EP0451061B1 - Dispositif motorisé de préhension de charge à commande à distance - Google Patents

Dispositif motorisé de préhension de charge à commande à distance Download PDF

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Publication number
EP0451061B1
EP0451061B1 EP91420063A EP91420063A EP0451061B1 EP 0451061 B1 EP0451061 B1 EP 0451061B1 EP 91420063 A EP91420063 A EP 91420063A EP 91420063 A EP91420063 A EP 91420063A EP 0451061 B1 EP0451061 B1 EP 0451061B1
Authority
EP
European Patent Office
Prior art keywords
load
gripping
motorised
gripping device
calliper
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 - Lifetime
Application number
EP91420063A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0451061A1 (fr
Inventor
Hubert Bouillon
Claude Dessaux
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.)
Manitowoc Crane Group France SAS
Original Assignee
Potain SA
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 Potain SA filed Critical Potain SA
Publication of EP0451061A1 publication Critical patent/EP0451061A1/fr
Application granted granted Critical
Publication of EP0451061B1 publication Critical patent/EP0451061B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Definitions

  • the present invention relates to the field of load handling, in particular on building sites and public works. It relates to a motorized device for gripping heavy and bulky loads, such as formwork, prefabricated panels and slabs, the device being remotely controlled for its functions of gripping and setting loads. This device is intended more particularly for cable lifting devices, such as tower cranes and mobile cranes.
  • the orientation and centering of the gripping device are carried out manually, while the gripping of the load is carried out by slinging, or automatically, by clamping, when the tensioning cable lifting.
  • this type of operation always presents a bodily risk to the operator, whether by putting his hands on the moving parts, or simply by virtue of his presence, near the load being handled.
  • the centering requires a fairly precise prior positioning, and the final positioning is not adjustable; thus, these two gripping devices are not adaptable to the various loads to be handled on building sites and public works, which offer very different dimensions and sections from each other and which, because of their intrinsic resistance, must be equipped with at least two gripping accessories, the spacing of which can vary from 0.5 to 2.5 m.
  • the center of gravity of the load must also be positioned.
  • a handling spreader for cylindrical containers comprising an articulated structure of vertical axis of symmetry, the device comprising a substantially vertical guide column, on which a slide moves forming one of the vertices of the articulated structure.
  • This comprises three pivoting arms or branches which carry, at their free lower end, a support mechanism, while three connecting rods are articulated respectively between the arms or branches and the slide.
  • the lifter can thus be opened or closed like an umbrella.
  • the arms or branches being articulated at the upper part of the lifter, on fixed plates, their lower ends provided with the load taking mechanism do not describe a horizontal movement when they approach a load to be grasped.
  • this lifting beam with three arms or branches, offset by 120 ° can only be used for handling cylindrical loads.
  • such a spreader does not include any means for positioning and correcting the center of gravity.
  • the present invention makes it possible to resolve these difficulties, by providing a remote-controlled motorized load gripping device, intended more particularly for cable lifting devices, the general design of which automatically performs the functions of centering, gripping and locking, on any type of load with standardized gripping accessories and spacing, as well as the center of gravity positioning function.
  • the device according to the invention is designed to be associated with a motorized load rotation device, self-supplied with energy, such as that defined in patent application EP-A-0 409 748, in the name of the Applicant .
  • the device is thus suitable for the automatic handling of loads equipped with standardized gripping accessories.
  • the gripping device In the initial state, the gripping device is entirely folded back on itself, and offers a minimum horizontal size, which allows it to access, in the best possible conditions, at the various points site intervention.
  • the two arms of the compass are each made up of a main beam of “V” shaped section, open towards the inside of said compass, and of a tie rod arranged inside the "V" section of the main beam, each of the branches forming a deformable parallelogram, the four vertices of which are represented by the articulations of the main beam and of the tie rod on the slide, and the articulations of these same elements on the support of the load taking mechanism.
  • the connecting rods are articulated in the middle of the main beams of the arms of the compass.
  • the gripping device thus has a. articulated structure light and not very thick, however rigid, and ensuring a good protection of the most fragile organs.
  • the main beams of "V" section protect the motorized opening and closing members of the compass, produced for example in the form of two identical double-acting cylinders, arranged symmetrically on either side of the guide column and connecting, by articulations, the lower part of the slide to the branches of said compass.
  • the deformable diamond structure, and the length chosen for the arms of the compass, equal to twice the side of the diamond, ensure the rigorous horizontality of the displacement of the free ends of these arms, therefore of the load-taking mechanisms.
  • the guide column comprises, at its upper part, a substantially horizontal console, serving as a recovery support for a double-acting cylinder, the body of which is articulated in its middle on the upper part of the link arm, and the rod of which is articulated, at its end, to said console.
  • This arrangement ensures the positioning and correction of the center of gravity, as an additional motorized function of the device.
  • the link arm can be made up of two parallel beams arranged symmetrically on either side of the planar articulated structure, the two beams being articulated on the base of the guide column and on the rotating hanger, and being connected between them by at least one spacer, arranged above the articulated connection with the body of the jack.
  • the mechanisms of load take-up consist of supports whose upper part takes up the articulations of the arms of the compass, while their base forms a casing which takes up the guiding, gripping and locking members of the load on the gripping accessories.
  • the guide members advantageously form two lateral branches of the casing, each consisting of a bore in which a partially fluted shaft spins, at the outlet of which is fixed a bent rod serving as support for a guide ramp for the gripping accessories of the load, said splined shaft meshing with a rack piston which moves axially in a cylinder, and the stroke of which is determined to rotate the rod, from an internal horizontal position corresponding to a gripping of the load by closing the compass, until to an external horizontal position corresponding to a gripping of the load by opening the compass, passing through an intermediate vertical position for storage or rest, preferably indexed by an imprint of the grooved shaft, in which is likely to be engaged , partially, a ball pushed by a spring.
  • a universal use gripping device is thus produced, which not only makes it possible to grip loads equipped with gripping accessories whose spacing can vary, for example, between 0.5 and 2.5 m, but also allows a entry of charges according to two modes, either from the inside or from the outside, the choice of entry mode being made in particular according to the environment.
  • the rest or storage position of the guide rods provided with ramps protects these fairly vulnerable members when they do not intervene, and also makes it possible to limit the size of the device.
  • the load gripping and locking members form the central part of the casing, consisting of a bore in which a partially grooved shaft journals, at the ends of which are fixed two pyramid-shaped locks, capable of cooperating with openings of the accessories for gripping the load, said splined shaft meshing with a rack piston, which moves axially in a cylinder and the stroke of which is determined to rotate the latches by 90 °, from an unlocked position, to a locked position, identified respectively by two detectors, for example magnetic, arranged at 90 ° from one another, around the periphery of the bore, and cooperating with a blind hole drilled in the body of the shaft grooved.
  • the gripping device object of the invention, generally designated by the reference 1, is intended to equip lifting devices, such as a tower crane 2 with distribution boom 3.
  • the gripping device 1 is suspended from the jib 3 of the crane 2, by means of a lifting cable 4 forming a hauling system 5, between a distribution carriage 6 and a muffle 7.
  • the lifting cable 4 is fixed at a point 8, at the head of arrow 3; at the other end, the cable 4 is wound on the drum of a winch 9, placed at the foot of the arrow 3.
  • the muffle 7 comprises a hanger 10, rotatably mounted around a vertical axis 11, and a motorization , for driving the hanger 10 in rotation around the vertical axis 11, as indicated by an arrow "F".
  • the gripping device 1 is suspended on the hanger 10, by means of a horizontal axis 12, and is equipped with the means necessary for ensuring automatic handling of a load 13 fitted with standardized gripping accessories 14.
  • the gripping device 1 is in the form of a planar articulated structure, situated in a substantially vertical plane and consisting of a compass 15, the two branches 16, 17 of which bear , at their respective lower ends, load-taking mechanisms 18, 19, and a set 20 of two connecting rods 21, 22, the first end of which is articulated at 23, 24 on the central part of the branches 16, 17 of the compass 15, while the other end is articulated at 25, 26 to the base 27 of a column 28, substantially vertical, along which a slide 29 moves in translation, forming the head of the compass 15.
  • the gripping device 1 also comprises a double link arm 30, connecting the base 27 of the column 28 to the hanger 10 of the muffle 7.
  • the branches 16, 17 of the compass 15 each consist of a main beam 31, 32, of section in the shape of a "V", open towards the interior of said compass 15, and of a tie rod 33, 34 disposed at the interior of the "V" of the main beam 31, 32; each of the branches 16, 17, forms a deformable parallelogram whose four vertices are represented by the articulations 35, 36, 37, 38 of the main beams 31, 32, and tie rods 33, 34 on the slide 29, and the articulations 39, 40, 41, 42 of these same elements 31, 32, 33, 34 on a support 43, 44, of the load taking mechanism 18, 19.
  • the compass 15 and the assembly 20 of the two connecting rods 21, 22 form a deformable diamond so that in operation, the load-taking mechanisms 18, 19 move in a substantially horizontal plane, containing the joints 25, 26 and 39 to 42.
  • the opening or closing of the compass 15 is ensured by two identical double-acting hydraulic cylinders 45, 46, arranged symmetrically on either side of the column 28, connecting by joints 47 , 48 on the one hand, and 49, 50 on the other hand, the lower part of the slider 29 with the respective main beams 31, 32 of the arms 16, 17 of said compass 15.
  • a console 51 substantially horizontal, disposed in the plane of the articulated structure, and serving for the recovery of a hydraulic cylinder with double effect 52, the body 53 of which is connected in its middle by a hinge 54 to the upper part of the double link arm 30, and the rod 55 of which is articulated at 56 at the free end of the console 51.
  • the double-acting cylinder 52 provides an angular movement of the link arm 30, about its articulation axis 57, on the base 27 of the column 28 for guiding the slide 29.
  • This link arm 30 consists of two side members parallel 58, arranged symmetrically on either side of the planar articulated structure of the gripping device 1, and rigidly connected, between the jack 52 and their articulation 12 on the hanger 10 of the block 7, by means of spacers 59.
  • each load taking mechanism 18 or 19 consists of the support 43, the upper part of which takes up the joints 39, 41 of the branch 16 or 17 of the compass 15, while the base of this support forms a casing 60, which takes up the guiding, gripping and locking members of the load 13 on the gripping accessories 14.
  • the guide members form two lateral branches 61, 62 of the casing 60, while the gripping and locking members form the central part 63 of said casing 60.
  • the lateral branch 61 or 62 of the casing 60 consists of a bore 64, with an axis inclined to the horizontal, in which a partially grooved shaft 65 is journalled, at the outlet of which is fixed a bent rod 66, serving as a support to a guide ramp 67, for the gripping accessories 14.
  • FIG. 1 The lateral branch 61 or 62 of the casing 60, consists of a bore 64, with an axis inclined to the horizontal, in which a partially grooved shaft 65 is journalled, at the outlet of which is fixed a bent rod 66, serving as a support to a guide ramp 67, for the gripping accessories 14.
  • FIG. 7 shows the detail of the pivoting control of the rod 66; the splined shaft 65 meshes with a rack piston 68, moving axially in a cylinder 69, and the stroke of the piston 68 is determined to pivot the guide rod 66, from an inner extreme horizontal position, corresponding to a gripping of the load 13 by closing the compass 15, to an extreme external horizontal position, corresponding to a gripping of the load 13 by opening the compass 15, passing through an intermediate vertical position of rest, shown in FIG. 6.
  • the two guide members 61, 62 are offset in height, one relative to the other, so that their guide rods 66, 67 can slide one under the other, c that is to say that those of the load taking mechanism 18 slide on those of the other load taking mechanism 19, when the gripping accessories 14 of the load 13 are separated by a short distance.
  • the splined shaft 65 has an imprint 70, in which is capable of engaging a ball 71, pressed by a spring 72, to maintain the guide rod 66 in the vertical rest position.
  • the central part 63 of the casing 60 consists of a bore 73, in which a partially grooved shaft 74 journals, at the ends of which are fixed two latches 75, 76, of pyramidal shape, capable of cooperating with openings of the gripping accessories 14 of the load 13.
  • the latches 74, 75 are controlled by a rack piston 77, meshing with the splined shaft 74, and moving axially in a cylinder 78.
  • the stroke of the piston 77 is determined to pivot the latches 75, 76 by 90 °, from an unlocked position shown in Figures 8 and 9, to a locked position shown in Figures 10 and 11.
  • Magnetic detectors 79, 80 arranged 90 ° from each other on the bore 73, make it possible to detect the locking and unlocking positions, when these magnetic detectors 79, 80 are located opposite a blind hole 81, drilled on the body of the shaft 74.
  • FIGS. 12 to 18 show different phases of operation of the gripping device according to the invention, for the automatic handling of a load 13 equipped with standardized gripping accessories 14.
  • the gripping device 1 in the initial state, is entirely folded back on itself and thus offers a minimum horizontal size which allows it to access, in the best possible conditions, at the various points of site intervention.
  • the lifting device such as the tower crane 2 of FIG. 1, ensures the empty handling of the gripping device 1, installed at the rotary hanger 10 of the muffle 7, from which it receives its energy. and its control commands, the gripping device 1 using electro-hydraulic energy.
  • the gripping device 1 When the gripping device 1 arrives above the load 13, it is oriented approximately by the crane operator, as a function of the position of the gripping accessories 14, by controlling the rotation of the rotary hanger 10 of the muffle 7, and deployed by the control of the jacks 45, 46 for opening the compass 15.
  • the crane operator controls the movement of the rack pistons 68 to rotate the guide rods 66 from the vertical rest position to the interior horizontal position, as shown in FIG. 13.
  • the gripping plane is detected during the final slow descent of the gripping device 1 by the presence, in this plane, gripping accessories 14, advantageously provided with receiving means for their identification.
  • the crane operator controls the closing of the compass 15, as shown in FIG. 14.
  • the crane operator controls the movement of the pistons 77, in order to pivot the latches 75, 76 then introduced through the openings of the gripping accessories 14, and thus lock the load 13.
  • the guide rods 66 are returned to the vertical position, as shown in FIG. 15.
  • the crane operator ensures the search for the center of gravity of the load 13, by controlling the pivoting of the double link arm 30, via the cylinder 52, the control being able to be carried out by an inclinometer not shown (see FIG. 16).
  • the load 13 being well balanced, the crane operator then proceeds to handle this load 13, and to place it at the desired destination.
  • the crane operator proceeds to refocus the gripping device 1, and to detach the load 13, by carrying out the reverse maneuvers to those defined above.
  • Figures 17 and 18 illustrate the possibility of entering from the inside, and no longer from the outside, of a load 13 equipped with the same standardized gripping accessories 14.
  • the entry from the inside is carried out by opening the compass 15, while this compass is closed when entering from the outside.
  • a motorized device for gripping loads with remote control is thus produced, which automatically performs the functions of centering, gripping and locking, on any type of load 13 having gripping accessories 14, of standardized shape and spacing, as well as the center of gravity positioning function.
  • the device 1 allows the taking of loads 13 having an inclination on the horizontal, due to a bad leveling of the ground or a slope of the storage area, the adaptation to the possible inclination d 'A load being obtained by acting on the actuator 52 which controls the pivoting of the link arm 30. It may also be noted that this gripping device 1 can be used as a lifting beam, by providing attachment points for handling slings.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Jib Cranes (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP91420063A 1990-03-12 1991-02-25 Dispositif motorisé de préhension de charge à commande à distance Expired - Lifetime EP0451061B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9003841 1990-03-12
FR9003841A FR2659311B1 (fr) 1990-03-12 1990-03-12 Dispositif motorise de prehension de charge a commande a distance.

Publications (2)

Publication Number Publication Date
EP0451061A1 EP0451061A1 (fr) 1991-10-09
EP0451061B1 true EP0451061B1 (fr) 1994-09-21

Family

ID=9395118

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91420063A Expired - Lifetime EP0451061B1 (fr) 1990-03-12 1991-02-25 Dispositif motorisé de préhension de charge à commande à distance

Country Status (10)

Country Link
US (1) US5184860A (cs)
EP (1) EP0451061B1 (cs)
JP (1) JPH05229779A (cs)
CN (1) CN1027688C (cs)
AT (1) ATE111868T1 (cs)
CS (1) CS61791A2 (cs)
DE (1) DE69104101T2 (cs)
ES (1) ES2061212T3 (cs)
FR (1) FR2659311B1 (cs)
RU (1) RU2067965C1 (cs)

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USD408608S (en) * 1998-02-10 1999-04-20 Brown Charles N Portable roof lifting apparatus
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US6412844B1 (en) * 2000-01-14 2002-07-02 Lockheed Martin Corporation Robotic gripper mechanism
FR2807837B1 (fr) * 2000-04-13 2002-07-19 Bretagne Loire Snc Soc Const Procede de mise a l'epreuve statique d'un engin de levage
DE60124928T2 (de) * 2000-08-29 2007-09-20 3M Innovative Properties Co., St. Paul Mittelpfostensystem zum fördern von linsenförmiger filtereinsatzvorrichtung
US6968963B1 (en) 2002-07-09 2005-11-29 Mi-Jack Products, Inc. Grappler control system for a gantry crane
GB0412821D0 (en) * 2004-06-09 2004-07-14 Offshore Crane Engineering Ltd Lifting apparatus
US7207612B2 (en) * 2005-03-23 2007-04-24 Terry Raney Suspended lifting apparatus
US8000835B2 (en) * 2006-12-01 2011-08-16 Lockheed Martin Corporation Center of gravity sensing and adjusting load bar, program product, and related methods
CN102153014B (zh) * 2011-04-15 2013-05-08 张树文 用于长型材吊装自动机械手的吊钩涨合控制器
CN105317858A (zh) * 2014-05-26 2016-02-10 青岛永和兴游艇螺旋桨厂 一种花键套以及螺旋桨
USD739634S1 (en) * 2014-07-24 2015-09-22 Richard E. Martin Tree mountable hoist support
CN106744291B (zh) * 2016-12-30 2018-06-22 施耐德万高（天津）电气设备有限公司 快速吊装装置
US10150651B2 (en) 2017-01-18 2018-12-11 Cranemasters, Inc. Tank car lifting apparatus
CN108051295B (zh) * 2017-11-20 2024-01-30 浙江工业大学 一种折纸可变形管道实验装置
CN110877859B (zh) * 2019-11-19 2024-05-14 华北水利水电大学 起重设备取物装置
USD968745S1 (en) 2020-09-14 2022-11-01 Cranemasters, Inc. Lifting arm
USD967592S1 (en) 2020-09-14 2022-10-18 Cranemasters, Inc. Lifting arm
CN113864130B (zh) * 2021-08-31 2024-01-26 江西大唐国际新能源有限公司 一种风力发电叶片用夹持设备
FR3127940B1 (fr) * 2021-10-12 2024-03-08 Outinord St Amand Dispositif de manutention et levage pour banches de coffrage
US12311985B1 (en) * 2022-03-04 2025-05-27 Hulcher Services Inc. Tank car recovery system and method of use
CN114476992B (zh) * 2022-04-01 2022-07-12 河南省豫威起重机有限公司 一种罩式防摇摆建筑施工塔式起重机
CN116553356A (zh) * 2023-04-24 2023-08-08 成都富江工业股份有限公司 一种快速抓取和解锁的防滑吊钩组
CN118682805B (zh) * 2024-08-26 2024-12-13 江苏鑫创节能建材有限公司 一种保温板生产用抓取机械手

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Also Published As

Publication number Publication date
JPH05229779A (ja) 1993-09-07
DE69104101T2 (de) 1995-01-26
CS61791A2 (en) 1991-10-15
CN1027688C (zh) 1995-02-22
ATE111868T1 (de) 1994-10-15
CN1056291A (zh) 1991-11-20
RU2067965C1 (ru) 1996-10-20
DE69104101D1 (de) 1994-10-27
ES2061212T3 (es) 1994-12-01
FR2659311A1 (fr) 1991-09-13
EP0451061A1 (fr) 1991-10-09
US5184860A (en) 1993-02-09
FR2659311B1 (fr) 1992-05-22

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