DE8803290U1 - Handling device for gripping and moving objects - Google Patents

Description

.1 j lziit^t»yrfy Representative at

p.7800 BaaHnflft » · ^: ' « · ♦ * European Patent Office

European Patent Attorney

Telephone etuttpart(0711) 817000 Peut«che Bank Enllngen 210906

cable «ttripttont» etallnflennecfcar Poatachacfcamt Stuttgart 10004*701

Wilfried Bäder 1 March 1988

7305 Altbach Attorney file 4446-A

Handling device for gripping and moving objects

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 not clear in terms of their functionality. Another significant disadvantage is that the load weight compensation device is located in the area of the parallelogram boom and causes interference there. The parallelogram boom is therefore limited in its range of motion. This means that, for example, you cannot reach as high or as low as possible with the parallelogram boom during lifting and lowering movements.

The invention is based on the object of creating a handling device of the type mentioned above, which is simple, cost-effective and clear in its operation and, with regard to the parallelogram boom, enables the travel through the entire range of motion, and this under

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Maintaining the benefits of a load balancing device with a pressure medium-operated working cylinder.

The task is solved in a handling device of the type mentioned at the beginning according to the invention by the features in the characterizing part of claim 1. The handling device is therefore simple, inexpensive and clear in its operation. The handling device is therefore particularly suitable for workshop operations, for assembly tasks and also particularly suitable for use on construction sites where, for example, large and heavy objects such as concrete parts, stones or the like have to be handled. Because the working cylinder is arranged completely outside the area of the parallelogram boom and in the area of the second parallelogram formed, the parallelogram boom can travel through its entire available range of motion and thus be fully utilized. The handling device can therefore achieve the maximum height position when raising or depth position when lowering made possible by the parallelogram boom, so that a very large stroke is achieved overall.

Further advantageous embodiments of the handling device according to the invention result from claims 2-51.

Further details and advantages of the invention can be found in the following description, where they are particularly highlighted.

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The full wording of the claims is not reproduced above solely to avoid unnecessary repetition, but instead reference is made to it only by naming the claim names,

whereby, however, all of these claim features are to be considered as expressly disclosed at this point and essential to the invention. All features mentioned in the preceding and following description as well as the

features that can be inferred from the drawing alone 10

Components of the invention, even if they are not specifically highlighted and not particularly mentioned in the claims.

-4-26

The invention is explained in more detail below using an embodiment shown in the drawings. They show:

Fig. 1 a schematic side view

a handling device for gripping and moving objects,

Fig. 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.

The drawings show a handling device 10, which serves to grip and move objects 11,

which may consist of components, concrete parts, stones or similar heavy parts, which normally cannot be lifted and moved using physical force at all or only with great difficulty. 26

The handling device 10 is provided with a parallelogram boom 12, which has two approximately parallel links 13, 14. Both links 13, 14 are connected to the left end in Fig. 1 in the area of a joint point 15 or 16 to a holder 17. The joint axes run horizontally in space, for example. At the other end of the links 13, 14, which is the right end in Fig. 1, a receiving device 1Θ is attached, which will be explained in more detail later and which has one end of the links 13, 14 in the area the articulation points 19, 20. The receiving device 18 serves to grip and receive the

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Objects 11. The handling device 10 is further provided with a generally

22, which is arranged between the holder 17 and at least one of the both links 13, 14 and has at least one pressure medium-operated, in particular pneumatic, working cylinder 23.

Df** a link 13 has at least one support arm 24 that protrudes transversely at the articulation point 15, namely at an angle of 90°, and is fixed to it, for example welded. This runs approximately parallel to connecting elements 25 placed on both sides of the working cylinder 23, which at a distance from it are articulated on the holder 17 in the area of the joint axis 26. In Fig. 1 only one such connecting link 25 can be seen. The support arm 24 and both connecting links 25 are connected via two mutually parallel coupling links 27 to a parallel linkage that can be moved by the handlebar 13 with the support arm 24. The coupling elements 27 on both sides are at the free end of both connecting links 25 in the area of the joint axis 28 with the connecting links 25 and at the free end of the support arm 24 in the area of the joint 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, on which at least one freely rotatable roller 31 is attached, the working cylinder 23 is supported on a support web 32 in its

The support web 32 runs approximately

perpendicular to the longitudinal center 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 is

23 is supported approximately on the middle of an abutment 34 between both coupling links 27, e.g. hinged. The working 2ylindar 23 is connected to both coupling elements 27 in such a way

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coupled in such a way that the working cylinder 23 is moved along with the transverse movement of the coupling links 27 during the movement of the parallelogram formed from the parts 24, 25 and 27, but is supported axially on the support web 32 during the longitudinal movement of the coupling links 27 and the coupling links 27 are longitudinally movable relative to the working cylinder 23. During a transverse movement of the coupling links 27, the housing 30 of the working cylinder 23 is thus guided by the roller 31 along the support web 32. Since the piston rod 33 is hinged to the abutment 34, the working cylinder 23 is already moved along with the transverse movement of the coupling links 27.

As can be seen, the working cylinder 23 runs with its longitudinal center axis - seen in the direction of the transverse movement of both coupling links 27 - without any transverse distance from the coupling links 27. Since two coupling links 27 are provided in the double-armed design shown, the working cylinder 23 is accommodated between both coupling links 27. It runs approximately parallel to them, with the longitudinal center axis of the working cylinder 23 running within the plane spanned by both coupling links 27.

The working cylinder 23 is held on the coupling members 27 so that it can be moved in translation relative to the latter. For this purpose, each coupling member 27 has a longitudinal guide 35, which is only indicated schematically and 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 consist, for example, of rollers. For each long side of the housing 30, two rollers mounted at a distance from one another in the longitudinal direction can be provided as guide members 36, which on the longitudinal guide 35 assigned to this side in the relative displacement between the working cylinder

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and the coupling links 27. The guide links 36 and the longitudinal guide 35 are transverse to their longitudinal course for forced movement in both directions during the transverse movement of the coupling links 27 in a direction approximately at right angles to the longitudinal center axis of the working cylinder 23. The roller 31 supported on the support web 32 of the holder 17 and rolling is mounted on the same axis on the housing 30 of the working cylinder 23 as its two-sided guide rollers, the guide there links 36. This is particularly simple. The support bridge 32 is - viewed in the direction of the connecting links 25 - arranged at a distance from the articulation point 15 of the handlebar 13 with support arm 24 on it, so that the support arm 24 and the support bridge 32 do not interfere with each other. As can be seen in Fig. 2

¹ ^, the support arm 24 is received and supported in the region of its joint axis between the fork-like ends of both coupling links 27.

Fig. 4 shows that the holder 17 is also designed with two arms. It has two parallel arms 37 and in the

In the area of the joint axis 15 of the handlebar 13 with support arm 24, there is an approximately semicircular plate 3Θ, which can be welded on. Both arms 37 extend in a plane that runs approximately parallel to the plane spanned by *5 both coupling links 27, whereby the plane formed by the arms 37 runs transversely and, according to Fig.1, below the plane spanned by the coupling links 27. The ends of both arms pointing towards the handlebar 13 form a fork, whereby the handlebar 13 with support arm 24 is received and supported in the area of the joint axis 15 between the ends of the arms 37 there. The support web 32 is attached to the plate 38 and protrudes from it.

Fig. 1 shows that the joint axis 16 for linking the other link 14 to the holder 17 runs exactly below the joint axis 15. The holder can also be

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designed as a fork 39, between the legs of which the second handlebar 14 is accommodated.

The complete holder 17, formed from the arms 37, the plate 3Θ and an end cross brace 40, is in turn pivotably mounted on a boom 42 about a pivot axis 41 that runs approximately at right angles to the joint axes 15, 16, 19, 20, 26, 2Θ, 29, e.g. directed vertically in space. The holder 17 is equipped with a bearing fork 43 for this purpose. One fork leg is formed by the plate 36. The boom 42 engages in the bearing fork 43 in the area of the pivot axis 41.

With its other end, which faces away from the parallelogram boom 1" and the pivot axis 41, the boom is mounted on a support 45 so that it can pivot about a second pivot axis 44. The second pivot axis 44 runs approximately parallel to the first pivot axis 41, i.e. also vertically in space. The support 45 is designed, for example, as a column, which rises from a base plate 46. The plate with the support 45 on it can be stationary or, instead, mobile. In the latter case, the support is attached to a chassis of a suitable type.

To accommodate and support the boom 42, the support 45 is provided with a bearing fork 47 at the upper end. One leg of the bearing fork 47 is formed by a plate 48, which is approximately semicircular, for example.

In the adjacent areas of both swivel axes 41, 44, the boom 42 is provided with a braking device (shown only schematically and preferably remotely operable) for selectively blocking or releasing the swiveling about the respective swivel axis 41 or 44. Each braking device has a brake lever 49, 50 mounted on the boom 42 so as to be pivotable about a horizontal axis, for example.

which is forced into the braking position by means of a tension spring 51 or 52. Each brake lever 49, 50 has a buffer 53 or 54 at the end at a distance from its pivot axis, which protrudes in the direction of the plate 3Θ or 48 there, with which the lever 49 or 50 acts force-lockingly on the respective associated plate 3Θ or 4Θ. Each braking device has a pressure medium-operated, in particular pneumatic, working cylinder 55 or 56, which acts on the brake lever 49 or 50 and by means of which the braking device sion can be brought into the release position against the action of the tension spring 51 or 52. It is not further shown that both working cylinders 55, 56 can be remotely operated by means of a pneumatic hand switch, for example, which is placed within easy reach in the area of the receiving device 18, namely together.

The working cylinder 23 of the load weight compensation device 22 consists of a pneumatic working cylinder. It is operated by means of a sequential circuit by actuating preferably pneumatic hand switches, which are provided for operating the holding device 18. When the holding device 18 is switched on to grip an object 11, the working cylinder 23 is delayed via the sequential circuit and only then is it set to weight compensation is switched on when the holding device 18 has grasped the object 11 and has also gripped it sufficiently firmly, for which a sufficient counterpressure in the area of the e.g. pneumatically operating holding device 18 is a signal. In the opposite way, the working When the holding device 1B is switched on to release a held object 11, the working cylinder 23 is first vented before the object 11 is released and only then is the holding device 18 switched to release. This prevents the holding device 18 from Object 11 is released before the working cylinder 23 is relieved, which is still waiting for weight compensation

is switched on and would cause a sudden hovering of the parallel grain boom 12.

The receiving device 16 has a rod 57 held in the sleeve 21, coaxial therewith, which can be received in the sleeve 21 in a pendulum-like manner with one end. The sleeve 21 has a rubber bearing 56 at an axial distance from the free end of the rod 57, which encloses the rod 57 and allows, at least within limits, pivoting movements of the rod 57 transversely to the rod axis. This is formed in a simple manner from several radial rubber buffers 59 arranged in the sleeve 21 at preferably equal circumferential angular distances from one another, which rest radially on the rod 57 and are compressible at least within limits. An arrow 60 only schematically indicates that the rod 57 can also be mounted in the sleeve 21 so as to be rotatable about the rod axis. In the embodiment shown, this rotary bearing is not provided in the area of the sleeve 21. Instead, the rod is divided, with 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 1B has a gripping device 63 with two opposing and preferably adjustable clamping jaws 64, 65 at the free end of the rod 57. The gripping device 63 is equipped with a vibrator 66, which is only shown schematically and can be switched on or off using a hand switch (not shown). If objects 11, such as heavy stones, are lifted, moved and lowered using the handling device 10, e.g. when placing them on a '-' 1-layer when building walls, vibrating and compacting can be carried out by switching on the vibrator 66. The one

Clamping jaw 64 of the gripping device 63 is fixed, but adjustable to adapt 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 using a preferably pneumatic working cylinder 67. The clamping jaw 65 is pivotally mounted in the area of the articulated axis 6Θ on the frame of the gripping device 63 and is provided with an extended lever 69, on which the working cylinder 67 engages. 10

In Fig. 5, only a part of the gripping device 63 with the fixed clamping jaw 64 is shown schematically. The gripping device 63 has a leveling device or at least parts of it. The leveling device consists in particular from a light beam or laser beam device. This has an aiming device 70, which works according to the front and rear sight principle and has, for example, a beam diaphragm 71 and a crosshair disk 72 at a distance along the fixed clamping jaw 64. When handling the Align the gripping device 63 so that the leveling beam passing through the beam aperture 71 passes through the reticle disc 72 in the center, whereby it is clear that the gripping device 63 and thus the object 11 gripped by it are aligned with the relevant clamping jaw parallel to the fixed clamping jaw.

3fi running longitudinal edge is exactly aligned with the level of the light beam.

In an example design not shown, the gripping device has 63 mm swivel arm, by means of which the gripping device 63 relative to the rod 57 by its longitudinal axis. This pivot bearing can preferably be blocked, whereby this can preferably be done by hand and by the operator grasping the gripping device 63.

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Not shown are handles strutted on both sides

on the gripping device 63, which the operator can grasp. All switches required for control are conveniently located within the operator's reach, e.g. on the gripping device 63 and in particular on the protruding handles. This applies, for example, to the pneumatic switch(es) by means of which the closing and opening movement of the movable clamping jaw 65 - and via sequential switching coupled to it, the operation of the working cylinder 23 of the load weight compensation device 22 - can be controlled. The pneumatic switch for operating the two working cylinders 55, 56 for releasing the respective braking device is also located in the same grip area of the operator, as well as a switch for switching the vibrator 66 on and off. Not shown is that the gripping device 63 in the receiving area between the two clamping jaws 64, 65, e.g. on the fixed clamping jaw 64, a sensor, e.g. an end switch, via which it is ensured by the circuitry 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 For safety reasons, clamping jaw 65 and activation of the working cylinder 23 are omitted if there is no object 11 between the clamping jaws 64, 65 for clamping.

The handling device 10 works as follows. It is assumed that a swivel operation about the swivel axes 41, 44 is not desired and both braking devices with brake lever 49 or 50 and buffer 53 or 54 are in the braking position shown in Fig. 1. position. Then by moving the

Support device 1Θ using the parallelogram boom

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and swivel movement around the joint axes 15, 16 and 19, 20, a lifting/lowering movement and transverse movement can be carried out. If the handling device 10 is used, for example, on a construction site where large and heavy stones are to be handled as objects, in particular to be lifted and are to be moved, the two clamping jaws 64, 65 are first adjusted to the dimensions of these objects 11 in terms of the clamping width. The handling device 10 can be mounted with the carrier 45, e.g. on a vertically raised and lowered The platform can be constructed in the form of a piafet, which can also be moved using a chassis underneath and on which, for example, the objects 11 are stacked as a supply. If an object 11 of this type is then to be handled by the operator, e.g. the bricklayer, the

Gripping device 63 is moved manually to the supply, whereby the

In the embodiment shown, the stand 57 always remains in a vertical direction. If the gripping device 63 is located above the object 11 to be gripped, the operator can use the pneumatic switch, for example, to Activation of the working cylinder 67 of the movable clamping jaw 65 and thus closing of the gripping device 63. The movable clamping jaw 65 is closed, whereby the object 11 is clamped firmly and non-slip between the two clamping jaws 64, 65. A The longitudinal edge of the object 11 runs approximately parallel to the fixed clamping jaw 64. Due to the explained sequential circuit, the working cylinder 23 of the load weight compensation device 22 is switched on only after this clamping process, namely * in relation to the Pick-up device 1Θ and in particular the object 11 clamped in the gripping device 63 - is subjected to a "lifting" action. The working cylinder 23 is thus subjected to a load in such a way that its piston rod 23 is extended to the left from the housing 30 in Fig. 1-3.

De the housing 30 over the roller 31 on the support web 32 in longitudinally supported, the extension movement of the

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f 1 piston rod 33 means that this extension force on the

abutment 34 and thus on both coupling links 27 and thus a force acting on the support arm 24

which results in a counterclockwise swiveling moment around the joint axis 15. This force generated by the working cylinder 23 is set so

■ and regulated so that the weight of the parallelogram

boom 12 and the receiving device 18 together with the clamped object 11 is compensated, so that the operator practically only has to guide the gripping device 63, but does not have to apply any lifting forces. The load weight compensation device 22 thus ensures that the parallelogram boom 12 with the complete receiving device 18 connected to it including the clamped object 11 is weight-relieved in every up and down swivel height position. The operator grasping the gripping device therefore only needs to guide the gripping device with the clamped object 11 in a vertical direction in order to lift this object 11 to the desired location and to lower and place it there. If a swivel movement about the vertical swivel axes 41, 44 should become necessary, the operator actuates _the switch (e.g. pneumatic) assigned to the two working cylinders 55, 56 of the braking device, as a result of which the brake levers 49, 50 with their buffers 53 and 54 are lifted from the associated plate 38 and 48, respectively, and the swivel block is thus released. If the target position for the object 11 is reached during this manipulation, the braking devices can return to the braking position by actuating the switch. The object 11 is lowered in a vertical direction, e.g. onto a set wall, whereby the object 11 is aligned as precisely as required by means of the gripping device 63 within the horizontal plane in both axial directions of a corresponding coordinate system. The final fine alignment is carried out by the rubber bearing 5Θ.

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between the sleeve 21 and the rod 57 is made easier, since the rubber bearing allows for limited transverse movements of the rod 57 relative to the sleeve 21 and to the non-moving parallelogram support 12. A rotary actuation around the longitudinal center axis of the rod 57 may also be necessary and advantageous for this manipulation. The aiming device 70 can also be used for the longitudinal alignment of the object 11, which is activated. In this case, a directional beam that is as tightly bundled as possible is emitted from a point and at a distance from the gripping device 63. When finely aligning the gripping device 63, exact leveling is achieved with respect to this directional beam when the directional beam both passes the beam aperture 71 and strikes the crosshair disk 72 located at a distance from it in the center. This is relatively easy for the operator to recognize, especially when working with a directional beam in the spectral range of visible light, e.g. with a red light beam, laser beam or similar.

If it is desired to perform additional compaction of the adjacent area by shaking before releasing the object 11, the operator switches on the vibrator 66 for a certain period of time.

This makes it possible, for example, to compact mortar underneath the object 11.

To release the object 11, the operator then activates the associated switch in the area of the gripping device 63, which is intended to actuate the working cylinder 67 and above it the movable clamping jaw 65 in the opening direction. However, due to the sequential circuit described, the working cylinder 67 is not yet actuated in this way during this switching pulse, but the working cylinder 23 of the load weight compensation device 22 is first relieved of pressure.

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and thus vented. Only then does the working cylinder 67 pull in, whereby the clamping jaw 65 is pivoted away in the release direction and the object 11 is thereby released from the gripping device 63. The operator

B then swings the handling device 10 back to the supply of objects 11 in the manner described and repeats the cycle in the manner described.

The handling device 10 is extremely simple, cost-effective and clear in its operation.

It makes it possible, using simple means, to completely relieve the weight of the objects 11 that are to be grasped and lifted, lowered and moved transversely by means of the gripping device 63, so that the operator only has to guide the handling device 10, but does not have to apply any lifting/lowering forces or even transverse movement forces.

Claims (1)

Expectations 1. Handling device for gripping and moving objects (11), in particular building components, concrete parts, stones or the like, with a parallelogram boom (12) which has two mutually approximately parallel links (13,14), each with one end are hinged to a holder (17) and are connected at their other end to a receiving device (18) for the objects (11), and with a load weight compensation device (22) which is arranged between the holder (17) and at least one link (13) and has at least one pressure medium-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 articulation point (15) and is fixed thereto and which is 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) are each articulated via at least one other free end to a coupling member (27) ;:u a movable by the working cylinder (23) and the handlebar (13) parallelogram and that ijer 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. Handling device according to claim 1, characterized in that the support arm (24) is aligned at the articulation point (15) at approximately 90° to the handlebar (C13). Handling device according to claim 1 or 2, characterized in that the working cylinder (23) is supported 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. 4. Handling device according to one of claims 1-3, characterized in that the working cylinder (23) is coupled to the at least one coupling member (27) in such a way that the working cylinder (23) is guided along with the transverse movement of the coupling member (27) during the movement of the parallelogram, but 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). 5. Handling device according to one of claims 1-4, characterized in that the working cylinder (23) has 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), via which the working cylinder (23) is mounted on a support web (32) of the Haitiire which runs approximately at right angles to the longitudinal course of the coupling member (27). (17) is supported in its axial direction and is guided along this (32) in a rolling manner during the transverse movement. 6· Handling device according to one of claims 1*5, characterized in that the working cylinder (23) with the end« in particular the end of a piston rod (33), the SR sinsffi - 3' ¹ Part of the parallelogram is supported on the connecting member (25) or preferably on an abutment (34) of the coupling member (27) which runs transversely to this (27) and to the longitudinal center axis of the working cylinder (23). 7. Handling device according to one of claims 1-6, characterized in that the working cylinder (23) with its longitudinal center 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) &THgr;. Handling device according to one of claims 1-7, characterized in that the coupling member (27) is designed with two arms and the working cylinder (23) is accommodated between the two coupling members (27), runs approximately parallel to them and runs with its longitudinal center axis within the plane spanned by the two coupling members (27). 9. Handling device according to one of claims 1 - &THgr;, characterized in that the working cylinder (23) is held on the at least one coupling member (27) so as to be translationally displaceable relative to the latter. 10. Handling device according to one of claims 1-9, characterized in that the at least one coupling member (27) is a longitudinal guide (35) and the working cylinder (23) along the longitudinal guide (35) guide members guided relative thereto (36). ( 9 9 -A- 11. Handling device according to claim 10, characterized in that the guide members (36) of the working cylinder (23) are formed from rollers are.
B 12. Handling device according to one of claims B - 11, characterized in that the working cylinder (23) has on each longitudinal side of its Qgj-iHijcgc ' 30 ^ which is sinsm K0""Sl ⁰ IiSd ' 2 7 ^ &zgr; ¹ J ⁰ SWandt, two rollers mounted at a distance from one another in the longitudinal direction as 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). 13. Handling device according to one of claims 10 - 12, characterized in that the guide members (36) and the longitudinal guide (35) engage with one another transversely to their longitudinal course for forced movement in both directions of the transverse movement. 14. Handling device according to claims 12 and 13, characterized in that the longitudinal guide (35) is formed from a groove or a longitudinal web. 15* Handling device according to one of claims 6 - 14, characterized in that the abutment (34) in the case of a double-armed coupling member (27) extends from one coupling member to the other coupling member (27) and the free end of the piston rod (33) engages approximately at the center of the abutment (34). 35 16. Handling device according to one of claims 1 - 15, characterized in that the free end of the piston rod (33) on the abutment (34) is hinged. 5 17. Handling device according to one of claims 5 - 16, characterized in that the roller (31) supported on the support web (32) of the holder (17) and rolling on the same axis on the house (30) of the working cylinder (23) is mounted as well as its two-sided guide rollers forming guide members (36). 1Θ. Handling device according to one of claims 5 - 17, characterized in that the support web (32) of the holder (17), viewed in the direction of the connecting member (25), is spaced from the articulation point (15) of the handlebar (13) with support arm (24) attached thereto is arranged.
20 19. Handling device according to one of claims 1 - 1Θ, characterized in that in the case of a double-armed coupling member (27) the support arm (24) is received and mounted in the articulation point (29) between the two coupling members (27). 20. Handling device according to one of claims 1 - 19, characterized in that the holder (17) has a double arm (37) which runs approximately parallel to the longitudinal center axis of the working cylinder (23) and to the at least one coupling member (27), which double arm carries, for example, an approximately semicircular plate (3Θ) in the region of the articulation point (15) of the handlebar (13) with support arm (24). JJ » t * ti' .«' * 21. Handling device according to claim 20, characterized characterized in that the handlebar (13) with Support arm (24) in the area of the hinge point (15) between both arms (37) of the holder (17) ° and stored. 22. Handling device according to one of claims 5-21, characterized in that the **»■·* » /*%*"»% _l ni_l-J f OO * L_ &Ggr;· J_J X. J ~ JL . I UCULZSCBg l JiJ dir UBi niiue VJu; practice it L Ag &ugr; lsi uiiu from this rises. 23. Handling device according to one of claims 1 - 22, characterized in that the holder (17) is spaced from the articulation point (15) of the handlebar (13) the 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) therebetween. 24. Handling device according to one of claims 1 - 23, characterized in that the holder (17) is in turn pivotably mounted on a boom (42) about a pivot axis (41) running at a right angle to the joint axes (15, 16, 19, 20) of the parallelogram boom (12). 25. Handling device according to claim 24, characterized in that the holder (17) has a bearing fork (43) into which the boom (42) 3Ö intervenes. 26. Handling device according to one of claims 1 - 25, characterized in that the arm (42) with the end facing away from the parallelogram arm (12) and the pivot axis (41) of the holder (17) - about a second pivot axis (44) is pivotally mounted on a support (45), wherein the second pivot axis (44/ runs approximately parallel to the first pivot axis (41). 27. Handling device according to claim 26, characterized characterized in that the support (45) is designed as, for example, a vertically rising column. 2Θ. Handling device according to claim 26 or 27, characterized in that the support (45) has a bearing fork (47) into which the boom (42) engages. 29. Handling device according to claim 28, characterized characterized in that a fork part of the bearing fork (47) has an approximately semicircular plate (4Θ). 30. Handling device according to one of claims 24 - 29, characterized in that a preferably remotely operable braking device (49, 51, 53, 55 or 50, 52, 54, 56) is arranged between the holder (17, 38) and the boom (42) in the region of the first pivot axis (41) and/or between the boom (42) and the carrier (45) in the region of the second pivot axis (44) for selectively blocking or releasing the pivoting about the pivot axis (41 or 44). 31. Handling device according to claim 30, characterized characterized in that the braking device has a brake lever (49 or 50) pivotably mounted on the boom (42), which has a transversely projecting brake lever (49 or 50) at one end at a distance from its pivot axis. the associated approximately semicircular plate (38 or 48) force-fitting buffer (53 Il (I If IIII* f t I I I I f I f ti I I I I I ' · or 54) and is pressed against the plate (38 or 48) with the buffer (53 or 54) by means of a spring (51 or 52) held on the boom (42). 32. Handling device according to claim 30 or 31, characterized in that the braking device has a pressure-medium-operated working cylinder (55 or 56) which acts on the brake lever ( 19 or 50) and by means of which the braking device can be brought into the release position. 33. Handling device according to claim 32, characterized in that both, preferably pneumatic, working cylinders (55, 56) together can be remotely operated by means of a hand switch, preferably a pneumatic one. 34. Handling device according to one of claims 1 - 33, characterized in that the working cylinder (23) of the load weight compensation device (22) is formed from a pneumatic working cylinder and can be remotely operated by means of a sequential circuit upon actuation of, preferably pneumatic, hand switches for the receiving device (18) . 35. Handling device according to claim 34, characterized in that the working cylinder (23) when the receiving device (18) is switched on for Gripping an object (11) is delayed and can only be switched on to weight compensation when the receiving device (18) has gripped the object (11) and has held it sufficiently firmly. The 36. Handling device according to claim 34 or 35, characterized in that the working cylinder (23) when the receiving device (18) is switched on to release a grasped object (11) can be vented first and before release and only thereafter can the receiving device (18) be switched to release. 37. Handling device according to one of claims 26 - 36, characterized in that the carrier (45) is stationary or mobile, e.g. is held on a chassis, lifting frame or the like. 3Θ. Handling device according to one of claims 1 - 37, characterized in that the joint axes (15, 16, 19, 20) of the parallelogram boom (121) and the joint axes (26, 28, 29) of the parallelogram formed by the support arm (24), connecting member (25), coupling member (27) and holder (17, 37) 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 boom (42) run approximately vertically in space. 39. Handling device according to one of claims 1 - 38, characterized in that the receiving device (16) comprises a sleeve (21) hinged to the parallelogram boom (1?) at the end of both links (13, 14) with a rod held therein and coaxial therewith (57). 40. Handling device according to claim 39, characterized characterized in that the rod (57) is received with its end in the sleeve (21) in a pendulum manner. 36 ·
a 41. Handling device according to claim 39 or 40, characterized in that the sleeve (21) has an axial distance from the free rod end the rod (57) enclosing, at least within limits Has a rubber bearing (58) which elastically permits pivoting movements of the rod (57) transverse to the rod axis. 42. Handling device according to claim 41, characterized characterized in that the rubber bearing (58) has a plurality of approximately radially directed rubber buffers (59) which are preferably arranged at equal circumferential angular distances from one another and which rest radially on the rod (57). 43. Handling device according to one of claims 39 - 42, " characterized in that the Rod (57) is mounted in the sleeve (21) so as to be rotatable about the rod axis (arrow 60). 44. Handling device according to one of claims 39 - 43, characterized in that the rod (57) is divided and a pivot bearing (61) is arranged between the two coaxial rod sections, by means of which the rod sections are relative to can rotate relative to each other (arrow 62). 45. Handling device according to one of claims 1 - 44, 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 being arranged at the free end of the rod (57), I Il Il lift Il I* t< If It ■ Il ti I* · &igr; With I ltl*l It It t 1 · llff 0 ItIlIJtI III I Il It Il till Il 1 · ^ 46. Handling device according to claim 45, characterized characterized in that the gripping device (63) has a vibrator (66) which can be switched on or off by means of a manual switch. 47. Handling device according to claim 45 or 46, characterized in that one clamping jaw (64) of the gripping device (63) is fixedly arranged and the other clamping jaw (65) is movable and can be clamped by means of a preferably pneumatic working cylinder (67). 48. Handling device according to one of claims 45 - 47, characterized in that the gripping device (63) has a leveling device or at least parts (71, 72) thereof. 49. Handling device according to claim 4&THgr;, characterized characterized in that the leveling device is formed from a light beam or laser beam device. 50. Handling device according to claim 4 or 49, characterized in that the gripping device (63) has a targeting device (70) operating approximately according to the principle of the rear sight and front sight, e.g. a beam diaphragm (71) and, at a distance therefrom, a cross-reticule disk (72), both being held on the fixedly arranged sac (64) and being able to be acted upon by a directional beam serving for leveling. 51. Handling device according to one of claims 39 - 50, characterized in that the gripping device (63! is a preferably lockable Has a pivot bearing by means of which the gripping device (63) can be rotated relative to the rod (57) about its longitudinal axis