EP0262134B1 - Anordnung zur hebung von materialien - Google Patents

Anordnung zur hebung von materialien Download PDF

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Publication number
EP0262134B1
EP0262134B1 EP86903668A EP86903668A EP0262134B1 EP 0262134 B1 EP0262134 B1 EP 0262134B1 EP 86903668 A EP86903668 A EP 86903668A EP 86903668 A EP86903668 A EP 86903668A EP 0262134 B1 EP0262134 B1 EP 0262134B1
Authority
EP
European Patent Office
Prior art keywords
operating control
driving device
force
arrangement according
handle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86903668A
Other languages
English (en)
French (fr)
Other versions
EP0262134A1 (de
Inventor
Sture Kahlman
Johan Olsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kahlman Produkter AB
Original Assignee
Kahlman Innovation I Vanersborg AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kahlman Innovation I Vanersborg AB filed Critical Kahlman Innovation I Vanersborg AB
Priority to AT86903668T priority Critical patent/ATE73420T1/de
Publication of EP0262134A1 publication Critical patent/EP0262134A1/de
Application granted granted Critical
Publication of EP0262134B1 publication Critical patent/EP0262134B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists

Definitions

  • the present invention relates to an arrangement for a goods hoist which comprises an operating control capable of being actuated by a driving device and situated between a load device and driving devices.
  • the principal object of the present invention is in the first place to make available an arrangement of the kind described above which is simple and which functions efficiently without the need for great muscle power on the part of the user.
  • An arrangement for a goods hoist 1 of a kind which is suitable for use on frequently recurring occasions for the lifting of loads rapidly and conveniently without the need for great physical effort and, for example, for positioning the load in a process machine or on a fixture or stack of pallets, etc., so that the user experiences the hoist 1 as if it were working in a so-called 'weight-less' state when working both with and without a load, which contains a solenoid motor 2 or some other suitable driving device so arranged as to be controlled by a transmitter contained in an operating control 3 capable of manual actuation and capable of connection to it.
  • Suitable for use as the driving device 2 are a solenoid motor, a d.c.
  • the operating control 3 is situated between said motor and/or coupling which functions as a driving device 2 and a load device 6 of an appropriate kind which operates, for example, with a number of vacuum devices, electro-magnets or clamping or gripping devices, etc. Said operating control 3 is executed preferably in the form of a handle fitted to a rod 7 or some other form of connection acting between the load device 6 and the driving device 2 and attached to a line 8.
  • the line 8 is capable of being wound onto a line drum 9 so arranged, for example via a geared drive 10, as to be driven by said driving device 2.
  • the operating control 3 is suitably situated at the free end 8A of the line 8, whilst the other end 8B of the line is capable of being connected to the drum via a line locking arrangement 11 in a previously disclosed fashion.
  • a solenoid motor 2 which is a multi-pole three-phase motor with a special winding configuration, permits a 'stand still' function and a constant torque to be maintained for long periods, the characteristics of a motor of this kind being such that the torque remains essentially constant irrespective of the speed of rotation.
  • a number of force transmitters 12, 13 or other means which enable recording to take place of the movements imparted to the handle by an operator in relation to the necessarily downward movement of the load in question.
  • Said manual force which is required in order to actuate, for example, two piezoelectric sensors 12, 13 incorporated in the handle 3 in order to achieve the desired adjustment and holding of the load is small, usually of the order of 20-50 g, and this force may also be adjustable in relation to the torque of the motor.
  • the two piezoelectric crystal sensors 12, 13 situated in the handle 3, which serve as force sensors, can be capable of connection to one another and to the handle 3 and a component 7A attached to the rod 7 by adhesive bonding, and may be capable of being activated after actuation of an actuating button 14, etc.
  • the signal from the upper sensor 12 is so arranged as to be proportioral to the force imparted to the handle 3 in an upward sense 15, whilst the signal from the lower sensor 13 is similarly proportional to the force imparted to the handle 3 in a downward sense 16.
  • the force applied to the handle 3 is allowed to control a ramp generator, which in turn is so arranged as to control the torque of the motor, for example, in which case, if a force is applied to the handle 3, the torque will increase at a rate which is proportional to the forces concerned.
  • the ramp generator will adopt a value such that the torque will correspond precisely to the load on the hoist, which means that the handle 3 can be released when in this position without the load exhibiting any tendency to move.
  • the friction of the system thus constitutes the range of equilibrium.
  • a safety function which means that the load device will be prevented from releasing the load whilst a torque is being applied to the motor 2 or to some other driving device, may be pre-programmed into the electronics, etc., so that a fall arrester brake, for example of the spring-loaded electro-magnetic type, may be fitted to the hoist arrangement 1 for the purpose of arresting the rotation of the line drum in the event of failure of the power supply.
  • a fall arrester brake for example of the spring-loaded electro-magnetic type
  • the arrangement 1 is preferably so arranged as to be controlled by specially developed electronics which control three triacs, whereas the motor torque is regulated automatically by means of so-called switched voltage control after actuation of said sensors 12, 13.
  • the handle 3 When the handle 3 is caused to move upwards 15 the torque is increased until the drive begins to rotate, which is recorded by the sensor 12 having the load removed from it when the operator attempts to keep the handle 3 stationary.
  • the operator wishes to produce a downward movement 16 he causes the handle 3 to move downwards, which is recorded by the sensor 13, causing the motor torque to reduce so that the load will fall. If the load falls faster than the movement of the hand, a force will occur in the sensor 13, which will rapidly increase the torque of the motor once more via the electronics.
  • the desired 'weight-less' function is achieved by the sensor 12, 13 constantly recording the manual force (hand movements) of the operator and attempting by increasing or reducing the motor torque to bring this force to a zero value.
  • the variant of an operating control 103 illustrated in Fig. 4 consists of a handle which is movably accommodated on a rod 107, which, via a ball-and-socket joint 150 and a line locking device 151, is attached to a line 108.
  • Attached to the rod 107 is a handle cover 152 which supports on each inside part of the upper and lower cover components 152A, 152B a sensor 112, 113, preferably of the type described above and preferably attached by means of double-sided tape 153.
  • a tongue-shaped component 107A Projecting laterally from the handle 103 and attached to the handle 103 is a tongue-shaped component 107A, which can support rubber plugs 154, 155 or other suitable actuating devices facing towards the sensors 112, 113 and capable of interacting with same, and is so arranged as to accompany the handle 103 as it is moved along the rod 107 in the intended direction, in so doing being able to actuate said sensors 112, 113 by means of said rubber plugs 154, 155, etc., so as to cause the information concerning the position of the handle and the rod relative to one another to be transmitted to the driving device in question via a connection 156 attached to the sensors 112, 113, said connection in the example illustrated constituting the female component of a contact.
  • the signals from the sensors are first buffered by means of a high-impedance operational amplifier, since the sensor is capacitive.
  • the signals are then mixed to produce a signal with a polarity corresponding to the direction of the force.
  • the polarity of this signal also controls two analogue switches in such a way that the sensor which is not active is 'short-circuited'. This prevents the sensor from 'driving'.
  • the signal then supplies a P-I stage which provides the ramp function, and the P component is necessary in order to eliminate any self-oscillations.
  • the output signal from the P-I stage controls three phase control circuits, one for each phase, which control the torque.

Landscapes

  • Mechanical Engineering (AREA)
  • Engineering & Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Massaging Devices (AREA)
  • Vehicle Body Suspensions (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Vending Machines For Individual Products (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Casings For Electric Apparatus (AREA)
  • Control Of Electric Motors In General (AREA)
  • Pallets (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (6)

1. Anordnung für ein Lastenhebezeug (1), welches ein Bedienungselement (3), das zu einer Betätigung durch eine Antriebsvorrichtung (2) imstande sowie zwischen einer Lastvorrichtung (6) und Antriebsvorrichtungen (2) angeordnet ist, umfaßt, wobei die Antriebsvorrichtung (2) so ausgebildet ist, daß sie durch Elektronik oder durch gewisse andere Mittel, die zu einer Verbindung mit einem in dem genannten Bedienungselement (3), das für eine manuelle Betätigung fähig ist, enthaltenen Geber (12, 13) imstande ist, zu steuern ist, und daß Mittel zur Registrierung einer Bewegung des Bedienungselements, die durch eine zur Betätigung dieses Bedienungselements (3) fähige Bedienungsperson in bezug auf die notwendige Abwärtsbewegung der Last hervorgerufen wird, vorhanden sind, dadurch gekennzeichnet, daß die genannten Mittel aus zwei als Kraftmeßgeber (12, 13) arbeitenden piezoelektrischen Kristallen bestehen, die so angeordnet sind, daß sie als Kraftfühler funktionieren, und die zwischen einem als Handgriff (3) ausgebildeten Bedienungselement sowie einem Verbindungsglied (7), längs welchem der Handgriff (3) bewegbar ist und das so angeordnet ist, daß es sich zwischen der Lastvorrichtung (6) sowie der Antriebsvorrichtung (2) erstreckt, arbeiten, und daß die erwähnten Geber (12, 13) so ausgestaltet sind, daß sie der auf das Bedienungselement (3) in einem aufwärts gerichteten Sinn (15) aufgebrachten Kraft beziehungsweise der Kraft, die in einem abwärts gerichteten Sinn (16) wirkt, proportionale Signale übertragen.
2. Anordnung nach Patentanspruch 1, dadurch gekennzeichnet, daß ein Rampenfunktionsgenerator so angeordnet ist, daß er durch die Kraft, die auf das Bedienungselement (3) wirkt, gesteuert wird.
3. Anordnung nach Patentanspruch 2, dadurch gekennzeichnet, daß eine als ein Motor (2) arbeitende Antriebsvorrichtung so angeordnet ist, daß sie durch den erwähnten Rampenfunktionsgenerator gesteuert wird.
4. Anordnung nach einem der vorhergehenden Patentansprüche, dadurch gekennzeichnet, daß das Drehmoment der in Rede stehenden Antriebsvorrichtung (2) so eingerichtet ist, daß es zu einer automatischen Regelung durch eine geschaltete Spannungsregelung nach Betätigung des erwähnten Gebers (12, 13) imstande ist.
5. Anordnung nach Patentanspruch 4, dadurch gekennzeichnet, daß das besagte Drehmoment so eingerichtet ist, daß es zu einer Erhöhung imstande ist, wenn das Bedienungselement (3) zu einer Aufwärtsbewegung (15) gebracht wird, und daß das besagte Drehmoment so eingerichtet ist, daß es durch die Bewegung des Bedienungselements im abwärts gerichteten Sinn vermindert wird.
6. Anordnung nach einem der vorhergehenden Patentansprüche, dadurch gekennzeichnet, daß zur Verwendung als eine Antriebsvorrichtung (2) ein Magnetmotor, ein Gleichstrommotor, eine Pulver-Magnetkupplung und eine Wirbelstromkupplung geeignet sind, die so angeordnet werden können, daß sie getrennt oder in Kombination arbeiten.
EP86903668A 1985-05-31 1986-05-30 Anordnung zur hebung von materialien Expired EP0262134B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86903668T ATE73420T1 (de) 1985-05-31 1986-05-30 Anordnung zur hebung von materialien.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8502716 1985-05-31
SE8502716A SE453589B (sv) 1985-05-31 1985-05-31 Anordning vid en lastlyft

Publications (2)

Publication Number Publication Date
EP0262134A1 EP0262134A1 (de) 1988-04-06
EP0262134B1 true EP0262134B1 (de) 1992-03-11

Family

ID=20360418

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86903668A Expired EP0262134B1 (de) 1985-05-31 1986-05-30 Anordnung zur hebung von materialien

Country Status (8)

Country Link
EP (1) EP0262134B1 (de)
AT (1) ATE73420T1 (de)
AU (1) AU5961686A (de)
DE (1) DE3684321D1 (de)
DK (1) DK159874C (de)
NO (1) NO163483C (de)
SE (1) SE453589B (de)
WO (1) WO1986007042A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6241462B1 (en) 1999-07-20 2001-06-05 Collaborative Motion Control, Inc. Method and apparatus for a high-performance hoist
DE102012002501A1 (de) 2012-02-10 2013-08-14 Rinke Handling-Systems GmbH Bedieneinrichtung

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6360898A (ja) * 1986-08-29 1988-03-16 株式会社　キト− 電気チエ−ンブロツクの操作装置
US4844421A (en) * 1987-02-18 1989-07-04 Kabushiki Kaisha Kito Operating device for electric hoist
DE29604729U1 (de) * 1996-03-14 1996-06-13 Zasche Fördertechnik GmbH, 86720 Nördlingen Balancier-Hebegerät
US6668668B1 (en) 1999-02-08 2003-12-30 Stanley Assembly Technologies Non-contacting sensors
DE29919136U1 (de) * 1999-10-30 2001-03-08 Münnekehoff, Gerd, Dipl.-Ing., 42857 Remscheid System zum Steuern der Bewegungen einer Lasthebevorrichtung
SE0004747D0 (sv) * 2000-12-20 2000-12-20 Mtm I Aarjaeng Ab Lyftanordning
SE0300638D0 (sv) 2003-03-10 2003-03-10 Kahlman Produkter Ab Load hoist arrangement
SE539083C2 (sv) 2014-09-12 2017-04-04 Binar Quick-Lift Systems Ab Manöverdon för manuell styrning av en i manöverdonet upphängd last
FR3075191B1 (fr) * 2017-12-15 2020-12-11 Sapelem Installation de manutention de charge

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3384350A (en) * 1966-09-22 1968-05-21 Zimmerman D W Mfg Pneumatically-operated device for manipulating heavy loads
SE364692B (de) * 1972-10-23 1974-03-04 J Faegerskioeld
US3921959A (en) * 1974-07-22 1975-11-25 Columbus Mckinnon Corp Load balancer and hoist control
US3998432A (en) * 1976-01-02 1976-12-21 Charles D. Uldricks Air operated load balancing hoist

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6241462B1 (en) 1999-07-20 2001-06-05 Collaborative Motion Control, Inc. Method and apparatus for a high-performance hoist
DE102012002501A1 (de) 2012-02-10 2013-08-14 Rinke Handling-Systems GmbH Bedieneinrichtung
EP2626326A1 (de) 2012-02-10 2013-08-14 Rinke Handling-Systems GmbH Bedieneinrichtung

Also Published As

Publication number Publication date
EP0262134A1 (de) 1988-04-06
NO163483C (no) 1990-06-06
SE8502716D0 (sv) 1985-05-31
DK50187D0 (da) 1987-01-30
DK159874C (da) 1991-05-21
NO163483B (no) 1990-02-26
NO870365L (no) 1987-03-30
DE3684321D1 (de) 1992-04-16
WO1986007042A1 (en) 1986-12-04
ATE73420T1 (de) 1992-03-15
DK159874B (da) 1990-12-24
SE8502716L (sv) 1986-12-01
AU5961686A (en) 1986-12-24
DK50187A (da) 1987-01-30
NO870365D0 (no) 1987-01-29
SE453589B (sv) 1988-02-15

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