DE102004028439A1 - Process to move building parts transported using lifting gear and device to implement said process without changing either gear or building part connection using drive-powered lifting gear gate with manipulator - Google Patents

Abstract

The lifting gear gate (2) can be moved to carry across the weight of between the valid centers of gravity mass along the rails (5.2,6.2). This takes place by means of self-adjusting drives or through passive forces caused by the building part and the lifting gear together. The lifting gear gate can be pushed using device and manipulator (1) between the center of gravity for horizontal and a center of gravity for vertical building part alignment should the process need to change.

Description

The The following invention provides a method and associated apparatus before, with the manipulation of the location of predominantly large cubic Components possible is.

Known are different types of crane harness, pliers, magnets, and bands Ropes for connecting components to hoists, such as overhead cranes and the like. Solutions are also known where with multiple hoists the location of large cubic Components is manipulated.

To the Applying big ones cubic components in plate form from the horizontal position to clamping devices in which these plates are vertically aligned have to be is multiple with conventional devices, often dangerous Implementation necessary. Special manipulators that can accomplish this task allow the simple picking up of the horizontally oriented plate components, to Example of Euro pallets and settling of components on jigs not in vertical orientation. In addition, after a first Clamping in vertical alignment the plate components as possible simply turned and turned around.

It therefore sets itself the task, a simple, flexible, secure and to develop a low-cost process that, on the one hand, enables Plate components safely from the horizontal position to the vertical Able to move and vice versa. In addition, the task arises make this process so that it is possible to rotate the component 90 ° and to turn. Furthermore, the task, this method with Help to realize a suitable device.

The Task is according to the invention, as described below and as illustrated in claim 1, solved. The dependent claims show Variants of the method and embodiments of the device for realization.

The Method is characterized in that a rotatable on Hebezeughaken Tailored manipulator with a mobile connection along a predetermined path between at least one center of gravity for the horizontal Alignment of manipulator and workpiece and two focal points for the vertical Alignment of manipulator and workpiece is possible. By moving of the connection point in the respective emphasis takes place the Alignment of manipulator and plate to the respective position. The movement from one focus to another can be done both by passive, ie existing forces, as well as by active, so initiated energy to be effected. The type and location of the focal points that can be approached determine the realizable positions or positions of the workpiece.

A Device with which this method can be realized draws characterized in that the cubic component is enclosed so that it independent from his position can not fail. The connection of the components on the manipulator has to be done so that the focus of the Components as possible located in the center of the manipulator. The device, also manipulator called, has tracks, in which controls the mobile connection to the hoist out move or fix. The tracks can are both in a plane of the manipulator, as well as the spatial Be adapted to specific circumstances. For changing the position of the hoist connection by force from the outside can be controlled both by manual drive and by hydraulic, mechanical or pneumatic drive. The propulsion takes place for safety reasons in usually positive fit. The drive is also designed so that when the interruption Energy intake self-locking occurs.

Around to realize the direct turning of the component by 90 ° in a vertical position, are the fixed arms in the X and Y directions with an arcuate component connected, which also has a path for the hoist connection.

To implement or manipulate the component, the procedure is as follows:
The two telescopic arms ( 3 and 4 ) are set according to an indication on the outer dimensions of the component.

The clamping or fixing elements ( 5.1 and 6.1 ) on the two firm arms are completely withdrawn.

The manipulator ( 1 ) is moved in a horizontal orientation over the plate or the workpiece that the two encircling the telescopic arms ( 3 and 4 ) include a corner of the plate.

The fixing elements ( 5.1 and 6.1 ) on the two fixed arms ( 5 and 6 ) with their handle for the workpiece are manually delivered so far until they hit the workpiece edges.

Now, the manipulator located on the crane hook ( 1 ) be raised. The manipulator ( 1 ) and the workpiece are now in a horizontal position.

Depending on which side or how the workpiece is to be raised, now moves Crane connection ( 2 ) of the manipulator ( 1 ) by means of a hydraulic, pneumatic or electric drive from the center or 1.1 ) of the unit in the X or Y direction along one of the two fixed arms ( 5 and 6 ) outward. Due to this shift in the force application point or hoist connection ( 2 ), the manipulator moves ( 1 ) with workpiece continuously from the horizontal to the vertical position.

After placing the workpiece on the clamping device and the clamping of the component, the two movable fixing elements ( 5.1 and 6.1 ) on the firm arms ( 5 and 6 ) are moved outwards. The manipulator ( 1 ) can then be released from the workpiece and brought into its parking position.

For horizontally depositing the vertically oriented workpiece, the force application point or the hoist connection to the center or horizontal center of gravity initially located at the outside is ( 1.1 ) of the manipulator ( 1 ) moves.

To the processing of the plate component on the front and the two faces arises frequently the task, the cubic component in turned and rotated orientation so position it on the jig that the remaining 3 Pages accessible for editing are.

The process for turning and turning the plate member using the manipulator is as follows:
The manipulator ( 1 ) is moved in vertical alignment to the workpiece so that the two encirclings on the telescopic arms ( 3 and 4 ) enclose a corner of the workpiece.

The fixing elements ( 5.1 and 6.1 ) on the two fixed arms ( 5 and 6 ) with their handle for the workpiece are manually delivered so far until they hit the workpiece edges.

Now, the manipulator located on the crane hook ( 1 ) and move the workpiece from the jig. Manipulator ( 1 ) and workpiece are still in vertical position.

The hoist connection ( 2 ) of the manipulator ( 1 ) is now using a hydraulic, pneumatic or electric drive to the center or focus ( 1.1 ) moves. The manipulator ( 1 ) with workpiece thus aligns horizontally.

To effect the turning of the plate by 90 °, the hoist connection ( 2 ) of the manipulator ( 1 ) now moved outwards in the other axis. The manipulator ( 1 ) with the workpiece is thus oriented 90 ° turned vertically.

The swivel joint located on the crane hook manipulator ( 1 ) with workpiece can be rotated by 180 ° by slight manual action. This is the turning of the workpiece.

In this orientation, the workpiece is placed on the jig, with the manipulator ( 1 ) is located between jig and workpiece. After placing the workpiece on the clamping device and the clamping of the component, the two movable fixing elements ( 5.1 and 6.1 ) on the firm arms ( 5 and 6 ) are moved outwards. The manipulator ( 1 ) can then be detached from the workpiece and removed. Alternatively, the lower telescopic arm ( 3 or 4 ) remain in the groove of the clamping device between the component and the clamping plate.

In order to the 3 remaining sides of the component are accessible for machining.

1

manipulator

1.1

main emphasis for horizontal alignment

1.2

main emphasis for vertical Alignment in X

1.3

main emphasis for vertical Orientation in Y

2

Hoist connection

3

telescoping Clamping arm in X-direction

3.1

Werkstückumgriff

4

telescoping Clamping arm in Y-direction

4.1

Werkstückumgriff

5

fixed Arm in the X direction

5.1

portable Fixing element with workpiece gripping

5.2

train for hoist connection

6

fixed Arm in Y direction

6.1

portable Fixing element with workpiece gripping

6.2

train for hoist connection

7

gusset plates

Claims (13)

Method for implementing different, in particular horizontal and vertical component layers, without moving the hoist and the component connection, characterized in that the hoist connection ( 2 ) for transferring weight between the mass centers of gravity valid for the various component positions ( 1.1 . 1.2 and 1.3 ) along predetermined paths ( 5.2 and 6.2 ) can be moved. Method for implementing different component layers, without moving the hoist and the component connection, according to claim 1, characterized in that the movement of the hoist connection ( 2 ) along the predetermined paths ( 5.2 and 6.2 ) by means of self-locking An is done. Method for implementing different component layers, without moving the hoist and the component connection, according to claim 1, characterized in that the movement of the hoist connection ( 2 ) along the predetermined paths ( 5.2 and 6.2 ) due to passive forces in the interaction of component and hoist takes place. Device and manipulator ( 1 ) for implementing the method according to claim 1, characterized in that the hoist connection ( 2 ) along recesses and / or paths ( 5.2 and 6.2 ), the device at least between a focal point ( 1.1 ) for the horizontal and at least one 1.2 or 1.3 ) is slidably mounted for vertical component alignment. Device and manipulator ( 1 ) for implementing the method according to claim 1, characterized in that the hoist connection ( 2 ) by an electric drive targeted along the predetermined paths ( 5.2 and 6.2 ) can be moved. Device and manipulator ( 1 ) for implementing the method according to claims 1 and 4, characterized in that the hoist connection ( 2 ) by a pneumatic drive targeted along the predetermined paths ( 5.2 and 6.2 ) can be moved. Device and manipulator ( 1 ) for implementing the method according to claims 1 and 4, characterized in that the hoist connection ( 2 ) by a hydraulic drive targeted along the predetermined paths ( 5.2 and 6.2 ) can be moved. Device and manipulator ( 1 ) for implementing the method according to claims 1 and 4, characterized in that the hoist connection ( 2 ) by a manual drive targeted along the predetermined paths ( 5.2 and 6.2 ) can be moved. Device and manipulator ( 1 ) for implementing the method according to at least one of claims 1 and 4 to 8, characterized in that the webs ( 5.2 and 6.2 ) for moving the hoist connection ( 2 ) in one plane. Device and manipulator ( 1 ) for implementing the method according to at least one of claims 1 and 4 to 8, characterized in that the webs ( 5.2 and 6.2 ) for moving the hoist connection ( 2 ) are spherical. Device and manipulator ( 1 ) for implementing the method according to at least one of claims 1 to 10, characterized in that the displaceable hoist connection ( 2 ) is additionally mounted rotatable and tiltable. Device and manipulator ( 1 ) for implementing the method according to at least one of claims 1 to 11, characterized in that the end of the telescoping clamping arms ( 3 and 4 ) and the movable fixing elements ( 5.1 and 6.1 ) are formed so that they at least partially surround the workpiece. Device and manipulator ( 1 ) for implementing the method according to claims 1 and 4, characterized in that between the fixed arm in the Y direction ( 6 ) and the fixed arm in the X direction ( 5 ) sits a preferably arcuate connecting element with a web for the hoist connection.