DK179078B1 - Compact ergonomic self-propelled lifting machine - Google Patents

Compact ergonomic self-propelled lifting machine Download PDF

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Publication number
DK179078B1
DK179078B1 DKPA201670412A DKPA201670412A DK179078B1 DK 179078 B1 DK179078 B1 DK 179078B1 DK PA201670412 A DKPA201670412 A DK PA201670412A DK PA201670412 A DKPA201670412 A DK PA201670412A DK 179078 B1 DK179078 B1 DK 179078B1
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DK
Denmark
Prior art keywords
lifting
tool holder
lifting device
lifting machine
wheels
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DKPA201670412A
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Danish (da)
Inventor
Nicolai Tange Jørgensen
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Smart Lift As
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Priority to DKPA201670412A priority Critical patent/DK179078B1/en
Priority to EP17158022.8A priority patent/EP3214034A1/en
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Publication of DK201670412A1 publication Critical patent/DK201670412A1/en
Publication of DK179078B1 publication Critical patent/DK179078B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07554—Counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

En ergonomisk og kompakt løftemaskine for håndtering og løft af vinduer, byggeelementer ol. i forbindelse med montering/demontering af vinduer, byggeelementer. Det ergonomiske fremmes bl.a. ved at styringen af løftemaskinen foregår elektronisk via joystick (5). Dette er placeret bag på løftemaskinen så operatøren har det fulde overblik over situationen. Betjeningsorganerne som f.eks. joystick (5) er justerbart og kan justeres i højden så det let tilpasses operatørens fysiske størrelse ligeledes er det muligt at tilpasse joystickets (5) placering efter højre- eller venstrehåndede operatører.An ergonomic and compact lifting machine for handling and lifting windows, building elements etc. in connection with mounting / disassembly of windows, building elements. The ergonomic promotion includes by controlling the lifting machine electronically via the joystick (5). This is located at the back of the lifting machine so that the operator has a complete overview of the situation. The controls, e.g. The joystick (5) is adjustable and can be adjusted in height so that it is easily adapted to the physical size of the operator. It is also possible to adjust the position of the joystick (5) according to right or left hand operators.

Description

Kompakt ergonomisk selvkørende løftemaskineCompact ergonomic self-propelled lifting machine

Opfindelsen angår en selvkørende løftemaskine omfattende et chassis med individuel styring af trækkraften på hver af de trækkende hjul hvor den individuelle styring af disse sker ved hjælp et enhåndsbetjent elektronisk joystick, løftemaskinen omfatter yderligere en kranarm eller løfteanordning med mulighed for, at udskifte det, i den frie ende af denne, via værktøjsholder, påmonterede værktøj, omtalte chassis er udover de trækkende hjul forsynet med et antal drejelige støttehjul for stabil og vippefri kørsel, af disse er et’ hjulpar monteret yderst på chassis under løfteanordningen i den ende af løftemaskinen der også omfatter værktøjsholderen således at den yderste ende af løfteanordningen i hviletilstand rager ud over disse drejelige støttehjul og således at samme støttehjul, ved fuldt udskudt af og maximalt belastet løfteanordning, vedbliver med at kunne tvangsstyres gennem hjulenes friktion mod underlaget og moment fra drivhjulene , omtalte løfteanordning med værktøjsholder samt det monterede værktøj kan manøvreres manuelt eller det kan styres via en kablet eller trådløs fjernbetjening hvor bevægelser så udføres ved hjælp af et antal aktuatorer, desuden har samme løfteanordnings værktøjsholder og dermed det påmonterede værktøj et antal frihedsgrader der omfatter løft op og ned med omdrejningspunkt i samlingen mellem chassis og løfteanordningen, kip af værktøjsholder med omdrejningspunkter i samlingen mellem værktøjsholder og løfteanordning, rotation med eller mod uret af værktøjsholder samt højre/venstre krøjbevægelser af værktøjsholder..BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to a self-propelled lifting machine comprising a chassis with individual control of the traction on each of the traction wheels, the individual control of which is effected by means of a single-handed electronic joystick, the lifting machine further comprising a crane arm or lifting device with the possibility of replacing it. the free end of this, via tool holder, mounted tool, said chassis, in addition to the pulling wheels, is provided with a number of rotatable support wheels for stable and tilt-free driving, of which a pair of wheels is mounted externally on the chassis under the lifting device at the end of the lifting machine which also comprises the tool holder so that the outermost end of the lifting device in the resting state extends beyond these rotatable support wheels and so that the same support wheel, when fully extended by and maximally loaded lifting device, remains able to be forced through the friction of the wheels against the ground and torque from the drive wheels, said lifting ano The tool holder and the mounted tool can be manually operated or can be controlled via a wired or wireless remote control where movements are then performed by a number of actuators, in addition the same lifting device's tool holder and thus the mounted tool have a number of degrees of freedom including lifting up and down with pivot point in the joint between the chassis and the lifting device, tilting of the tool holder with pivot points in the joint between the tool holder and lifting device, rotation with or counterclockwise of the tool holder and right / left bending movements of the tool holder ..

Selvkørende løftemaskiner til manøvrering og håndtering af pladeformede elementer såsom glas, metal, træ osv. er i dag almindelig brugt inden for byggeriet og anden industri.Self-propelled lifting machines for maneuvering and handling plate-shaped elements such as glass, metal, wood etc. are now commonly used in construction and other industries.

Fra bl.a. US 5584646 A kendes bl.a. en selvkørende løftemaskine der omfatter en undervogn samt et på denne indrettet drejeligt "tårn" på hvilke der er monteret en løfteanordning med midler til af fastholde, løfte og manøvrere pladeformede byggeelementer.From i.a. US 5584646 A is known, inter alia, a self-propelled lifting machine comprising an undercarriage and a rotating "tower" on which is mounted a lifting device with means for holding, lifting and maneuvering plate-shaped building elements.

Derudover kendes der også adskillige eksempler på køretøjer der har individuel styring af trækkraften på de trækkende hjul, og hvor denne trækkraft kontrolleres via et joystick, f.eks. kendes fra US 20110206489 A1 en selvkørende palleløfter/stabler der har et kontrolorgan der er udformet som et joystick, hvilket joystick er beregnet til både styring af anordningens kørende bevægelser samt til kontrol af hydraulikken til løftebevægelserne. Stableren har individuelt styring af trækkraften på de trækkende hjul og desuden er denne også forsynet med støttehjul der kan skubbes ud for at øge stabiliteten under belastning. Fælles for disse kendte løftemaskiner er at de er udformet med det formål at lette arbejdet med løft og håndtering at tunge og uhåndterlige elementer.In addition, there are also several examples of vehicles having individual control of the traction of the traction wheels, and where this traction is controlled via a joystick, e.g. For example, from US 20110206489 A1 a self-propelled pallet truck / stacker having a control means designed as a joystick is known, which is intended for both control of the device's moving movements and for controlling the hydraulics for the lifting movements. The stacker has individual traction control on the traction wheels and in addition it is also provided with support wheels that can be pushed out to increase stability under load. Common to these known lifting machines is that they are designed with the aim of facilitating the work of lifting and handling heavy and unmanageable elements.

Det er et formål med denne opfindelse at anvise en kompakt selvkørende ergonomisk løftemaskine der ikke omfatter drejetårne og eller andre sideforskydningsanordninger, som kan bidrage til ustabilitet, men en maskine der er i stand til at manøvrere (også sideværts) ved at aktivere et joystick i den ønskede retning hvorved maskinens positioneringsevne øges med forøget produktivitet og samtidig forøget sikkerheden, på den arbejdsplads hvor maskinen anvendes, til følge.It is an object of this invention to provide a compact self-propelled ergonomic lifting machine which does not include pivots and or other side displacement devices which may contribute to instability but a machine capable of maneuvering (also laterally) by activating a joystick in it. desired direction whereby the positioning of the machine is increased with increased productivity and at the same time increased safety, in the workplace where the machine is used.

Et yderligere formål er at anvise en kompakt løftemaskine der kan operere sikkert i længere tid på endog meget begrænset plads specielt indendørs, men også udendørs. Løftemaskine skal samtidig være enkel at folde sammen og let at transportere, selv i mindre varevogne.A further purpose is to provide a compact lifting machine that can operate safely for a long time in even very limited space especially indoors, but also outdoors. At the same time, the lifting machine must be simple to fold and easy to transport, even in smaller vans.

Opfindelsens formål tilgodeses ved en selvkørende løftemaskine af den i indledningen til krav 1 angivne type, som er karakteristisk ved at tilføje en udskudsfunktion i løfteanordningen til løfteanordningens frihedsgrader.The object of the invention is met by a self-propelled lifting machine of the type set forth in the preamble of claim 1, which is characteristic of adding an extension function in the lifting device to the degrees of freedom of the lifting device.

Herved opnås at er det bliver enklere og mere sikkert at positionere løftemaskinen og dennes værktøjsholder med byrde/emne ved arbejdet med opsætning af elementer idet den enkelte operatør til enhver tid kan manøvrere løftemaskinen let og præcist rundt på arbejdspladsen, uanset maskinens belastning, også der hvor pladsen er trang, uden at trætte denne unødigt rent fysisk med forkerte arbejdsstillinger.This makes it easier and safer to position the lifting machine and its tool holder with burden / item when working with the set-up of elements, as each operator can at any time maneuver the lifting machine easily and precisely around the workplace, regardless of the machine's load, even where the space is cramped, without tiring this unnecessarily physically with wrong postures.

Som angivet i krav 2 der er karakteristisk ved at joysticket er placeret i den ende af løftemaskinen der er længst væk fra værktøjsholderen på løfteanordningen, hvorved det opnås at operatøren hele tiden under arbejdsprocessen kan have både maskine, byrde og placeringsposition inden for synsfeltet og derved have det fulde overblik og den fulde kontrol over arbejdsopgaven hvilket sikkerhedsmæssigt er en stor fordel. Øvrige hensigtsmæssige udførelsesformer er angivet i kravene 3 til 5As stated in claim 2, characterized in that the joystick is located at the end of the lifting machine which is furthest away from the tool holder of the lifting device, whereby it is achieved that the operator can always have both machine, load and positioning position within the field of vision during the working process and thereby have the complete overview and the complete control over the work task which is a great advantage in terms of safety. Other suitable embodiments are set forth in claims 3 to 5

Som angivet i krav 7 der er karakteristisk ved at værktøjet på løfteanordningen kan afmonteres og placeres i dertil indrettede transportskinner på chassiet, herved opnås at løftemaskinen, forholdsvist enkelt, kan pakkes kompakt sammen til transport selv i en mindre varevogn.As stated in claim 7, characterized in that the tool on the lifting device can be removed and placed in transport rails on the chassis, whereby the lifting machine, relatively simply, can be compactly packed for transport even in a smaller van.

Det i det følgende beskrevne chassis til en selvkørende løftemaskine bygger på i og for sig kendt teknologi, hvor maskinens mobilitet opnås ved at anvende samme principper i køremaskineriet som på en elektrisk kørestol, men med den store forskel fra kørestolen at denne maskine også fungerer fortrinligt med en meget stor del vægten flyttet over på de drejelige forhjul, dette giver konstruktion minimal venderadius samt optimal manøvredygtighed, hvilket specielt på relative små og komplekse arealer forøger produktivitet og sikkerhed.The chassis described below for a self-propelled lifting machine is based on known technology in which the mobility of the machine is achieved by applying the same principles in the driving machine as on an electric wheelchair, but with the great difference from the wheelchair that this machine also works excellently with a very large part of the weight transferred to the swivel front wheels, this gives construction minimal turning radius as well as optimal maneuverability, which increases productivity and safety, especially on relatively small and complex areas.

Opfindelsen forklares herunder med henvisning til tegningerne, på hvilke:The invention is explained below with reference to the drawings, in which:

Fig. 1 viser den ergonomiske kompakte selvkørende løftemaskine i perspektiv, set fra højre side og skråt bagfra samt skråt fra oven.FIG. 1 shows the ergonomic compact self-propelled lifting machine in perspective, seen from the right side and inclined from behind and inclined from above.

Fig. 2 viser løftemaskinen set fra venstre side, mensFIG. 2 shows the lifting machine seen from the left side, while

Fig. 3 viser den selvkørende løftemaskine pakket sammen og klargjort til transport.FIG. 3 shows the self-propelled lifting machine packed and prepared for transport.

Den på figur 1 viste ergonomiske og kompakte selvkørende løftemaskine omfatter et chassis (1) der er understøttet af et antal hjul (6, 8 og 9) hvoraf de to bageste (6), i den her viste foretrukne udformning, er de drivende hjul og de resterende hjul (8 og 9) er drejelige støttehjul der sikrer en stabil og vippefri kørsel, af disse kan de to støttehjul (8) desuden svinges ud til siderne for yderligere at stabilisere løftemaskinen ved den hermed opnåede forøgelse af sporvidden. På samme chassis (1) er der desuden bagtil i midten opbygget en central opstander, omkring hvis nederste del der er gjort plads til et variabelt antal kontravægte (7), opstanderen danner derudover base for løftemaskinens kontrolorganerne og virker desuden som hængselpunkt for en kranarm med et antal frihedsgrader som f.eks. løft, udskud, kip, krøj eller rotation, denne kranarm er desuden i sin frie ende forsynet med en værktøjsholder (13) til at fastholde og manipulere et udskifteligt værktøj (10), denne værktøjsholder (13) kan drejes og låses trinvist i step af 30 grader fra 0 til +/- 90 grader, hvilket blandt andet medfører at det påmonterede værktøj med byrde, om nødvendigt, kan svinges om på siden af den selvkørende løftemaskine således at løftemaskinen med byrde kan forcere selv trange passager som f.eks. døråbninger. Den herved samlede løfteanordning (2), bestående af føromtalte kranarm, værktøjsholderen (13) og det udskifteligt værktøj (10), er derfor et yderst fleksibelt løfteværktøj der er i stand til at håndtere og positionere byrden præcist og sikkert også på steder hvor pladsen er trang. Løfteanordningen (2) og det påsatte værktøj (10) bevæges manuelt, eller styres via en kablet eller trådløs fjernbetjening (3) hvor løfteanordnings (2) bevægelser så udføres ved brug af enten manuelle bevægelser, elektriske aktuatorer, el-motorer, gas- eller hydrauliske cylindre.The ergonomic and compact self-propelled lifting machine shown in Figure 1 comprises a chassis (1) supported by a plurality of wheels (6, 8 and 9) of which the two rear (6), in the preferred embodiment shown here, are the driving wheels and the remaining wheels (8 and 9) are rotatable support wheels which ensure a stable and tilt-free ride, of which the two support wheels (8) can also be swung out to the sides to further stabilize the lifting machine by the resulting increase in the track width. In addition, on the same chassis (1), a central upright is constructed at the rear center, around the lower part of which is made room for a variable number of counterweights (7), the upriver additionally forms a base for the lifting machine control means and also acts as a hinge point for a crane arm with a number of degrees of freedom such as lifting, extending, tilting, tilting or rotating, this crane arm is additionally provided at its free end with a tool holder (13) for holding and manipulating a replaceable tool (10), this tool holder (13) can be rotated and locked step by step. 30 degrees from 0 to +/- 90 degrees, which means, among other things, that the load-bearing tool, if necessary, can be swiveled on the side of the self-propelled lifting machine so that the lifting machine can load even narrow passages such as for example. doorways. The assembled lifting device (2), consisting of the aforementioned crane arm, the tool holder (13) and the interchangeable tool (10), is therefore an extremely flexible lifting tool capable of handling and positioning the load accurately and safely also in places where the space is urge. The lifting device (2) and the attached tool (10) are manually moved or controlled via a wired or wireless remote control (3) where the lifting device (2) movements are then performed using either manual movements, electric actuators, electric motors, gas or hydraulic cylinders.

Den selvkørende løftemaskines chassis (1) drives af to kraftige motorer, som er direkte koblet til drivhjulene (6) hvis trækkraft og omløbsretning styres individuelt via et elektronisk joystick (5) som på den viste foretrukne udførelsesform af løftemaskinen har base på den centrale opstander og er placeret bag på denne således at operatøren har det fulde overblik over arbejdssituationen. De udover de drivende hjul tidligere omtalte støttehjul (8, 9) tvangsstyres gennem hjulenes friktion mod underlaget og moment fra drivhjulene (6). Drejefunktionen opnås ved at de to motorer køre med forskellig hastighed hvorved chassiset (1) tvinges til at ændre retning. Når chassiset (1) skal rotere om egen centerakse, roterer den ene motor inkl. drivhjul (6) frem mens den anden motor inkl. drivhjul (6) rotere tilbage.The chassis (1) of the self-propelled lifting machine is driven by two powerful motors, which are directly coupled to the drive wheels (6) whose traction and direction of rotation are individually controlled via an electronic joystick (5) which, in the preferred embodiment of the lifting machine, is based on the central upright and is placed at the back of this one so that the operator has a complete overview of the work situation. The support wheels (8, 9) mentioned above, in addition to the driving wheels, are forcibly guided through the friction of the wheels against the ground and torque of the drive wheels (6). The turning function is achieved by the two motors running at different speeds, forcing the chassis (1) to change direction. When the chassis (1) has to rotate about its own center axis, one motor incl. drive wheel (6) forward while the other motor incl. drive wheels (6) rotate back.

Ovenfor omtalte løftemaskines konstruktion, sammen med at joystick (5) er betjeningsvenligt og kan tilpasses den enkelte operator's fysik med højdejustering og omstillingsmulighede mellem højre- og venstrehånds greb, gør at løftemaskinen selv med max belastning på løfteanordningen (2) og med byrden placeret foran de forreste støttehjul (9) er håndteringsvenlig og kan manøvrere og drejes, således at operatøren, med det ergonomisk placerede betjeningsorgan, let, sikkert, uden stress og med fuldt overblik over arbejdssituationen, kan placere maskinen i den optimale position for positionering af byrden.The above mentioned lifting machine design, together with the joystick (5) is easy to operate and can be adjusted to the individual operator's physics with height adjustment and adjustability between right and left hand grips, allowing the lifting machine even with maximum load on the lifting device (2) and with the load placed in front of the The front support wheels (9) are easy to handle and can be maneuvered and turned so that the operator, with the ergonomically placed control means, can easily, safely, without stress and with a complete overview of the working situation, place the machine in the optimal position for positioning the load.

Som vist på fig. 3 kan den relativt kompakte løftemaskine forholdsvist let pakkes sammen i transportstilling hvor værktøjet (10) er afmonteret fra værktøjsholderen (13) og placeret i de dertil indrettede transportskinner (12) på maskinchassiset (1) og kan let transporteres i selv mindre varebiler.As shown in FIG. 3, the relatively compact lifting machine can be relatively easily packed in a transport position where the tool (10) is removed from the tool holder (13) and located in the transport rails (12) on the machine chassis (1) and can easily be transported in even smaller vans.

Den anviste kompakte ergonomiske løftemaskine er tænkt anvendt inden for industrien som et alternativ eller supplement til andet løfte og transportudstyr.The intended compact ergonomic lifting machine is intended to be used within the industry as an alternative or supplement to other lifting and transport equipment.

Den selvkørende løfteanordning kan benyttes sammen med mange værktøjer, udover vakuumåg der er vist på den foretrukne udførelsesform der fremgår af figurerne 1-3., kan eksempelvist nævnes: magnetåg, løftekrog, pallegafler, løftetang m.m.The self-propelled lifting device can be used in conjunction with many tools, in addition to vacuum yaws shown in the preferred embodiment shown in Figures 1-3. Can be mentioned, for example: magnetic yoke, lifting hook, pallet forks, lifting tongs etc.

Claims (6)

PAT E NT K RAVPAT E NT K RAV 1. En selvkørende løftemaskine omfattende et chassis (1) med individuel styring af trækkraften på hver af de trækkende hjul(6) hvor den individuelle styring af disse sker ved hjælp et enhåndsbetjent elektronisk joystick(5), løftemaskinen omfatter yderligere en kranarm eller løfteanordning (2) med mulighed for, at udskifte det, i den frie ende af denne, via værktøjsholder(13), påmonterede værktøj(10), omtalte chassis (1) er udover de trækkende hjul forsynet med et antal drejelige støttehjul (8) og (9) for stabil og vippefri kørsel, af disse er et’ hjulpar (9) monteret yderst på chassis(1) under løfteanordningen(2) i den ende af løftemaskinen der også omfatter værktøjsholderen(13) således at den yderste ende af løfteanordningen(2) i hviletilstand rager ud over disse drejelige støttehjul(9) og således at samme støttehjul(9), ved fuldt udskud af og maximalt belastet løfteanordning(2), vedbliver med at kunne tvangsstyres gennem hjulenes friktion mod underlaget og moment fra drivhjulene (6), omtalte løfteanordning (2) med værktøjsholder (13) samt det monterede værktøj (10) kan manøvreres manuelt eller det kan styres via en kablet eller trådløs fjernbetjening (3) hvor bevægelser så udføres ved hjælp af et antal aktuatorer(11), desuden har samme løfteanordnings(2) værktøjsholder(13) og dermed det påmonterede værktøj(10) et antal frihedsgrader der omfatter løft op og ned med omdrejningspunkt i samlingen mellem chassis(1) og løfteanordning(2), kip af værktøjsholder(13) med omdrejningspunkter i samlingen mellem værktøjsholder(13) og løfteanordning(2), rotation med eller mod uret af værktøjsholder(13) samt højre/venstre krøjbevægelser af værktøjsholder(13) og er derudover k e n d e t e g n e t ved yderligere at omfatte en udskudsfunktion i løfteanordningen(2).A self-propelled lifting machine comprising a chassis (1) with individual control of the traction on each of the traction wheels (6), the individual control of which is effected by a single-handed electronic joystick (5), the lifting machine further comprises a crane arm or lifting device ( 2) with the possibility of replacing the chassis (1) referred to in the free end thereof, via tool holder (13), said chassis (1) is provided with a number of pivoting support wheels (8) and ( 9) for stable and tilt-free driving, of which a pair of wheels (9) is mounted outermost on the chassis (1) below the lifting device (2) at the end of the lifting machine which also includes the tool holder (13) so that the outermost end of the lifting device (2) ) in the resting state protrudes beyond these pivoting support wheels (9) and so that the same support wheels (9), when fully extended by and maximally loaded lifting device (2), continue to be forcibly controlled through the friction of the wheels against the ground and torque from the drive wheels (6), said lifting device (2) with tool holder (13) and the mounted tool (10) can be manually operated or it can be controlled via a wired or wireless remote control (3) where movements are then carried out by means of a number of actuators (11), furthermore, have the same lifting device (2) tool holder (13) and thus the mounted tool (10) a number of degrees of freedom which include lifting up and down with pivot point in the joint between chassis (1) and lifting device (2), tilting of tool holder (13) with pivot points in the joint between tool holder (13) and lifting device (2), rotation clockwise or counterclockwise by tool holder (13) and right / left swivel movement of tool holder (13) and is further characterized by further including a protrusion function in the lifting device (2). 2. En selvkørende løftemaskine ifølge krav 1 kendetegnet ved at joystick (5) er placeret i den ende af løftemaskinen der er længst væk fra værktøjsholderen(13) på løfteanordningen(2).A self-propelled lifting machine according to claim 1, characterized in that the joystick (5) is located at the end of the lifting machine which is furthest away from the tool holder (13) on the lifting device (2). 3. En selvkørende løftemaskine ifølge krav 1 og2kendetegnet ved at der er yderligere to eller flere, drejelige støttehjul (8) og at disse også tvangsstyres af friktionen mellem hjul og underlag og moment fra drivhjul (6)A self-propelled lifting machine according to claims 1 and 2, characterized in that there are two or more rotatable support wheels (8) and that these are also forcibly controlled by the friction between wheels and the support and torque from drive wheels (6). 4. En selvkørende løftemaskine ifølge krav 1 til3kendetegnet ved at løfteanordningens (2) og værktøjets (10) aktuatorerne er elektriske aktuatorer, el-motorer, gas- eller hydrauliske cylindre.A self-propelled lifting machine according to claim 1, characterized in that the actuators of the lifting device (2) and the tool (10) are electric actuators, electric motors, gas or hydraulic cylinders. 5. En selvkørende løftemaskine ifølge krav 1 til4kendetegnet ved at værktøjet (10) er vakuumåg, eller magnetåg, eller løftekrog, eller pallegafler, eller løftetang.A self-propelled lifting machine according to claim 1, characterized in that the tool (10) is vacuum yoke, or magnetic yoke, or lifting hook, or pallet forks, or lifting forks. 6. En selvkørende løftemaskine ifølge krav 1 til5kendetegnet ved at værktøjet (10) kan afmonteres fra værktøjsholderen (13) og placeres i dertil indrettede transportskinner (12) på chassiet (1).A self-propelled lifting machine according to claim 1, characterized in that the tool (10) can be removed from the tool holder (13) and placed in transport rails (12) on the chassis (1).
DKPA201670412A 2016-03-01 2016-06-08 Compact ergonomic self-propelled lifting machine DK179078B1 (en)

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DKPA201670412A DK179078B1 (en) 2016-03-01 2016-06-08 Compact ergonomic self-propelled lifting machine
EP17158022.8A EP3214034A1 (en) 2016-03-01 2017-02-27 Compact ergonomic self-propelled lifting machine

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DKPA201670119 2016-03-01
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WO2020088726A1 (en) 2018-10-30 2020-05-07 Blue Ocean Robotics Aps Apparatus and method for mounting panels
CN113277449B (en) * 2021-05-25 2022-08-23 徐州胜海机械制造科技有限公司 Fork truck is with balanced heavy device convenient to regulation and control

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US3087630A (en) * 1961-02-10 1963-04-30 Karnow Paul Omnidirectional manipulator
US5584646A (en) * 1994-08-31 1996-12-17 Wiseda Ltd. Handling apparatus
EP1464598A1 (en) * 2003-04-03 2004-10-06 Copier Engineering B.V. Device for manipulating panels
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US20110206489A1 (en) * 2010-01-15 2011-08-25 Don Ford Load transport system and method

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