CS246575B1 - Clamping and ca rying device of lifting mechanism - Google Patents

Clamping and ca rying device of lifting mechanism Download PDF

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Publication number
CS246575B1
CS246575B1 CS83691A CS69183A CS246575B1 CS 246575 B1 CS246575 B1 CS 246575B1 CS 83691 A CS83691 A CS 83691A CS 69183 A CS69183 A CS 69183A CS 246575 B1 CS246575 B1 CS 246575B1
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CS
Czechoslovakia
Prior art keywords
load
lifting mechanism
gripper
displacement
force
Prior art date
Application number
CS83691A
Other languages
Czech (cs)
Other versions
CS69183A1 (en
Inventor
Ulrich Ellger
Hartmut Schirrmann
Joachim Dirksen
Original Assignee
Ulrich Ellger
Hartmut Schirrmann
Joachim Dirksen
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Application filed by Ulrich Ellger, Hartmut Schirrmann, Joachim Dirksen filed Critical Ulrich Ellger
Publication of CS69183A1 publication Critical patent/CS69183A1/en
Publication of CS246575B1 publication Critical patent/CS246575B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
    • B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Securing Of Glass Panes Or The Like (AREA)
  • Manipulator (AREA)

Description

-1 HA3BAHHE Η30ΒΡΕΤΕΗΗΛ rpyaoHecymee h rpyaosaxBaTHoe npHcnocoSjíeHHe OSjíaCTb ΠρΗΜβΗβΗΗΗ Η3θ6ρβΤβΗΗΗ Η3θ6ρβτ.βΗΗβ othochtcm κ rpy3OHecymeMy κ rpyaoaaxBaTHOMy πρΗβποοοβηβΗΗΐοb coueTaHHH c ποβϊ,θΜΗΗΜ MexaHH3MOM h Kacaerca, b mbcthocth, saxBaTa h nepeHoca Sohiuhxch cnpeccoBKH rpy3OB.-1 HA3BAHHE Η30ΒΡΕΤΕΗΗΛ rpyaoHecymee h rpyaosaxBaTHoe npHcnocoSjíeHHe OSjíaCTb ΠρΗΜβΗβΗΗΗ Η3θ6ρβΤβΗΗΗ Η3θ6ρβτ.βΗΗβ othochtcm rpy3OHecymeMy κ κ rpyaoaaxBaTHOMy πρΗβποοοβηβΗΗΐοb coueTaHHH ποβϊ c, h θΜΗΗΜ MexaHH3MOM Kacaerca b mbcthocth, Saxby h nepeHoca Sohiuhxch cnpeccoBKH rpy3OB.

XapaKTepucTHKa HSBecTHMx TexHHnecKHx pememiň B DE-PS 942 349 onncwsaeTCH ποβΒβπιβΗΗωή κ noflbeMHOMy MexaHH3My τρβήφερ,aaxeaTbi κοτοροΓο aaxBáTbiBaioT rpys nocpeflcTBOM rnflpaBjíHMecKoro npecca. Mes- , fly noflteMHMM MexaHHSMOM h rpeňfcepoM HMeeTCH rHflpaBjranecKaH napa, CBH3an-XapaKTepucTHKa HSBecTHMx TexHHnecKHx pumice B DE-PS 942 349 onncwsaeTCH ποβΒβπιβΗΗωή κ noflbeMHOMy MexaHH3My τρβήφερ, aaxeaTbi κοτοροΓο aaxBáTbiBaioT rpys nocpeflcTBOM rnflpaBjíHMecKoro npecca. Mes-, fly noflteMHMM MexaHHSMOM h rpeňfcepoM HMeeTCH rHflpaBjranecKaH napa, CBH3an-

Haa c npeccoM τηκημ oOpasoM, hto HaxoflHmancH no,q flaBJíeHHeM ot coScTBeHHoroBeca ycTpoňCTBa a Beca rpysa b οηπηηαρθ xHflxocTb hphboaht saxBaTU b flBHxe-Hne uepes rHflpaBJíHqecKHň npecc.Haa c n c e m e c a t c o t c a t b b t y b t c t at least b c aa b r a p b c a b b a x e x c t t b h b b a t u b b b x e x Hne uepes rHflpa b b i H c a c H n n c c a n c a n c a c t

HeflocTaTKOM ΗΒΠΗβτοΗ το, ητο φβκτΗΗβοκκβ ycHJiHH npHxaTHH h cpenjieHHH c rpý30M He noflflawTCH KOHTpojno h κ TOMy xe flonojiHHTejibHO noBhiniiaeTCH hshoc h He-HaflexnocTb rpeňýepa b peaýnbTaTe ΠρΗΜβΗβΗΗΗ rHflpaBjnmecKHX ycrpoňcTB pflaynpaBJíeHHH ycHjiHHMH κ rpyay.HeflocTaTKOM ΗΒΠΗβτοΗ το, ητο φβκτΗΗβοκκβ ycHJiHH npHxaTHH c h cpenjieHHH rpý30M He noflflawTCH KOHTpojno h κ Tomy xe flonojiHHTejibHO noBhiniiaeTCH hshoc h of He-HaflexnocTb rpeňýepa b peaýnbTaTe ΠρΗΜβΗβΗΗΗ rHflpaBjnmecKHX ycrpoňcTB pflaynpaBJíeHHH ycHjiHHMH κ rpyay.

Uejib Η3θ6ρετεΗΗΗUejib Η3θ6ρετεΗΗΗ

Uenbio HacToamero ΗβοβρβτβΗΗΗ ABnaeTcn o6ecnenHTb 3axBaTbiBaHne rpy3OB yHH-BepcajibHMM rpysosáxBaTHbíM h rpyaoHécynpiM npHcnocoóneHHeM b 33bhchmocth otHX COČCTBeHHOň Maccbl H HX BHyTpeHHeit yCTOňwHBOCTH.Uenbio HacToamero naβοβρβτβΗΗΗ ABnaeTcn o6ecnenHTb 3axBaTbiBaHne rpy3OB yHH-BepcajibHMM rpysosáxBaTHbM h rpyaoHécynpiM npHcnocooneHHeM b 33bhchmocth otHX COCCTBeHHO Maccbl H HX BHyTpeHHeit yCTOnwHBOCTH.

•H3JioxeHne cyinHocTH H3o6peTeHHH 246575 -2- 3aflaneň H3o6peTeHHH ηβπηθτοη co3flaHne rpy3O3axBaTHoro h rpy3OHecymero npn~cnocoGneHHH, y κοτορογο fleňcTByromee Ha rpya ycHJine πρκκβτΗΗ mex 3axeaTaMOJKeT aBTOMHTHHECKH ynpaBJIHTbCH B 33BHCHM0CTH OT HX npeflejia npOHHOCTH npHCJK3THH. B cooTBeTCTBHH c H3o6peTeHneM Meatfly noflteMHbíM MexaHH3MOM h rpy3O3axBaTHHMh rpy3OHecyinHM npncnocoOjieHHeM pacnonosceH oahh flHHaMOMeTp ajih onpefleneHHHcoficTBeHHoň Maccbi rpyaa, flpyroň αηηημομθτρ απη onpefleneHHH HenocpeflCTBeHHOB03fleňcTByiomero Ha rpy3 ycmiHH npnxaTHH η oflOMeTp Ha rpy3O3axBaTHOM opraHenex απη onpefleneHHH BepTHxanbHoro npocxanb3biBaHHH pacnonoacenbi Meatfly rpy-3OM H rpy303aXBaTHbIM OpraHOM, KOTOpbie CBH33HbI C H3BeČTHbIMH 3JieMeHT3MH flJIHynpaBJíeHHH ycHJiHeM npHacaTHH.• H3JioxeHne cyinHocTH H3o6peTeHHH 246,575 -2- 3aflaneň H3o6peTeHHH ηβπηθτοη co3flaHne rpy3O3axBaTHoro h rpy3OHecymero npn cnocoGneHHH ~ y κοτορογο fleňcTByromee Ha rpya ycHJine πρκκβτΗΗ mex 3axeaTaMOJKeT aBTOMHTHHECKH ynpaBJIHTbCH B 33BHCHM0CTH OT HX npeflejia npOHHOCTH npHCJK3THH. B cooTBeTCTBHH c H3o6peTeHneM Meatfly noflteMHbíM MexaHH3MOM h rpy3O3axBaTHHMh rpy3OHecyinHM npncnocoOjieHHeM pacnonosceH oahh flHHaMOMeTp ajih onpefleneHHHcoficTBeHHoň Maccbi rpyaa, flpyroň αηηημομθτρ απη onpefleneHHH HenocpeflCTBeHHOB03fleňcTByiomero Ha rpy3 ycmiHH npnxaTHH η oflOMeTp Ha rpy3O3axBaTHOM opraHenex απη onpefleneHHH BepTHxanbHoro npocxanb3biBaHHH pacnonoacenbi Meatfly RPY-3OM H rpy303aXBaTHbIM OpraHOM, KOTOpbie CBH33HbI C H3BeČTHbIMH 3MeHT3MH1H1HynpaB1HHH6cHJ1HeM npHacaTHH.

OflOMeTp coctoht H3 pacnoJioSceHHoro na rpy3O3aXBaTHOM opraHe mex BepTHxajib-Horo najibfla, CBH3aHHoro c BepTHxajibHoň BTynxoň nepea φρΗχιχκοΗΗοε cflenneHHeTax, hto b cjiynae npeBbirneHHH rpy3OM chjim TpeHHH noflaeTCH CHrHan o BepTH·*xajibHOM flBHHceHHH najibfla xax o BenHHHHe nepeMemeHHH.OflOMeTp coctoht H3 pacnoJioSceHHoro rpy3O3aXBaTHOM on Oprah mex BepTHxajib-Horo najibfla, CBH3aHHoro c BepTHxajibHoň BTynxoň NEP φρΗχιχκοΗΗοε cflenneHHeTax, hto b cjiynae npeBbirneHHH rpy3OM chjim TpeHHH noflaeTCH CHrHan of BepTH · * xajibHOM flBHHceHHH najibfla xax of BenHHHHe nepeMemeHHH.

Bjiaroflapn Η3θ6ρβτεΗΗκ> onpeflejineTCH HeoBxoflHMoe ajih jiwBoro rpyaa ycHJiHenpHMaTHH c yneTOM TpeSoBaHHH τθχηηχη 6e3onac«ocTH. IIpHMep ocymecTBJíeHHH Η3θ6ρβτβΗΗΗ H3o6peTeHHe ποηοηηθτοη 6onee ποαρο6ηο Ha npHMepe ocymecTBJíeHHH. Ha πραπο-aceHHbix nepTeacax noxa3aHo:Bjiaroflapn Η3θ6ρβτεΗΗκ> onpeflejineTCH HeoBxoflHMoe ajih jiwBoro rpyaa ycHJiHenpHMaTHH c yneTOM TpeSoBaHHH τθχηηχη 6e3onac «ocTH. IIpHMep ocymecTBJíeHHH θ3θ6ρβτβΗΗΗ H3o6peTeHHe ποηοηηθηοη 6onee ποαρο6ηο Ha npHMepe ocymecTBJíeHHH. Ha πραπο-aceHHbix nepTeacax noxa3aHo:

Φηγ.1: bhh rpy303axBaTHoro h rpy3OHecymero npHcnocoójieHHH Φηγ.2: pa3pe3 no oflOMeTpy.1ηγ.1: bhh rpy303axBaTHoro h rpy3OHecymero npHcnocoójieHHH Φηγ.2: pa3pe3 no oflOMeTpy

CornacHo Φηγ.1 Memfly ποαϊθμημμ MexaHH3MOM 1 h rpy3O3axBaTHbiM H rpyBoHecy-njeM npncnoco6,neHneM 2 pacnojiomeH flHHaMOMeTp, Hanp. αηηημομθτρ 3, xoTopbiňonpeflenHeT Maccy noflHHMaeMoro rpy3a 4. IÍ3MepHeMaH BenHHHHa noflaeTCH qepeaH3MepHTejibHbiň ycHJiHTenb 5 x ynpaBJíHKHneMy ycTpoňcTBy 6, HanpHMep, x mhxpo-KOMHbioTepy h x HcnojiHHTejibHOMy ycTpoňcTBy 7, HanpHMep,x rHflpaBnHnecxoMycepBoxnanaHy ajih ynpaBJíeHHH rHflpaBJíHnecxHM flaBjíeHHeM Ha rHflpoflHJiHHflpH 8rpy3O3axBaTHoro h rpy3OHecymero npHcnocoójieHHH 2. flonojiHHTeJibHbm flHHaMO-MeTp, HanpHMep, τηγομθρ 9 pacnonoaceH b 3OHe rHflpoflHJiHHflpa 8. BeJiHHHHa,H3MepHeMan 3thm flHHaMOMeTpoM 9 noflaeTCH nepea H3MepMTejibHbift yCHJiHTenb 5Taxate x ynpaBjíHwmeMy ycTpoňcTBy 6,CornacHo Φηγ.1 Memfly ποαϊθμημμ MexaHH3MOM 1 h rpy3O3axBaTHbiM H rpyBoHecy-n is npncnoco6, neHneM 2 pacnojiomeH flHHaMOMeTp, Hanp. αηηημομθτρ 3 xoTopbiňonpeflenHeT MACC noflHHMaeMoro rpy3a fourth IÍ3MepHeMaH BenHHHHa noflaeTCH qepeaH3MepHTejibHbiň ycHJiHTenb 5 x ynpaBJíHKHneMy ycTpoňcTBy 6 HanpHMep x-mhxpo KOMHbioTepy hx HcnojiHHTejibHOMy ycTpoňcTBy 7 HanpHMep x rHflpaBnHnecxoMycepBoxnanaHy ajih ynpaBJíeHHH rHflpaBJíHnecxHM flaBjíeHHeM Ha rHflpoflHJiHHflpH 8rpy3O3axBaTHoro h rpy3OHecymero npHcnocoójieHHH second flonojiHHTeJibHbm flHHaMO- MeTp, HanpHMep, 9 pacnonoaceH b 3OHe rHflpoflHJiHHflpa 8. BeJiHHHHa, H3MepHeMan 3thm flHHaMOMeTpoM 9 noflaeTCH nepea H3MepMTejibHbift yCHJiHTenb 5Taxate x ynp

CornacHo Φηγ.1 h 2 Ha mexax 3axBaTa 10 rpy3OHecymero h rpy3O3axBaTHoronpHcnoco6neHHH 2 b 30He rpy3O3axBaTHoro opraHa 11 pacnonoateH OflOMeTp. Fpy-303axBaTHbiň opraH 11 CBH3aH c rpy3OM 4 nepe3 Φρηχαηοηηοθ ciieiuieHHe h HMeeJrBepTHxajihHbiň najiefl 12, xoTopbiň bxoaht b noflBHacHoe 3afleiuieHHe h cooTBeTCT—Byiomeň BTyjixoň 13 η MoaceT CMemaTbCH b oceeoM HanpaBJíeHHH. B peayjibTaTe βτογο rpy3O3axBaTHbiň oprán 11 HBJíneTCH orpaHHneHO ποβοροτημμh MoaceT conpnraTbCH c φορΜοή rpy3a 4. Ilajien 12 h BTyjixa 13 cBH3aHM Meatflyco6oň Taxace Φρηχαηοηημμ cneruieHHeM. Πρη stom χο3φφΗΐΐΗβΗτ TpeHHH flonaceH6brrb MeHbnie, neM Bce βο3μο»ημθ χο3φφΗΐριεΗτω TpeHHH, χοτορΜβ MoryT bo3hhk-íHyTb HenocpeflCTBeHHO Meamy rpy303axBaTHbiM opraHOM 11 h rpyaoM 4. Πρκ He-Αοοτητοηηομ ycHjiHH npHacaTHH mex 3axBaTa 10 x rpy3y 4 npH noftteMe rpyaa 4 246575 -3-CornacHo Φηγ.1 h 2 Ha mexax 3axBaTa 10 rpy3OHecymero h rpy3O3axBaTHoronpHcnoco6neHHH 2b 30He rpy3O3axBaTHoro opraHa 11 pacnonoateH OflOMeTp. Fpy-303axBaTHBiRhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhh. B peayjibTaTe rpy3O3axBaTHbiň rests 11 HBJiNTCH orpaHHneHePoM MoTeC conpnraTbCH c ri3a4 rp3a 4. Ilajien 12 h BTyjixa 13 cBH3aHM Meatflyco6oň Taxace Φρηχαηοηημμ cneruieHHeM. Πρη one hundred meters χο3φφΗΐΐΗβΗτ TpeHHH flonaceH6brrb MeHbnie, NEM BCE βο3μο »ημθ χο3φφΗΐριεΗτω TpeHHH, χοτορΜβ Ballad bo3hhk-íHyTb HenocpeflCTBeHHO meam rpy303axBaTHbiM opraHOM 11 h rpyaoM fourth Πρκ Ile-MEX Αοοτητοηηομ ycHjiHH npHacaTHH 3axBaTa 10 x 4 rpy3y NPH noftteMe rpyaa 4 246 575 3-

Mexay nanbueM 12 h BTynxoň 13 BoaHHxaeT BepTHxajibHOe npocxajibabiBaHHe,reHepnpyrcinee b MHxpoBbixjiioHaTejie 14 cHrHajj, KOTopwfl nepe^aeTca κ ynpaBJíaio-meMy ycTpoftcTBy 6 hjih k HcnonHHTejibHOMy ycTpoňcTBy 7 ftna HenpepuBHoro no-BbnneHHH ycmiHH npHxaTHH. Mepes npyxHHy 15 najieu 12 npH paarpyaxe eosepa-maeTca οβρβτΗο' B cepe HcxoflHoe nojioxceHHe. ΠρΜΗΐριπ fleňCTBHa: Πρκ noflbeMe rpysa 4. nepea cnrHaji OflOMeTpa, o6pa0aTbiBaeMbift b ynpaBJíaioqeMycTpoňCTBe η ηοποαηητθπβηομ oprané 6,7', aBTOMannecxH noBbnnaeTca AaBJíeHHenpiocaTHfl mex 3axeaTa 10 κ rpyay 4 nocpencTBOM γηαροηηπηηαροβ 8 no τβχ nopřnoxa BepTHxaJibHoe npocxajibSbiBaHHe He 6yffeT paBHHTbca Hyjno H-ne SypeT ro-CTHmýTo HeoBxoflHMoe φρΗκιριοΗΗοβ cyermeHne Mexny ntexaMH saxsaTa 10 h rpy-3OM 4. 3βτβΜ uepea ΗΗΗβκοΜβτρ 3 Macca rpyea nepenaeTca xax nsMepneMaa BejiHUHHab ynpaBJíaiomee ycTpoňcTBO 6 απη cpaBHeHMB saflaeaeMbtx 3HaqeHnň c φβχτΗΊβοχΚ-mh h onpeflejiaeTca HeoSxoflHMoe c tohxh apeHna τθχηηκβ 6e3onacHocrn ycmnienpHxaTHfl. 3τβ BejiHHHHa noflaeTCH b βηαθ 3HaqenHH flaBJíeHHH x HcnonHHTejihHOMyycTpoftcTBy 7 απη cpaSaTbiBaHHH noflanH flaBJíeHHH Ha rHflpouHJiHHflpbi 8.flononHHTenbHbiň ΑΗΗΗΜΟΜβτρ 9 y rHAPouHJiHHflpa 8 reHepnpyeT HsMepaeMyio BeJiH-HHHy, nepepaĎaTHBaeMyw b ynpaBJíHWmeM ycTpoňCTBe 6 b xanecTBe χοητροββηοΑH3MepaeMoft BejiHMHHM fljia προΒβρκΗ φβχτΗΜβοχκ BoafleftcTBywmero Ha rpya 4 ycH-JIHH npHXaTHfl. ΟηοΜβτρ η ΑΗΗβΜΟΜβτρ 9 ποποπΗΜΤβΠΒΗΟ o6ecnteHHBaioT προτηβ oaeapHiíHyio aanpiTýbo BpeMH Bcero, norpyaoHHO-pasrpyaoHHoro npouecca H3-3a HexoHTponHpyeMoroycxopeHHH rpyaa hjih προτηβ HeflOnycTHMoro cxónbxeHHH rpyaa. 246575 -4- ΦΟΡΜΥΒΑ Η30ΕΡΕΤΕΗΗΗ 1. rpy3O3axBaTHoe η rpy3OHecymee npHcnoco6jieHHe b coueTaHHH c ncwbeMHbíMMexaHH3MOM, b qacTHocTH, fljm 3axBara n nepeHOca ĎOHnmxcH cnpeccoexH rpy-3ob, cocTOHinee H3 mex 3axBaTa, nepeflBHraeMwx napajinejibHo nepe3 cucTeMyΤΗΓ C ΠΟΜΟΠφΙΟ rHflpaBJIHUeCKHX UHJIHHflpOB, npHqeM ycmme npwKaTHH mex 3aXBaTaonpefleJlHeTCH b aaBHCHMoc™ ot coScTBeraoro seca rpyaa, OTJiwidiome“eca τβΜ, ίτο flHHaMOMSTp (3) Meatfly noflteMHbíM MexaHH3MOM (1) h rpysoHecýlUHM H rpy3O3aXBaTHblM ΠρΗΟΠΟΟΟδΠβΗΗβΜ (2) flJIH OnpefleJieHHH COSCTBBHHoňMaccbi rpy3a (4) b coueTaHHH c αοποπηητ&πϊ>ημμ ΑΗΗβΜΟΜβτροΜ (9) απη onpefle-neHHst BÓ3fleňcTByromero HenocpeflCTBeHHo Ha rpy3 yctuiHH npHxaTHH η ορ,ΟΜβτρy rpy3O3axBaTHoro oprana (11) mex aaxBaTa (10) ajih onpeneneHHH BepTHxaJib-ηογο npocxanb3biBaHHH Meatfly rpysoM (4) h mexaMH 3axBaTa (10) CBH3aHbi c H3-BeCTHblMH 3JieM6HTaMH flJIH ynpaBJíeHHH yCHJIH6M npHXaTHH, ΠρΗΗβΜ ΟΟΟΜβΤρ coc-toht H3 pacnonoweHHoro y rpy3O3axBaTHoro opraHa (11) mex 3axBaTa (10) eep-THxajibHoro najibna (12), CBHsaHHoro c BepTHxaJibHoň BTyjixoň (13) tiepee φρκκ-Ηηοηηοθ cuenjieHHe Tax, hto b cjiynae npeBbnneHHH rpy3OM (4) chjih tpshhh ne-peMemeHHe najibija (12) bo BTynxe (13) CHrHaJiH3HpyeTCH uepe3 MHxpoBbiKJiioHa-Tejib (14). 246575 5-Mexa nanbueM 12h BTynxoň 13 BoaHHxaeT BepTHxajibHOe npocxajibabiBaHHe, reHepnpyrcinee b MHxpoBbixjiioHaTejie 14 cHrHajj, KOTopwfl NEP AETC ^ κ-memes ynpaBJíaio ycTpoftcTBy hjih 6 to 7 HcnonHHTejibHOMy ycTpoňcTBy ftna HenpepuBHoro no-BbnneHHH ycmiHH npHxaTHH. Mepes npyxHHy 15 najieu 12 npH paarpyaxe eosepa-maeTca οβρβτΗο B cepe HcxoflHoe nojioxceHHe. ΠρΜΗΐριπ fleňCTBHa: Πρκ noflbeMe rpysa fourth NEP cnrHaji OflOMeTpa, o6pa0aTbiBaeMbift b ynpaBJíaioqeMycTpoňCTBe η ηοποαηητθπβηομ faded 6,7 'aBTOMannecxH noBbnnaeTca AaBJíeHHenpiocaTHfl mex 3axeaTa 10 κ rpyay 4 nocpencTBOM γηαροηηπηηαροβ 8 amino τβχ nopřnoxa BepTHxaJibHoe npocxajibSbiBaHHe He 6yffeT paBHHTbca Hyjno H not SypeT ro- CTHmýTo HeoBxoflHMoe φρΗκιριοΗΗοβ cyermeHne Mexny ntexaMH SAXS 10h-RPY 3OM fourth 3βτβΜ uepea ΗΗΗβκοΜβτρ 3 Macca rpyea nepenaeTca XAX nsMepneMaa BejiHUHHab ynpaBJíaiomee ycTpoňcTBO 6 απη cpaBHeHMB saflaeaeMbtx 3HaqeHnň c φβχτΗΊβοχΚ-MH HeoSxoflHMoe c h onpeflejiaeTca tohxh apeHna τθχηηκβ 6e3onacHocrn ycmnienpHxaTHfl. 3τβ BejiHHHHa noflaeTCH b βηαθ 3HaqenHH flaBJíeHHH x 7 HcnonHHTejihHOMyycTpoftcTBy απη cpaSaTbiBaHHH noflanH flaBJíeHHH Ha rHflpouHJiHHflpbi 8.flononHHTenbHbiň ΑΗΗΗΜΟΜβτρ rHAPouHJiHHflpa 8 y 9 reHepnpyeT HsMepaeMyio BeJiH-HHHy, nepepaĎaTHBaeMyw ynpaBJíHWmeM ycTpoňCTBe b 6 b xanecTBe χοητροββηοΑH3MepaeMoft BejiHMHHM fljia προΒβρκΗ φβχτΗΜβοχκ BoafleftcTBywmero Ha rpya 4-YCH JIHH npHXaTHfl . 9ηοΜβτρ η ΑΗΗβΜΟΜβτρ 9 ποποπΗΜΤβΠΒΗΟ o6ecnteHHBaioT προτηβ oaeapHiíHyio aanpiTybo BpeMH Bcero, norpyaoHHO-pasrpyaoHHoro npouecca H3-3a HexoHTponHpyeMoroycxopeHHH rpyaa hjih προτηβ HeflOnycTHMoro cxonbxeHHH rpyaa. 246575 -4- ΦΟΡΜΥΒΑ Η30ΕΡΕΤΕΗΗΗ first rpy3O3axBaTHoe η rpy3OHecymee npHcnoco6jieHHe b coueTaHHH ncwbeMHbíMMexaHH3MOM c, b qacTHocTH, fljm 3axBara n nepeHOca ĎOHnmxcH cnpeccoexH RPY-3ob, cocTOHinee H3 mex 3axBaTa, nepeflBHraeMwx napajinejibHo nepe3 cucTeMyΤΗΓ C ΠΟΜΟΠφΙΟ rHflpaBJIHUeCKHX UHJIHHflpOB, npHqeM ycmme npwKaTHH mex 3aXBaTaonpefleJlHeTCH b aaBHCHMoc ™ OT coScTBeraoro seca rpyaa, OTJiwidiome "ECA τβΜ, ίτο flHHaMOMSTp (3) Meatfly noflteMHbíM MexaHH3MOM (1) h rpysoHecýlUHM H rpy3O3aXBaTHblM ΠρΗΟΠΟΟΟδΠβΗΗβΜ (2) flJIH OnpefleJieHHH COSCTBBHHoňMaccbi rpy3a (4) b coueTaHHH c αοποπηητ & πϊ> ημμ ΑΗΗβΜΟΜβτροΜ (9) απη onpefle-neHHst BÓ3fleňcTByromero HenocpeflCTBeHHo Ha rpy3 yctuiHH npHxaTHH η ορ, ΟΜβτρy rpy3O3axBaTHoro OPRAN (11) mex aaxBaTa (10) ajih onpeneneHHH BepTHxaJib-ηογο npocxanb3biBaHHH Meatfly rpysoM (4) h mexaMH 3axBaTa (10) CBH3aHbi C H3 BeCTHblMH 3JieM6HTaMH flJIH ynpaBJíeHHH yCHJ IH6M npHXaTHH, ΠρΗΗβΜ ΟΟΟΜβΤρ coc-Toht H3 pacnonoweHHoro y rpy3O3axBaTHoro Oprah (11) mex 3axBaTa (10) of EEP-THxajibHoro najibna (12) CBHsaHHoro c BepTHxaJibHoň BTyjixoň (13) tiepee φρκκ-Ηηοηηοθ cuenjieHHe Tax, HTO b cjiynae npeBbnneHHH rpy3OM (4 ) chjih tpshhh ne-peMemeHHe najibija (12) and BTynxe (13) CHRHaJiH3HpyeTCH uepe3 MHxpoBbiKJi10Ha-Tejib (14). 246575 5-

AHHOTAUHH rpysosaxBaŤHoe η rpyaoHecymee npHcnocoCneHHe H9o6peTetuie othochtch k rpyaoaaxBaTHOMy h rpysoHecyqeMy npHcnocoOneHHio bcoqeTaHHH c nonteMHUM μθχβηη9μομ h xacaeTca, b nacTHocTH, saxeaTa h neper*Hoca CoHIHHXCH CnpeCCOBKH rpySOB.AHHOTAUHH rpysosaxBaŤHoe η rpyaoHecymee npHcnocoCneHHe H9o6peTetuie othochtch to rpyaoaaxBaTHOMy h rpysoHecyqeMy npHcnocoOneHHio bcoqeTaHHH nonteMHUM μθχβηη9μομ c h xacaeTca b nacTHocTH, Saxe neper h * Hoca CoHIHHXCH CnpeCCOBKH rpySOB.

Uejibio HaoCpeTeHHH HBJíaeTcx oSecnentiTb saxeaTbiBaHHe rpyaoB yHHBepcanbHbíMrpyaoHecymtHM h rpyaoaaxeaTHUM npHcnocoSjíeHHeM β 33βηοημο0τη ot hx coOct-BeHHoň Maccbi h hx BHyTpeHHeň ycToňnuBocTH. 3ananeň «BoSpeTemta asnaeTca coaflamte rpyaoHecyqero a rpyaoaaxsaTHoro npn-cnocoGneHHH, y κοτοροΓο seňcTByiomee Ha rpya ycnume npHxaTHH mex aaxeaTaΜοχβτ aBTOMaTHqecKMynpaBnxTbCH b aasHCHMOCTH ot hx npenena προηηοοτη npHCXaTHH. B COOTBeTCTBHH C Η3θ6ρβΤβΗΗβΜ Mexfly nOflbeMHblM MeXaHH3MOM H rpy3O3aXBaTHbMopraHOM pacnonoxeH αηηβμομθτρ λπβ onpeAeneHHH úoOcTBéHHoň Mačců rpyaa,nonoJiHHTejibHbtíi ΑΗΗβΜΟΜβτρ ΑΠΗ onpeneneHHX BoafleňCTBywiuero HenocpeflCTBeHHoJia rpys ycHJiH» πρηχητηη η οηοΜβτρ y rpyaoaaxBaTŘoro opraHa mex aaxeaTafiita onpegeneHHH BepTHxanbHoro npocKanba«BaHHH pacnonoxeHbí Meacny rpysoM hrpyáoaaxBaTHbtM opraHOM, κοτορωε CBaaaHbí c HSBecTHUMH οπβΜβΗτβΜΗ pfla ynpaB-Jiemui yciuiHeM nptixaTWt, npHH.eM οηοΜβτρ coctoht H3 pacnojioxeHHoro ý rpyao-aaxBaTHoro opraHa «ex saxeaTa BepTHxanbHoro nanbua, οβη3βηηογο c Ββρτπ-xanbHoň BTyjixoň nepea φρΗΚηχοΗΗοβ ομβπηβΗΗβ Tax, ητο b cnyqae npeBwmeHHHrpysoM CKnbi τρβΗΗΗ BepTHxanbHoe nepeMemeHHe nanbtta cHrHaJíHSHpyercft wepeaMHKpOBbOUllOHaTejIb . ΠρΗ3ΗΗΗΟ Η3θθρβΤβΗΗβΜ ΠΟ ρβ3γΠΒΤβΤβΜ 9ΚΟΠβρΤΗ3Η, OCymeCTBJíeHHotíl BeflOMCŤBOMno nenaM Hao6peTeHHň η πβτβΗΤΟΒ ΓΉΡ. 2 nepTexa 246575Uejibio HaoCpeTeHHH HBJiaeTcx oSecnentiTb saxeaTbiBaHHe rpyaoB yHHBepcanbHbiMrpyaoHecymtHM h rpyaoaaxeaTHUM npHcnocoSjieHHeM β 33βηημο0τη ot hx coOct-BeHHoon Maccbi h hx BHyTpeHHen ycToNnuBocTH. 3ananeň «BoSpeTemta asnaeTca coaflamte rpyaoHecyqero and rpyaoaaxsaTHoro npn-cnocoGneHHH, y κοτοροΓο seňcTByiomee Ha rpya ycnume npHxaTHH mex aaxeaTaΜοχβτ aBTOMaTHqecKMynpaBnxTbCH b aHHMOCTH ot hx npenena προηηοοτη npHCXaTHH. B COOTBeTCTBHH C Η3θ6ρβΤβΗΗβΜ Mexfly nOflbeMHblM MeXaHH3MOM H rpy3O3aXBaTHbMopraHOM pacnonoxeH αηηβμομθτρ λπβ onpeAeneHHH úoOcTBéHHoň MACC rpyaa, nonoJiHHTejibHbtíi ΑΗΗβΜΟΜβτρ ΑΠΗ onpeneneHHX BoafleňCTBywiuero HenocpeflCTBeHHoJia rpys ycHJiH »πρηχητηη η οηοΜβτρ y rpyaoaaxBaTŘoro Oprah mex aaxeaTafiita onpegeneHHH BepTHxanbHoro npocKanba« BaHHH pacnonoxeHbí Meacny rpysoM hrpyáoaaxBaTHbtM opraHOM, κοτορωε CBaaaHbí c HSBecTHUMH οπβΜβΗτβΜΗ pflA ynpaB-Jiemui yciuiHeM nptixaTWt, npHH.eM οηοΜβτρ coctoht H3 pacnojioxeHHoro characterized rpyao-aaxBaTHoro Oprah «ex Saxe BepTHxanbHoro nanbua, οβη3βηηογο c Ββρτπ-xanbHoň BTyjixoň NEP φρΗΚηχοΗΗοβ ομβπηβΗΗβ Tax, ητο b cnyqae npeBwmeHHHrpysoM CKnbi τρβΗΗΗ BepTHxanbHoe nepeMemeHHe nanbtta cHrHaJíHSHpyercft wepeaMHKpOBbOUllOHaTejIb. Πρθ3ΗΗΗΟ Η3θθρβΤβΗΗβΜ ΠΟ ρβ3γΠΒΤβΤβΜ 9ΚΟΠβρΤΗ3Η, OCymeCTBJíeHHotíl BeflOMCŤBOMno nenaM Hao6peTeHHň η πβτβΗΤΟΒ ΓΉΡ. 2 nepTexa 246575

Claims (1)

246 575 VYNÁLEZU , Uchycovací a přenášecí ústrojí zvedacího mechanismu, zej-ména k přenášení na tlak citlivých nákladů, skládající sea úchytů posouvaných paralelně soustavou táhel pomoci hyd-raulických válců, přičemž přítlačná síla úchytů je odvozo-vána od hmotnosti nákladů, vyznačující se tím, že dynamometr(5) upravený mezi zvedacím mechanismem (1) a přenášením aúchytným ústrojím, určený ke stanovení hmotnosti nákladu (4),ve spojení s přídavným dynamometrem (9), určeným ke stanovenípřítlačné síly bezprostředně působící na náklad, a posunomě-rem v úchytném prvku (11) úchytu (10), stanovujícím vertikál-ní prokluz mezi nákladem (4) a úchyty (10), jsou spojeny aprvky k řízení přítlačné síly, přičemž posunOmétřse skládáz vertikálního čepu (12) upevněného k úchytnému prvku (11)úchytu (10) a spojeného s vertikálním pouzdrem frikčnímspojením tak, aby v případěpřevýSenítřecí síly tíhou nákladu(4) byl posun čepu (12) v pouzdru (13) signalizován přesmikrovypínač (14).BACKGROUND OF THE INVENTION Lifting mechanism attachment and transfer means, in particular for transmitting pressure-sensitive loads, comprising sea anchors moved in parallel by a rod assembly by means of hydraulic cylinders, wherein the gripping force of the grips is derived from the weight of the load, characterized in that the dynamometer (5) arranged between the lifting mechanism (1) and the transmission and the gripping device intended to determine the weight of the load (4) in conjunction with an additional dynamometer (9) intended to determine the pushing force immediately acting on the load and the displacement in the gripper the element (11) of the gripper (10) determining the vertical slip between the load (4) and the grips (10), the elements for controlling the thrust force are connected, the displacement being folded vertically by a vertical pin (12) fixed to the gripping element (11) of the gripper ( 10) and coupled to the vertical sleeve by friction bonding so as to be in the the force of the load (4), the displacement of the pin (12) in the housing (13) was signaled by an over-switch (14).
CS83691A 1982-02-23 1983-02-02 Clamping and ca rying device of lifting mechanism CS246575B1 (en)

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DD23759282A DD206661A3 (en) 1982-02-23 1982-02-23 LOADING AND CARRYING DEVICE

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CS246575B1 true CS246575B1 (en) 1986-10-16

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FI84715C (en) * 1990-02-23 1992-01-10 Auramo Cargo Systems Oy Method and apparatus for handling cargo
US5292219A (en) * 1990-02-23 1994-03-08 Auramo Cargo Systems Oy Procedure and apparatus for the handling of loads
US5417464A (en) * 1993-12-10 1995-05-23 Cascade Corporation Slip-correcting load-clamping system
FR2722488B1 (en) * 1994-07-12 1996-10-04 Sollac Sa LIFT GRIPPER FOR AXIALLY HIDDEN CYLINDER WITH HORIZONTAL AXIS
SE505210C2 (en) * 1996-04-26 1997-07-14 Nymek Ab Control for a load handling device
US6843636B2 (en) 1998-10-07 2005-01-18 Cascade Corporation Adaptive load-clamping system
CA2282198C (en) 1998-10-07 2003-06-10 Cascade Corporation Adaptive load-clamping system
US6431816B1 (en) 1998-10-07 2002-08-13 Cascade Corporation Adaptive load-clamping system
ITVR20020065A1 (en) * 2002-06-12 2003-12-12 Roncari S R L FORCES CONTROL AND COMMAND DEVICE FOR THE TIGHTENING OF LOADS TO BE TRANSPORTED BY LIFT TRUCKS OR SIMILAR.
RU2311335C2 (en) * 2005-10-07 2007-11-27 Федеральное государственное унитарное предприятие "Центральное конструкторское бюро машиностроения" (ФГУП "ЦКБМ") Load-lifting device
US9964428B2 (en) 2008-10-09 2018-05-08 Cascade Corporation Equalized hydraulic clamp force control
IT201900007533A1 (en) * 2019-05-30 2019-08-30 Euroimpianti S P A METHOD OF LIFTING AND HANDLING PRODUCTS AND RELATIVE GRIPPING HEAD
DK180946B1 (en) * 2020-12-08 2022-08-08 Logitrans As Clamping tool and lifting system with clamping tool

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DE3245715A1 (en) 1983-09-01
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SU1416429A1 (en) 1988-08-15

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