the object 11 is firmly and non-slip between the two jaws 64, 65 clamped. A longitudinal edge of the object 11 runs approximately parallel to the fixed clamping jaw 64. Due to the sequence connection explained, the working cylinder 23 of the load weight balancing device 22 is only switched on after this clamping process, specifically with reference to the receiving device 18 and in particular the object 11 clamped in the gripping device 63 - acted on in the sense of "lifting". The working cylinder 23 is thus acted upon in such a way
that its piston rod 23 is extended out of the housing 30 to the left in FIGS. 1-3. Since the housing 30 is supported in the longitudinal direction via the roller 31 on the support web 32, the extension movement of the piston rod 33 has the result that this extension force acts on the abutment 34 and thus on both coupling members 27 and thus results in a force acting on the support arm 24. which results in a counterclockwise pivoting moment around the hinge axis 15 This force generated by the working cylinder 23 is set and regulated so that the weight of the parallelogram boom 12 and the receiving device 18 together with the tensioned object 11 is compensated so that the operator grips the device 63 practically only has to lead, but does not have to apply any lifting forces. The load-weight compensation device 22 thus ensures that the parallelogram boom 12 with the associated complete receiving device 18, including the tensioned object 11, is relieved of weight at any height that is pivoted up and down. The operator acting on the gripping device 63 thus only needs to guide the gripping device with the object 11 tensioned in the vertical direction in order to lift this object 11 to the desired position and to lower and place it there. If a swiveling movement about the vertical swiveling axes 41, 44 should become necessary, the operator assigns the braking device, e.g. pneumatic, operated switch, whereby the brake levers 49, 50 with their buffers 53 and 54 are lifted from the associated plate 38 and 48 and thus the pivot block is released. If the target position for the object 11 is reached during this manipulation, the brake devices can fall back into the braking position by actuating the switch. The object 11 is e.g. lowered on a set wall, the object 11 being aligned as finely as required within the horizontal plane in both axial directions of a corresponding coordinate system by means of the gripping device 63. The last fine alignment is facilitated by the rubber bearing 58 between the sleeve 21 and the rod 57, since the rubber bearing allows transverse movements of the rod 57 relative to the sleeve 21 and to the non-moving parallelogram boom 12. Rotary actuation around the longitudinal center axis of the rod 57 can also be used with this Manipulation will still be necessary and will be beneficial. In the longitudinal alignment of the object 11, one can use the target device 70, which is activated. In this case, a directional beam which is bundled as closely as possible is emitted from a point and at a distance from the gripping device 63. With the fine alignment of the gripping device 63, an exact leveling with respect to this directional beam is achieved when the directional beam both passes through the beam diaphragm 71 and at a distance of which the Fa cross disk 72 is applied in the center. This is relatively easy for the operator to do
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know, especially when working with a directional beam in the spectral range of visible light, e.g. with a red light beam, laser beam or the like.
If, before releasing the object 11, it is desired to additionally compact the neighboring area by shaking, the operator switches on the shaker 66 for a certain time. This can e.g. mortar located under the object 11 are compacted.
To release the object 11, the operator in the area of the gripping device 63 then actuates the associated switch which is intended to act on the working cylinder 67 and above the movable clamping jaw 65 in the opening direction. However, with the switching circuit described, the working cylinder 67 is not yet acted upon in this sense at this switching pulse, but rather the working cylinder 23 of the load weight balancing device 22 is first relieved of pressure and thus vented. Only then does the working cylinder 67 attract, as a result of which the clamping jaw 65 is pivoted away in the direction of release and the object 11 is thereby released by the gripping device 63. The operator then swivels the handling device 10 to the supply of the items 11 in the manner described and repeats the cycle in the manner described.
The handling device 10 is extremely simple, inexpensive and clear in its mode of operation. It makes it possible with simple means to completely relieve the weight of objects 11 to be gripped and lifted, lowered and moved transversely by means of the gripping device 63, so that the operator merely guides the handling device 10, but does not exert any lifting / lowering forces or even transverse movement forces got to.

Claims (27)

Claims
1. Handling device for gripping and moving objects (11), with a parallelogram boom (12) having two mutually approximately parallel links (13, 14), each having one end articulated on a holder (17) and on the other Are connected at the end to a receiving device (18) for the objects (11), and to a load weight compensation device (22) which is effective between the holder (17) and at least one handlebar (13) and has at least one pressure cylinder operated working cylinder (23), characterized in that the at least one link (13) has at least one support arm (24) which projects transversely at the hinge point (15) and runs approximately parallel to at least one connecting member (25) articulated at a distance therefrom on the holder (17), that the support arm (24) and the connecting member (25) via at least one coupling member (27) articulated at their free end to a linkage movable by the working cylinder (23) and the link ( 13) parallelogram and that the working cylinder (23)
is supported on the one hand on the holder (17, 32) and on the other hand on a part (34, 27) of the parallelogram.
2. Handling device according to claim 1, characterized in that the support arm (24) in the hinge point (15) is aligned at 90 ° to the handlebar (13).
3. Handling device according to claim 1 or 2, characterized in that the working cylinder (23) with the end of its housing (30) on the holder (17, 32) and with the free end of its piston rod (33) on a part (34, 27 ) of the parallelogram, and preferably that the working cylinder (23) is coupled to the at least one coupling member (27) such that the working cylinder (23) is carried along with the transverse movement of the coupling member (27) during the movement of the parallelogram, on the other hand is axially supported during the longitudinal movement of the coupling member (27) and the coupling member (27) is longitudinally movable relative to the working cylinder (23).
4. Handling device according to one of claims 1-3, characterized in that the working cylinder (23) at the end, in particular at the end of its housing (30) which is supported on the holder (17), at least one freely rotatable roller (31) over which the working cylinder (23) is supported in its axial direction on a support web (32) of the holder (17) which is approximately at right angles with respect to the longitudinal course of the coupling member (27) and is guided in a rolling manner along this (32) during the transverse movement , and preferably that the working cylinder (23) with the end, in particular the free end of its piston rod (33), which is supported on a part of the parallelogram, on the connecting member (25) or preferably on an abutment (34) of the coupling member (27 ), which is transverse to this (27) and to the longitudinal central axis of the working cylinder (23), is supported.
5. Handling device according to one of claims 1-4, characterized in that the working cylinder (23) with its longitudinal central axis, seen in the direction of the transverse movement of the coupling member (27), runs and is held without transverse spacing from the coupling member (27).
6. Handling device according to one of claims 1-5, characterized in that the coupling member (27) is double-armed and the working cylinder (23) is received between the two coupling members (27), runs approximately parallel to these and with its longitudinal central axis within the two coupling members (27) spanned plane, and preferably that the working cylinder (23) on the at least one coupling member (27) is held translationally displaceable relative to this.
7. Handling device according to one of claims 1-6, characterized in that the at least one coupling member (27) has a longitudinal guide (35) and the working cylinder (23) along the longitudinal guide (35) guided relative to it guide members (36), which preferably are formed from roles.
8. Handling device according to claim 7, characterized in that the working cylinder (23) on each longitudinal side of its housing (30), which faces a coupling member (27), two rollers mounted in the longitudinal direction at a distance from each other
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Has guide members (36), which are each guided on the longitudinal guide (35) assigned to this side during the relative displacement between the coupling member (27) and the working cylinder (23), the guide members (36) and the longitudinal guide (35) preferably being transverse to their longitudinal course are in engagement with one another in both directions of the transverse movement, and preferably that the longitudinal guide (35) is formed from a groove or a longitudinal web,
9. Handling device according to one of claims 4-8, characterized in that the abutment (34) with a double-arm coupling member (27) extends from one coupling member to the other coupling member (27) and the free end of the piston rod (33) approximately in the middle of the abutment (34), and preferably that the free end of the piston rod (33) is articulated on the abutment (34).
10. Handling device according to one of claims 4-9, characterized in that the on the support web (32) of the holder (17) supported and rolling roller (31) on the same axis on the housing (30) of the working cylinder (23) is mounted as the guide rollers (36) forming guide rollers on both sides.
11. Handling device according to one of claims 4-10, characterized in that the support web (32) of the holder (17), seen in the direction of the connecting member (25), at a distance from the articulation point * (15) of the handlebar (13) with support arm (24) is arranged thereon.
12. Handling device according to one of claims 1-11, characterized in that in the case of a double-arm coupling member (27), the support arm (24) is received and mounted in the articulation point (29) between the two coupling members (27).
13. Handling device according to one of claims 1-12, characterized in that the holder (17) has an approximately parallel to the longitudinal center axis of the working cylinder (23) and at least one coupling member (27) double arm (37) which in the region of the hinge point (15) of the handlebar (13) with a support arm (24), for example approximately semicircular plate (38), and preferably that the handlebar (13) with support arm (24) thereon in the region of the articulation point (15) between the two arms (37) of the holder (17) is received and mounted, and preferably that the support web (32) is fastened to the plate (38) and projects from it.
14. Handling device according to one of claims 1-13, characterized in that the holder (17) at a distance from the pivot point (15) of the handlebar (13) with support arm (24) has a further joint (16) in which the second link (14) is mounted, in particular a fork (39) receiving the second link (14) between them, and preferably that the holder (17) in turn about one of the articulated axes (15, 16, 19, 20) of the parallelogram arm (12) an approximately perpendicular pivot axis (41) is pivotally mounted on a boom (42), for which purpose the holder (17) preferably has a bearing fork (43) in which the boom (42) engages.
15. Handling device according to claim 14, characterized in that the boom (42) with the end facing away from the parallelogram boom (12) and the pivot axis (41) of the holder (17) is pivotable on a second pivot axis (44) Carrier (45) is mounted, the second pivot axis (44) running approximately parallel to the first pivot axis (41), and preferably that the carrier (45) as, for example vertically projecting column is formed and preferably has a bearing fork (47) into which the arm (42) engages, preferably a fork part of the bearing fork (47) e.g. has approximately semicircular plate (48).
16. Handling device according to claim 14 or 15, characterized in that between the holder (17.38) and the arm (42) in the region of the first pivot axis (41) and / or between the arm (42) and the carrier (45) A, preferably remotely operable, braking device (49, 51, 53, 55 or 50, 52, 54, 56) is arranged in the region of the second pivot axis (44) for optionally blocking or releasing the pivoting about the pivot axis (41 or 44 ), and preferably that the braking device has a brake lever (49 or 50) which is pivotably mounted on the arm (42) and which, at a distance from its pivot axis, has a transversely projecting plate (38 or 48) on the respectively assigned, approximately semicircular plate has non-positively acting buffer (53 or 54) and is pressed against the plate (38 or 48) by means of a spring (51 or 52) held on the arm (42) with the buffer (53 or 54).
17. Handling device according to claim 16, characterized in that the braking device has a pressure medium-operated working cylinder (55 or 56) which engages on the brake lever (49 or 50) and by means of which the braking device can be brought into the release position, and preferably that both, preferably pneumatic, working cylinders (55, 56) can be operated remotely together by means of a, preferably pneumatic, manual switch,
18. Handling device according to one of claims 1-17, characterized in that the working cylinder (23) of the load weight balancing device (22) is formed from a pneumatic working cylinder and by means of a sequential circuit when actuating, preferably pneumatic, manual switches for the receiving device (18 ) can be operated remotely, and preferably that the working cylinder (23) is delayed when the receiving device (18) is switched on for gripping an object (11) and can only be switched on for weight compensation when the receiving device (18) has gripped the object (11) and is sufficient has firmly established, and preferably that when the receiving device (18) is switched on to release a captured object (11), the working cylinder (23) can be vented first and before being released and only then can the receiving device (18) be switched to releasing.
19. Handling device according to one of claims 15-18, characterized in that the carrier (45) is stationary or mobile, e.g. on a chassis, mast or the like. is held.
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CH 677 784 A5
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20. Handling device according to one of claims 1-19, characterized in that the hinge axes (15, 16, 19, 20) of the parallelogram arm (12) and the hinge axes (26, 28, 29) of the support arm (24), connecting link ( 25), coupling member (27) and holder (17, 37) of the parallelogram formed run approximately parallel to one another and thereby approximately horizontally in space and that the first pivot axis (41) and second pivot axis (44) of the arm (42) run approximately vertically in space .
21. Handling device according to one of claims 1-20, characterized in that the receiving device (18) has a sleeve (21) articulated on the end of both links (13, 14) on the parallelogram arm (12) with a rod (57) held therein and coaxial therewith. which is preferably received with its end oscillating in the sleeve (21), and preferably that the sleeve (21) at an axial distance from the free rod end encloses the rod (57), at least to a limited extent swiveling deflections of the rod (57) transversely to Rod axis has elastically permeable rubber bearing (58), and preferably that the rubber bearing (58) has a plurality of approximately radially directed rubber buffers (59) which are arranged at preferably the same circumferential angular distances from one another and bear radially on the rod (57).
22. Handling device according to claim 21, characterized in that the rod (57) in the sleeve (21) is rotatably mounted about the rod axis (arrow 60) or that the rod (57) is divided and a pivot bearing (61 ) is arranged, by means of which the rod sections are rotatable relative to each other (arrow 62).
23. Handling device according to one of claims 1-22, characterized in that the receiving device (18) has a gripping device (63) with two opposing, preferably adjustable, clamping jaws (64, 65), the gripping device (63) preferably is arranged at the free end of the rod (57).
24. Handling device according to claim 23, characterized in that the gripping device (63) has a shaker (66) which can be switched on or off by means of a hand switch.
25. Handling device according to claim 23 or 24, characterized in that a clamping jaw (64) of the gripping device (63) is fixed and the other, approximately parallel clamping bar (65) is movable and by means of a, preferably pneumatic, working cylinder (67 ) can be actuated.
26. Handling device according to one of claims 23-25, characterized in that the gripping device (63) has a leveling device or at least parts (71, 72) thereof, and preferably that the leveling device is formed from a light beam or laser beam device and / or that the gripping device (63) is a target device (70), for example operating on the principle of rear sight and grain a beam diaphragm (71) and at a distance from it a reticle (72), both being held on the fixed jaw (64) and by one of the
Leveling beam can be acted upon.
27. Handling device according to one of claims 21-26, characterized in that the gripping device (63) has a preferably lockable pivot bearing, by means of which the gripping device (63) can be rotated relative to the rod (57) about its longitudinal axis.
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CH84489A 1988-03-11 1989-03-07 CH677784A5 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19883808121 DE3808121C2 (en) 1988-03-11 1988-03-11 Handling device for gripping and moving objects
DE8803290U DE8803290U1 (en) 1988-03-11 1988-03-11

Publications (1)

Publication Number Publication Date
CH677784A5 true CH677784A5 (en) 1991-06-28

Family

ID=25865834

Family Applications (1)

Application Number Title Priority Date Filing Date
CH84489A CH677784A5 (en) 1988-03-11 1989-03-07

Country Status (4)

Country Link
AT (1) AT397075B (en)
CH (1) CH677784A5 (en)
DE (2) DE8803290U1 (en)
FR (1) FR2628405B3 (en)

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DE3836277C2 (en) * 1988-10-25 1992-10-08 Heinrich Schlick Gmbh & Co Kg, 4402 Greven, De
FR2648378B1 (en) * 1989-06-19 1994-12-09 Rafer Jean Claude DEVICE FOR PRESENTING TOOLS ON MACHINE TOOL SPINDLES
JPH0424584U (en) * 1990-06-25 1992-02-27
IT1243604B (en) * 1990-10-11 1994-06-16 Meccanica Zonzini Di Zonzini A Means for extending the arm of a scaffolding for lifting loads
EP0667214B1 (en) * 1993-09-01 1998-03-18 Kabushiki Kaisha Yaskawa Denki Articulated robot
DE4244290C2 (en) * 1992-12-28 1997-04-10 Peter Schuele Lifting and transfer aid with weight compensation
IT1272085B (en) * 1993-12-17 1997-06-11 Comau Spa INDUSTRIAL ROBOT
IT1272083B (en) * 1993-12-17 1997-06-11 Comau Spa INDUSTRIAL ROBOT WITH INTEGRATED REDUCTION UNITS.
DE4436715A1 (en) * 1994-10-14 1996-04-18 Agr Gmbh Lift-turn device for receiving a motor vehicle
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE29604729U1 (en) * 1996-03-14 1996-06-13 Zasche Foerdertechnik Gmbh Balancing lifter
US6073496A (en) * 1996-03-14 2000-06-13 Mannesmann Ag Load hoisting apparatus
DE19945189B4 (en) * 1999-09-21 2009-04-09 EFS Gesellschaft für Hebe- und Handhabungstechnik mbH hoist
DE10315939B3 (en) * 2003-04-08 2004-08-19 Philipp Waldinger Tree hinge for determining falling direction of felled tree has target device associated with upper plate of tree hinge extending at right angles to notched trunk
ES2364359B1 (en) * 2008-12-05 2012-09-14 Consejo Superior De Investigaciones Científicas (Csic) LOAD HANDLING ARM WITH REDUCED ACTION COUPLES.
CN106113017A (en) * 2016-08-23 2016-11-16 苏州海骏自动化机械有限公司 A kind of mechanical arm
CN107265106B (en) * 2017-05-24 2019-03-08 陕西科技大学 Angle connecting rod folded feeding device is determined based on partial gear
DE102019002424A1 (en) * 2019-04-03 2020-10-08 Günther Zimmer Transfer device of a transport system
CN112196290A (en) * 2020-11-06 2021-01-08 无为县华标新型墙体材料有限公司 Moving device for hoisting lime-sand bricks

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Also Published As

Publication number Publication date
DE8803290U1 (en) 1988-04-28
FR2628405A1 (en) 1989-09-15
DE3808121C2 (en) 1994-10-20
DE3808121A1 (en) 1989-09-21
FR2628405B3 (en) 1990-06-22
ATA50489A (en) 1993-06-15
AT397075B (en) 1994-01-25

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