EP0513260B1 - Dispositif pour la commande d'au moins un outil - Google Patents

Dispositif pour la commande d'au moins un outil Download PDF

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Publication number
EP0513260B1
EP0513260B1 EP91919534A EP91919534A EP0513260B1 EP 0513260 B1 EP0513260 B1 EP 0513260B1 EP 91919534 A EP91919534 A EP 91919534A EP 91919534 A EP91919534 A EP 91919534A EP 0513260 B1 EP0513260 B1 EP 0513260B1
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EP
European Patent Office
Prior art keywords
boom
tool
base member
elements
connection
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
EP91919534A
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German (de)
English (en)
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EP0513260A1 (fr
Inventor
Jürgen KULLE
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Individual
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Individual
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/303—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with the dipper-arm or boom rotatable about its longitudinal axis
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/306—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with telescopic dipper-arm or boom
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/307—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom the boom and the dipper-arm being connected so as to permit relative movement in more than one plane

Definitions

  • This device can, for example, be an excavator, on the boom of which a digging tool, e.g. a backhoe combination is attached.
  • an excavator with a boom which consists of a basic boom hinged to the vehicle, an intermediate boom and a stick carrying a digging tool. All parts of the boom are connected to one another via articulation points, the base boom also being rotatable about a horizontal axis with respect to the vehicle.
  • a similar excavator arm boom is known from DE 38 43 753 A1, which in turn consists of one, on a base part articulated basic boom, an intermediate boom and a stick carrying a digging tool, the intermediate boom being pivotally connected at both ends to the stick and the basic boom.
  • the intermediate boom is divided into two elements which are connected to one another via a rotary connection, the axis of which runs essentially perpendicular to the longitudinal extension of the intermediate boom.
  • the above-mentioned elements of the intermediate boom can be fixed relative to each other in a discrete rotational angle position via a hydraulically actuated plug-in plug connection, and this configuration of the boom should on the one hand enable the boom to be folded up favorably for the road transport of the excavator and, in addition, such an application of the excavator which the boom is so bent that trenches lying outside the longitudinal axis of the excavator can be drawn without having to twist the superstructure of the chassis of the excavator.
  • the structure of the boom provides rotary connections, according to which either the stick can be rotated with respect to the basic boom about a one running in the direction of the longitudinal axis of the stick or the basic boom with respect to a vehicle about a vehicle-fixed, vertical extending axis is rotatable or the basic boom is formed in two parts, the part supporting the arm being rotatable relative to the other part about an axis which runs in the direction of the longitudinal axis of the latter part of the basic boom.
  • an excavator is known, the boom of which consists of a basic boom, an intermediate boom and a stick carrying a digging tool, the basic boom being constructed in two parts.
  • the part of the basic boom facing the intermediate boom is at its two ends via fork joints, the axes of which extend parallel to one another and perpendicular to the longitudinal axis of this part of the basic boom, on the one hand with the basic boom and on the other hand with the intermediate boom in an articulated connection.
  • the longitudinal axis of the first, i.e. pivotable part of the basic boom which is articulated directly on a vehicle, extends at an angle to the longitudinal axis of said second part.
  • JP A-57-140 435 JP A-58-146 624 and JP A-57-140 436 further embodiments of excavator arm booms each composed of a basic boom and a stick carrying a digging tool are known, in which either the stick or basic boom by means of a rotary connection, the axis of which extends essentially in the longitudinal direction of the stick or the basic boom, is subdivided into two elements which can thus be rotated relative to one another.
  • the base part can be, for example, the vehicle of an excavator, a crane or the like. However, it can also be an industrial robot or a comparable device that is used in stationary or mobile use for handling tools of the most varied types is.
  • the type of tool used is basically arbitrary - its connection to the boom should be as simple as possible, so that an uncomplicated change is possible if necessary.
  • the slewing rings are basically designed in such a way that at least a rotation through 360 ° is possible.
  • Each slewing ring is also assigned an independently controllable drive.
  • This drive is preferably designed as a hydraulic drive. However, it can also be an electric drive.
  • claims 2 and 3 are directed to embodiments of the rotary connection. These can in principle be arranged at any point on the boom, in particular also in the area of its articulation on the vehicle and can be combined constructively there with its pivotable articulation.
  • the angle of inclination of the axis of the rotary connection can also be designed to be adjustable with respect to a reference plane, for example the vehicle base plane.
  • the features of claim 6 are directed to an embodiment in which the mobility of the boom relative to the base part by a special articulation of the boom in connection with two piston-cylinder units which can be acted upon differently but in a controllable manner is realized.
  • Both piston-cylinder units have a common articulation point on the boom, but separate articulation points on the base part, so that pivoting movements of the boom in two mutually perpendicular planes are possible by controlling the piston-cylinder units. All articulation points or articulations, including those of the boom on the base part or a rotary connection attached there, are designed as ball or cardan joints.
  • the features of claim 7 are directed to a further embodiment of the end of the boom carrying the tool.
  • one or more additional arms can be articulated on this part of the boom, which in turn are articulated and are equipped with different, motor-controlled drives for pivoting or rotating the individual links of the respective additional arm.
  • Embodiments of this type are advantageous for industrial robots, but also for other applications wherever it is a matter of the interaction or action of several different tools on one and the same object or workpiece.
  • the boom in particular its elements, can be made telescopic his.
  • the combination of several rotary connections with the telescopic design improves infeed movements between the tool and the location of its action on an object.
  • Land vehicles can be road vehicles, but also rail-bound vehicles.
  • mobile or chain excavators, ship excavators, ship cranes, tractor backhoe loaders, forklift trucks, wheel loaders, chain dozers, motor graders, logging machines, interventional harvesters, mobile cranes, loading spaces, special vehicles, etc. come into consideration.
  • claims 14 to 17 are directed to different forms of training of the base part, wherein mobile, but also stationary forms are of interest.
  • the base part for compensating for tilting moments is equipped with at least one, preferably displaceably arranged counterweight.
  • This measure which improves the stability of the device, is particularly suitable for telescopic ones Booms of importance.
  • the displaceable balance weight is expediently connected to a system for detecting the current load condition, via which the position of the balance weight can be controlled.
  • the balance weight is preferably arranged on the superstructure, which is rotatably mounted with respect to the chassis.
  • the base part also fulfills the task of a depot and a supply device for coolants, lubricants and other operating materials such as compressed air.
  • claim 19 are directed to a further embodiment of the boom, in particular the nature of the tool. It can be seen that a very large number of different tools can basically be used and the fastening devices attached to the end of the boom are designed accordingly.
  • claims 20 to 24 are directed to the further design of the rotary connections. In any case, these must enable the parts of the boom to be swiveled rapidly relative to one another, even under load, and be as free of play as possible in predetermined rotational angle positions.
  • Angle measuring devices in particular in connection with length measuring devices, which are used in each case for the detection of twist angles and the position of telescopic connections of parts of the boom, can serve in particular in connection with a superimposed control for the automatic detection of unfavorable load conditions. This recognition can be done by control technology into a procedure of counterweights, the introduction of other measures to increase the safety against tipping, etc.
  • the vehicle of an excavator is referred to globally, which in a known manner consists of a crawler track 2, on which a chassis 3 carrying all the drive and control units is rotatably supported about a vertical axis 4.
  • a crawler track 2 on which a chassis 3 carrying all the drive and control units is rotatably supported about a vertical axis 4.
  • the vehicle can in particular also be any other for example, trade a vehicle equipped with a different chassis.
  • an excavator arm 6 is pivotally mounted about an axis 5 extending perpendicular to the plane of FIG. 1, which consists of a basic boom 7 articulated on the vehicle 1, on which in turn a digging tool 8, here a bucket, carries a stick 9 is arranged.
  • the arm 9 can be pivoted relative to the basic boom 7 about an axis 10 extending perpendicular to the plane of the drawing in FIG. 1.
  • paired piston cylinder units 11, 12 are provided, which are connected to the hydraulic system of the vehicle in a manner not shown in the drawing.
  • the basic boom 7 is angled and, like the arm 9, is divided into two parts, each of which is connected to one another via a rotary connection 13, 14 to be described in more detail below.
  • a rotary connection 13, 14 to be described in more detail below.
  • Each of these rotary connections enables the parts connected to one another to be rotated by at least 360 ° and is provided with a special rotary drive and locking devices in order to fix discrete rotational angle positions of the parts.
  • the rotary drives assigned to the rotary connections 13, 14 are preferably hydraulic Drives are formed and are connected to the hydraulic system of vehicle 1. It can be seen that from the rotatability of the two parts of the basic boom 7 and stick 9 realized in this sense, there are various positioning and thus possible uses of the digging tool 8.
  • the digging tool 8 is designed in the usual way and can be pivoted about an axis 18 extending perpendicularly to the drawing plane of FIG. 1 via a piston-cylinder unit 17.
  • the excavator arm 19 shown in FIG. 2 differs from that according to FIG. 1 only in that the basic boom 20 is again divided into two parts, which are connected via a rotary connection 13, to which the axis 15 is assigned, but in this case directly adjacent to the rotary connection 13 - with this largely combined structurally - a further rotary connection 21 is provided, to which the axis 22 is assigned.
  • This double rotary connection, characterized by the axes 15, 22, can alternatively or simultaneously be provided in the handle 9.
  • the excavator shown in FIG. 3 differs from that according to FIG. 2 only in the nature of the excavator arm 22.
  • the latter has a further rotary connection 23 which is directly adjacent to the rotary connection 13 is arranged, the axis 24 extends perpendicular to the axis 15.
  • the rotary connection 23 is characterized by a fork-shaped receptacle in which the part 25 of the basic boom 26 can be pivoted about the axis 24 relative to the part 27 thereof.
  • Piston-cylinder units 28 arranged on both sides of the axis 24 serve for pivoting.
  • This double rotary connection, characterized by the axes 15, 24, can alternatively or simultaneously be provided in the arm 9.
  • the excavator arm 6 of the excavator shown in FIG. 4 corresponds to that of FIG. 1 with the exception of its base point linkage.
  • This is characterized by a rotary connection 29, to which the axis 30 is assigned.
  • the rotary connection 29 forms a base for the articulation of the base point of the excavator arm 6, which can be rotated about the axis 30 by at least 360 °.
  • the latter articulation is characterized by a universal joint 31 and the piston-cylinder units 11, which are assigned to the universal joint 31 and are also articulated on the rotary connection 29 articulated on both sides in turn via universal joints 32, 33.
  • the excavator arm 6 can be pivoted relative to the rotary connection 29 in two mutually perpendicular planes and thus in particular can be tilted sideways, in addition to the rotatability given by the rotary connection 29 relative to the axis 30.
  • the driver's cab 34 should be moved to position 35 in this case.
  • a particularly advantageous constellation arises if the piston-cylinder units are articulated at the articulation point 34 of the boom. In connection with the fact that the piston-cylinder units can be acted upon independently of each other, the boom can be pivoted in two mutually perpendicular planes.
  • FIG. 5 shows an excavator with an excavator arm 6, the base point linkage of which differs from the embodiment according to FIG. 4 in that a further rotary connection 36 is provided, the axis 37 of which extends parallel to the axis 4, thus vertically with a flat contact surface.
  • the rotary connection 29 is connected to this rotary connection 36, the articulation of the part of the basic boom facing the rotary connection 29 not being shown in the drawing in the exemplary embodiment shown.
  • it can in principle be designed similarly to that according to FIG. 4.
  • FIG. 6 shows an excavator, the vehicle 38 of which has been given a special design to increase its stability against tilting moments caused by the excavator arm 39.
  • the vehicle is closed For this purpose, it is provided with a counterweight 40 which can be moved in a straight line in the direction of the arrows 42 by means of a piston-cylinder unit 41.
  • the balance weight 40 is located at the end of the vehicle 38 which is remote from the articulation of the excavator arm 39 and is displaced in the direction of the arrows 42 to compensate for tilting moments in accordance with the load on the excavator arm 39.
  • several such counterweights 40 can also be provided.
  • the basic boom 43 is in turn kinked and characterized by a rotating union 13 with an axis 15 in a central section.
  • the parts on both sides of the rotary feedthrough 13 are designed to be telescopic, the telescopic sections which are inserted into one another preferably being extended hydraulically.
  • a further pivoting possibility about the axis 24 by means of piston-cylinder units 28 is arranged adjacent to the rotating union 13. In this respect, this embodiment corresponds to that according to FIG. 3.
  • the stem 9 is also telescopic below the rotary connection 14, and is preferably designed to be hydraulically telescopic, namely in the direction of the axis 16.
  • the tool shown in FIG. 6, attached to the handle 9, is a gripper unit 44 which can be actuated in a manner known per se and is used, for example, to encompass heavy objects such as tree trunks.
  • an additional arm 45 is arranged on the lower part of the handle, which can be pivoted relative to the handle 9 about an axis 46 perpendicular to the plane of the drawing in FIG. 6.
  • the auxiliary arm 45 is from two to one further axis 47 perpendicular to the plane of the drawing composed of links pivotable relative to each other, the outer one of which carries a saw blade 48.
  • 49 is a protective device that surrounds a circumferential half of the saw blade, whereas 50 denotes a few impellers that have a spherical circumferential surface, rest on the surface of the saw blade 48 in the peripheral region and serve to dampen vibrations.
  • the base point of the additional arm 45 which is characterized by a pivotability about the axis 46, can be accommodated particularly advantageously so that it can be moved relative to the handle in the direction of the axis 16, for example in a slide.
  • the base can be characterized by a telescopic attachment to the handle perpendicular to the plane of the drawing.
  • FIG. 7 shows a modification of the excavator arm 39 insofar as the break point of the basic boom 43 is now identified by a joint, the axis of which extends perpendicular to the plane of the drawing in FIG. 7 and is designated by 54.
  • a piston-cylinder unit 55 is provided for pivoting about this axis 54.
  • FIG. 8 shows a special form of a vehicle 54 insofar as it is composed of two parts which are connected to one another via a joint. With 55 the joint is designated, which has a vertical pivot axis.
  • 6 and 8 each designate 56 with additional gripping members which are designed and intended for handling heavy objects.
  • Each of the two parts of the vehicle 54 is otherwise equipped with a crawler track 57, 57 '.
  • the principle to be described in the following can in principle be applied to any articulated or other mobile excavator.
  • the excavator arm 58 has a base point linkage which corresponds to that of FIG. 6, so that a repeated description in this regard can be dispensed with.
  • the excavator arm 58 is characterized by a basic boom 59, an intermediate part 60 and a stick 9, the intermediate part 60 being composed of a series of links 61 which are connected to one another and are essentially identical to one another and are connected to one another via articulation points.
  • a piston-cylinder unit 62 is in turn assigned to each articulation point and the axes of all articulation points 63 extend perpendicular to the plane of the drawing in FIG. 8.
  • the links 61 can be subdivided into two groups which are connected to one another via a rotary connection identified by the axis 64, this rotary connection in turn a piston-cylinder unit 65 is assigned.
  • the handle 9 which in turn is designed to be telescopic in the direction of the axis 16, is characterized by a gripper unit 44 and an additional arm 45, which corresponds to the additional arm 45 according to FIG. 6 with regard to its kinematic connection to the handle and carries a chainsaw 66 here.
  • the essential feature of the excavator shown in FIG. 9 is an excavator arm 67, which consists of a basic boom 68, an intermediate part 69 and a stick 70. At least one of these three links, namely the basic boom, intermediate part or stick are designed to be telescopic. All of these three parts are connected to one another via articulation points 71, a piston-cylinder unit 72 being assigned to each articulation point.
  • rollers which are intended to interact with a motor-driven winch 74, which winch is housed on the vehicle 75.
  • the cable winch 74 serves to provide an additional pulling force in connection with a cable wind wheel 76 which is attached to the stick 70.
  • the tensile force made available via the cable winch 74 can be converted into mechanical work in any way, but this will not be discussed in more detail.
  • An excavator equipped in the sense of FIG. 9 can be used particularly advantageously as a carrier of a drilling device 77 (FIG. 10), wherein the boom can be equipped with a plurality of bearings or drill guides and a rotary drive for the drill rods 78 for guiding the drill rod 78.
  • a magazine 79 for boring bars can be placed on the rear part of the vehicle 75 or other tools can be accommodated.
  • the lower drill guide designated 78 ′, can also be attached to the intermediate part 69.
  • FIG. 11 shows a first exemplary embodiment of a rotary connection, which is based on the connection of a first part 79, for example the end of the basic boom of an excavator arm facing the vehicle 1, 38, 54 or 75 and a part 80 which adjoins the part 79 and opposite the former can be rotated by motor about an axis 81 and can be locked in any angular position.
  • a first part 79 for example the end of the basic boom of an excavator arm facing the vehicle 1, 38, 54 or 75
  • a part 80 which adjoins the part 79 and opposite the former can be rotated by motor about an axis 81 and can be locked in any angular position.
  • Both parts 79, 80 are designed as hollow structures and can optionally be provided with struts.
  • the cross-section of the hollow structures can be polygonal, but also circular or in some other way.
  • Denoted at 82 is a mounting plate attached to the front end of part 79.
  • the fastening plate 82 is located on the outside of the part 79 at its end and is connected to this part in a manner not shown in the drawing.
  • the inner ring 83 of a roller bearing which surrounds the axis 81, is fastened to the fastening plate 82.
  • An annular plate 84 is also attached to the fastening plate 82, in such a way that it projects into the cross section of the part 79.
  • the annular plate 84 is screwed to the mounting plate 82, as indicated at 85.
  • the annular plate 84 serves, inter alia, as a carrier 86 for brake devices which cooperate with a brake disk 87 in a manner to be described.
  • the circular ring plate 84 also serves on its side facing away from the carrier 86 to attach a device comprising a multi-disc brake 88 via a circular plate 89, the latter being screwed to the circular ring plate 84.
  • the multi-disc brake 88 extends within the part 79.
  • the roller bearing 92 formed in this way can be designed as a crossed roller bearing or a comparable bearing.
  • the fastening plate 90 On the fastening plate 90, namely on its side facing the part 79, there is also a circular plate 94 which is screwed to the fastening plate 90.
  • the circular plate 94 which extends perpendicular to the axis 81, carries - and that coaxially to the axis 81 - a shaft 95 which is firmly connected to the circular plate 94 and thus to the part 80.
  • the brake disc 87 is supported on the shaft 95 via a spline toothing or the like, and the extension of this shaft 95 also projects into the multi-disk brake 88, in such a way that a group of disks are connected to the shaft 95 in a torsionally rigid connection.
  • the actuation of the multi-disk brake 88 can be carried out in a conventional manner in that the disk group rotating with respect to its housing with the shaft 95 is axially displaced relative to a disk group which is firmly connected to the housing thereof in order to be able to apply the required braking torque.
  • the actuation and the more precise nature of this multi-disk brake 88 will not be discussed further.
  • Designated at 96 is a piston cylinder unit attached to the part 79, namely the outside thereof, the piston of which is connected to a locking bolt 97 which is intended for insertion into bores 98 which the fastening plate 82, the inner ring 83, attaches to the outer ring Pierce part 99 and the mounting plate 90.
  • an inserted locking bolt 97 which completely penetrates the bore 98 mentioned, prevents the parts 79, 80 from rotating relative to the axis 81.
  • several locking devices of this type equipped with piston-cylinder units 96, are provided with a uniform circumferential distribution.
  • the outer ring 91 is provided with an external toothing 100 which is in engagement with the pinion 101 of a transmission 102, which in turn is connected to a motor 103, preferably a hydraulic motor.
  • the gearbox 102 and the motor 103 form a structural unit which is attached to the side of the fastening plate 82 facing away from the inner ring 83, ie is screwed to this fastening plate 82 here.
  • 105 denotes a parking brake which acts directly on the pinion 101.
  • the system shown in FIG. 11 is equipped with different braking devices, namely multi-disc brakes 88, 104 and a disc brake, which is formed by the carrier 86 in connection with the brake disc 87.
  • two different holding devices are also provided, namely a system of locking bolts 97 which can be actuated via piston-cylinder units 96 and a parking brake 105 a very quick and effective braking, especially under load, but also possibilities for a practically play-free fixation of the parts 79, 80 relative to each other, despite the inevitable tolerances in gearboxes.
  • a system of locking bolts 97 which can be actuated via piston-cylinder units 96 and a parking brake 105 a very quick and effective braking, especially under load, but also possibilities for a practically play-free fixation of the parts 79, 80 relative to each other, despite the inevitable tolerances in gearboxes.
  • FIG. 12 shows a further exemplary embodiment of a rotary connection which is explained on the basis of the connection of two parts 79, 80, 81 being the axis of the rotary connection.
  • a fastening plate 106 projecting radially from the outside thereof, which is connected to the part 79 in a fixed connection, not shown in the drawing.
  • Attached to the fastening plate is an annular plate 107 which is continued at its radially outer end in a cylindrical part 108 which extends coaxially to the axis 81 and on its radially inner side in a cylindrical guide part 109 which likewise runs coaxially to the axis 81.
  • the cylinder part 108, the circular ring plate 107 and the guide part 109 can be formed in one piece - however, these parts can also be formed as individual parts which are fastened to one another in a suitable manner.
  • a cross-section that is polygonal or otherwise can also be provided.
  • the cylinder part 108 is provided on its radial inside with teeth 110, the meaning of which will be discussed in more detail below.
  • a circular ring plate is designated, which is firmly connected to the front end of the part 80 and radially protrudes from the outside thereof.
  • the connection between the annular plate 111 and the part 80 can in principle be of any design.
  • the annular plate 111 carries on its axial side facing the part 79 the outer ring 112 of a roller bearing 113, the mode of operation of which will also be explained below.
  • the outer ring 112 is fastened in a suitable manner to the circular ring plate 111, a screw connection is indicated at point 114 in the exemplary embodiment shown.
  • the outer ring 112 has a toothing on its radial outer side which is in engagement with the toothing 110 of the cylinder part 108.
  • the 115 denotes a circular plate attached to the side of the circular ring plate 107 facing away from the fastening plate 106 and which is screwed to the circular ring plate 107.
  • the circular plate 115 extends coaxially to the axis 81 and carries the inner ring 116 of the roller bearing 113 at its radially outer regions.
  • the roller bearing 113 can in turn be designed as a crossed roller bearing or as another roller bearing.
  • a motor 117 On the side of the circular plate 115 facing the part 79, a motor 117, preferably a hydraulic motor, is mounted, the output shaft 118 of which penetrates a bore of the circular plate 115 that is coaxial with the axis 81 and via a gear 119 with a pinion, which is in turn fastened to the circular plate 115 120 is connected, which is located in a radially outer region.
  • the outer ring 112 has a lateral section 121 which is provided with an internal toothing which is in engagement with the pinion 120.
  • the motor 117 serves to rotate the parts 79, 80 relative to one another about the axis 81.
  • an angle measuring device is designated, by means of which the angle of rotation of the parts 79, 80 can be determined, the meaning of which will be discussed in the following.
  • the drive connection can be used to twist the parts 79, 80 in deviation from the above exemplary embodiments also take place via the inner ring of a roller bearing 91, 113.
  • 123 is a cylindrical guide tube, which is attached at one end to the annular plate 115 and which carries a bracket 124 at its other end.
  • the guide tube 123 is guided non-rotatably within the guide part 109 via a dovetail guide or comparable functional elements, and the latter is provided with slot-like cutouts, which are penetrated by a web-like central part of the holder 124, the radially outer part of which is designed in the manner of a circular ring, the ring body of which has an angular shape in cross section and is guided on the outside of the guide part 109.
  • the holder 124 forms an axially extending annular groove 125, which serves to receive a spring element 126 which surrounds the guide part 109, abuts the holder 124 at one end and the annular plate 107 at its other end.
  • the spring element 126 thus acts as a return spring.
  • the piston-cylinder unit 129 denotes a coupling device, via which the central part of the holder 124 is connected to the piston of a piston-cylinder unit 129.
  • the piston-cylinder unit 129 is accommodated in a frame 130, which is arranged in a stationary manner with respect to the part 79 and is screwed to the latter, for example, via holding elements 131, which at the same time exert a stiffening effect against torsional stress.
  • the circular plate 115 together with the roller bearing 113 is displaced in the direction of the arrow 127 by pressurizing the piston-cylinder unit 129 via the coupling device 128, the holder 124, the guide tube 123, specifically against the restoring force of the spring element 126 Displacement takes place to such an extent that the engagement of the toothing of the outer side of the outer ring 112 and the inner side of the cylinder part 108 is released, so that the part 80 with respect to the part 79 about the axis 81 is consequently via the motor 117 and the pinion 120 can be twisted.
  • the piston-cylinder unit 129 is depressurized, so that under the influence of the spring element 126 the toothing engagement between the outside of the outer ring 112 and the inside of the cylinder part 108 is restored .
  • fine alignment of the toothing profiles of the outer ring and the cylinder part to be brought into engagement can be carried out in a simple manner, in particular an alignment of successive tooth flanks or tooth gaps, so that damage to the toothing profiles as a result of the insertion or Disengagement can be prevented.
  • 13 to 15 each show special configurations of the lower arm part of an excavator, in particular its equipment with additional elements.
  • the lower part of a handle is designated by 132 in FIG. 13, the digging tool 133 of which, in addition to the associated hydraulic actuation, is only indicated.
  • a digging tool 133 any other conventional tool, e.g. a gripper member may be provided.
  • a rotary connection can in turn follow at point 134.
  • the additional arm 135 denotes an additional arm articulated on the part 132 via an articulation point 136, a piston-cylinder unit 137 being provided for pivoting the additional arm 135.
  • the additional arm 135 carries at its end facing away from the hinge point 136 a roller 138 and the additional arm 135 is functionally comparable with the additional arm 76 bearing the roller 76 according to FIG. 9 '.
  • a carriage is designated by 139 and is slidably received in a dovetail guide 140 extending in the longitudinal direction of the stem 132.
  • a motor 141 which is operatively connected to a chain drive 142, serves to drive the carriage 139 along the dovetail guide 140.
  • the chain drive 142 is designed as a revolving chain which is connected to the carriage 139. Instead of a chain drive, a spindle drive can also be provided.
  • the carriage 139 carries a telescopic arm 143, which is preferably hydraulically telescopic perpendicular to the plane of FIG. 13.
  • the telescopic arm 143 can, however, also be pivotably articulated on the slide 139, the pivot angle again using a Piston cylinder unit is adjustable.
  • a cantilever arm 144 adjoins the telescopic arm 143 and carries a chainsaw 145 at its end remote from the telescopic arm 143.
  • 146, 147 schematically designate a motor that drives the chainsaw and a gear unit assigned to it.
  • the chain saw 145 together with the motor gear unit 146, 147 can also be connected to the cantilever arm 144 using a rotary connection whose axis is perpendicular to the plane of the drawing in FIG. 13.
  • the cantilever arm 144 can in turn also be designed to be telescopic, so that the distance between the motor 146 and the arm 143 can be changed.
  • FIG. 14 shows a side view of an embodiment of a cantilever arm 144 together with tools and linkage on the lower part 132 of a stick corresponding to FIG. 13.
  • the telescopic arm 143 can in turn be moved in the direction of the arrows 148 by means of the chain drive 142 via a slide, not shown in the drawing.
  • the point of articulation of the cantilever arm 144 on the telescopic arm 143 can be moved in the direction of the arrows 149 by telescoping the latter.
  • the cantilever arm 144 is rotatable about the axis 150 by at least 360 °.
  • a motor 151 preferably a hydraulic motor, which is structurally combined with a braking device, for example with a multi-disc brake, and in turn is attached to a fastening plate 152.
  • the mounting plate 152 in turn forms the end member of the telescopic arm 143 and is in fixed connection therewith. At the same time, it carries the inner ring 153 of a roller bearing 154, the outer ring of which is firmly connected to the cantilever arm 144 and is provided with an external toothing which is provided with a pinion 154 arranged on the output shaft of the motor 151 is engaged.
  • a mounting plate is designated, which is located at the end of the cantilever arm 144 facing away from the axis 150 and is in a fixed connection therewith.
  • the inner ring 158 is in a fixed connection with a further fastening plate 159, to which a motor 160 extending inside the inner ring 158 is attached, on the output shaft of which there is a pinion 161, via which a chainsaw 162 is driven.
  • the motor 160 can in principle be of any design and in particular with a braking device, e.g. be structurally combined with a multi-disc brake.
  • a toothed ring is designated by 163, which is attached to the side of the inner ring 158 facing away from the fastening plate 159 and is operatively connected to the pinion 164 of a motor 165, which in turn is fastened to the extension arm 144.
  • 166 is again a braking and locking device.
  • the motor 165 can in principle be of any type, but is preferably designed as a hydraulic motor, for example as an axial piston motor. It can be seen that the motor 165 can rotate the chain saw 162 about the axis 167.
  • 168 denotes the chain housing in the area of the pinion 61 and 169 denotes a spray nozzle for oil or another lubricant.
  • nozzle 169 another spray device can also be provided, for example a spray device for a coolant, for water, etc.
  • a spray device for a coolant, for water, etc. is, for example required for diamond saw blades, which can be provided instead of the chainsaw 162.
  • the spray device is connected to a supply device which is not shown in the drawing.
  • FIG. 15 largely corresponds to that according to FIG. 14.
  • the connection between the telescopic arm 143 and the part 132 is now characterized by a further rotary connection 170.
  • the outer ring of a rolling bearing is designated, which is in fixed connection with the telescopic arm 143 and whose external toothing is in engagement with the pinion 172 of a motor 173.
  • the inner ring 174 of this roller bearing is firmly connected to the slide, which can be moved in the direction of the arrows 148 via the chain drive 172.
  • the motor 173 Also on attached to this carriage is the motor 173. It can be seen that the extension arm 144 can be rotated about the axis 150 in any manner via the motor 173.
  • the motor 173 can in turn be provided with a braking and locking device, which is no longer shown in the drawing, so that the extension arm 144 can be locked in any angular position.
  • part 132 or the digging tool denotes a piston-cylinder unit, the piston of which acts on a drilling or hammer tool 176 which can be displaced in a straight line within the part 132 in the direction of the arrows 148.
  • the digging tool is a spoon 177, the axis of which is formed in two parts, wherein the said tool can emerge in the space between the parts 177, 177 ′′ and become effective.
  • 16 and 17 finally show an embodiment of the chassis of an excavator, or also of a crane, which is particularly important in connection with telescopic booms and is suitable for improving the safety against tipping in the case of unfavorable boom positions.
  • 16 and 17 show a chain undercarriage 178 which is provided with supports 179 which can be extended laterally, in particular in a horizontal plane, and are arranged in pairs at a distance and which are between a retracted position, that is to say fully retracted into the contour of the undercarriage 178, and one maximum extension position are movable. Piston-cylinder units are again provided to drive these supports 179.
  • the supports 179 each carry at their outer end, ie the end facing away from the crawler track 178
  • Support feet 180 which end in disk-like or plate-like uprising parts, can be moved vertically, ie in the direction of the arrows 181, actuated by pressure medium and, if necessary, are fastened pivotably about horizontal axes in the region of their fastening points on the supports 179.
  • the system of supports 179 and support feet 180 can in principle also be arranged in the superstructure of the excavator or other vehicle.
  • FIG. 18 The exemplary embodiment shown in FIG. 18 is characterized by a cantilever 67 which essentially corresponds to that of FIG. 9.
  • a saw blade 48 additional arm 45 which can be pivoted at least about an axis 46 perpendicular to the drawing plane of FIG. 18, and a further additional arm 183, which is pivotably mounted at least about an axis 184, and a lifting device leads.
  • the vehicle 75 is characterized by a modified chassis 185.
  • FIG. 23 In order to describe the undercarriage, reference is also made in the following to the graphic representation according to FIG. 23.
  • the undercarriage 185 is characterized by four support arms 186, all of which consist of two parts 188, 189 which are articulated to one another via articulation points 187, the axes of which run perpendicular to the plane of the drawing in FIG. 18.
  • the jibs 186 are on the four Corner points of the vehicle 75 articulated.
  • Piston-cylinder units 190 are provided for motorized pivoting about the articulation points 187. As can be seen in particular in FIG. 23, the piston-cylinder units 190 are located on both sides of the support arm 186 and the pivot axis of these articulation points is designated by 191.
  • the support arms 186 are each connected to the vehicle 75 via an articulation point 192, the axis of which extends perpendicular to the plane of the drawing in FIG. 23.
  • the axis of this hinge point 192 is designated by 193 in FIG. 18.
  • the pivot point 192 is connected directly to the vehicle 75 via a rotary connection of the type already described at the beginning, the axis of this rotary connection 194 being designated by the reference number 195 in FIG. 23.
  • Each outrigger 186 carries at its end facing away from the vehicle 75 an individual crawler track 197, which can in principle also be designed as a conventional tired chassis.
  • the crawler chassis 197 or the other undercarriage arranged here is connected to the lower end of the respective support arm via a cardan joint 198, which is indicated in the drawing and which thus swivels the Crawler chassis 197 enables two mutually perpendicular axes.
  • a cardan joint 198 instead of a universal joint 198, a similar articulation that enables pivotable movements can also be considered.
  • each crawler track 197 and the lower part of the chassis 199 are provided with coupling devices which are designed and designed to establish a direct connection between the individual crawlers 197 and the chassis 199 and in particular are arranged such that the crawler tracks are coupled 197 to the chassis' 199 is possible simply by pivoting the parts 188, 189 of the individual outrigger arms.
  • the exact design of the attachment of the outrigger arms to the crawler tracks 197 and at the articulation points 192, on the other hand, is expediently dimensioned such that these connections can be released in a few simple steps and in particular using a comparatively simple tool, in the same way establishing a connection between the crawler tracks 197 and the chassis 199 can be produced.
  • the device shown in Fig. 18 can be used in quite a variety of ways, e.g. in building construction, but also in bridge construction, e.g. working in rivers or other bodies of water.
  • the device shown can also be used like a conventional excavator or the like of the type already described by pivoting the support boom in the sense described above and connecting the crawler tracks 197 to the chassis 199.
  • FIG. 19 shows an alternative embodiment of a rotary connection which essentially corresponds to that according to FIG. 12. However, it differs from the latter in the following:
  • annular plate 201 is attached to the front end of the part 79, at whose end facing away from the aforementioned end an annular plate 201 is attached which, like the circular plate 200, extends coaxially to the axis 81 and in turn the inner ring 116 of the roller bearing 113 is attached.
  • the circular plate 201 corresponds functionally to the circular plate 115 according to FIG. 12 and serves to fasten the motor 117, which is operatively connected to the pinion 120 via the gear 119.
  • the motor 117 is located within a guide tube 202, which is located on the side of the circular plate 201 facing away from the gear 119 and is fastened to the latter.
  • the guide tube 202 serves to guide a guide cylinder 203 coaxially to the axis 81, the end of which is remote from the circular plate 201 is closed by a plate 204 to which the coupling device 128 is attached, which establishes the connection with the piston-cylinder unit 129.
  • the guide cylinder 203 can thus be displaced in a straight line by acting on the piston-cylinder unit 129 in the direction of the arrow 127 and in the opposite direction.
  • a system of radial webs 205 which are provided in a uniform circumferential distribution and penetrate a corresponding number of axially parallel slots 206 of the part 79.
  • a cylinder part 207 is attached to the radially outer end of the webs 205, which corresponds functionally to the cylinder part 108 according to FIG. 12 and bears the toothing 110 radially on the inside.
  • the cylinder part 207 can be fastened to the webs 205 in any manner.
  • the slots 206 are naturally dimensioned in such a way that the mobility required for releasing the toothing engagement is given.
  • the piston-cylinder unit 129 can be acted upon on both sides.
  • a piston-cylinder unit which can be acted upon from one side can also be used, in which case the use of a return spring similar to the system according to FIG. 12 must be used.
  • 20 shows a tool attached to the end of an additional arm 283, which can be handled using the device according to the invention. It is a tool for applying mortar or plastering building walls.
  • a circumferential belt, which is guided by two rollers 209, 210, is designated by 208, which serves as a means of transport for the mortar and must be guided as parallel as possible to the wall to be plastered via the arm 283.
  • the tape consists of a suitable material that does not lead to caking of the mortar, and lateral guides, not shown in the drawing, which extend parallel to the boundaries of the tape 208 are provided for the mortar layer.
  • a nozzle arrangement is designated, through which the mortar is applied to the belt in the most uniform possible distribution.
  • the belt 208 rotates in the direction of the arrow 212 via a motor drive of one of the rollers 209, 210 and, in conjunction with a corresponding guidance of the building wall which is to be plastered, leads the Additional arm 183 the mortar application.
  • the tool shown in FIG. 24, which is attached to the additional arm 183, is a lifting or handling device which is specially designed for handling, for example, cuboid-like structures such as e.g. Building blocks is designed.
  • a frame 215 is rotatably mounted about the axis 216 by means of a drive 217.
  • the frame 215 is in turn mounted in a straight line in the direction of the arrows 218 with respect to an intermediate carrier 219, which intermediate carrier forms the direct link to the aforementioned rotatable mounting.
  • the rotatable mounting can be carried out in the manner of one of the rotary connections already described above, so that an exact description can be dispensed with.
  • Suction cups 220 which engage above and to the side of the block to be handled, are used for the immediate detection of the above-mentioned blocks.
  • the suction cups 220 are naturally connected to a vacuum source, not shown in the drawing.
  • Spacers are arranged in the space 221 of the two building blocks 222 shown in broken lines, by means of which the stones are held at a defined distance from one another, a suitable binding agent, for example mortar or a relevant adhesive, being able to be introduced into this space 221.
  • a suitable binding agent for example mortar or a relevant adhesive
  • a linear movement can be exerted on the blocks 222 held in the direction of the arrows 218 in order to put them on already set To be able to apply stones under a defined contact pressure.
  • Auxiliary devices, both for receiving the stones 222, can - as indicated at point 225 - have contactless sensors which measure the distance from defined reference edges, which can be, for example, ultrasound, lasers or other systems. These sensors are connected to a higher-level controller and thus also contribute to the exact positioning of the modules 222.
  • the tool shown in FIG. 24 can be modified in any way, as shown in FIG. 25, in which a lifting device, which also cooperates with a vacuum source, is designed such that large-area detection of plate-like objects is possible. 25 is therefore provided with a square arrangement of suction cups 226 and, in addition, is in turn equipped with auxiliary devices (not shown in the drawing) for the precise detection and positioning of the building blocks to be handled.
  • a further modification of the system shown in FIG. 24 can be that it is designed to detect more than two building blocks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)
  • Jib Cranes (AREA)
  • Knitting Machines (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Shovels (AREA)
  • Surgical Instruments (AREA)
  • Toys (AREA)
  • Agricultural Machines (AREA)
  • Component Parts Of Construction Machinery (AREA)

Claims (26)

  1. Dispositif pour le guidage d'au moins un outil, avec présence d'un élément de base (1) sur lequel est articulée au moins une flèche, au moins en deux éléments, qui supporte l'outil sur l'une de ses extrémités,
    - ladite flèche étant articulée en au moins une flèche de base (7, 20, 26, 43, 59, 78), articulée elle-même sur l'élément de base (1), et une tige (9, 70, 132,) supportant l'outil et articulée de manière pivotable sur la flèche de base ;
    - les articulations de la flèche de base (7, 20, 26, 43, 59, 68) sur l'élément de base et celles de la tige (9, 70, 132) sur la flèche de base étant conformées dans au moins un plan pour la réalisation de mouvements de pivotement ,
    - avec la présence d'au moins deux assemblages rotatifs (13, 14, 29, 30, 51) au moyen desquels, respectivement, la flèche de base (7, 20, 26, 43, 59, 68) et/ou la tige (9, 70, 132) et/ou au moins un élément se trouvant entre ces derniers, est divisé en au moins deux éléments rotatifs l'un par rapport à l'autre,
    - tandis que, à chaque assemblage rotatif, est associé un entraînement à commande indépendante,
    caractérisé
    - en ce que les axes (15, 16, 30, 37, 52) des assemblages rotatifs (13, 14, 29, 36, 51) s'étendent, au moins partiellement, en direction longitudinale de la flèche de base, de la tige ou de l'élément cité,
    - en ce que chaque assemblage rotatif (13, 14, 29, 36, 51) comprend un palier à roulement (92, 113) pour assurer l'appui coaxial mutuel des éléments mentionnés, l'entraînement mentionné pour la rotation des éléments les uns par rapport aux autres, ainsi qu'un dispositif de freinage et d'immobilisation, et
    - en ce que chaque assemblage rotatif (13, 14, 29, 36, 51) est conçu pour la mise en oeuvre de rotations, d'au moins 360° des éléments mentionnés les uns par rapport aux autres.
  2. Dispositif selon la revendication 1, caractérisé en ce que l'articulation sur l'élément de base est réunie à un assemblage rotatif (29, 36, 51).
  3. Dispositif selon la revendication 2, caractérisé en ce que l'angle d'inclinaison (30) de l'assemblage rotatif (51) est réalisé de manière réglable par rapport à un plan de référence.
  4. Dispositif selon l'une des revendications 1 à 3, caractérisé par la présence d'articulations complémentaires (21, 23) assurant le pivotement réciproque des éléments ou de la flèche de base sur l'élément de base, les axes (22, 24 ) de ces articulations complémentaires s'étendant parallèlement à des plans transversaux voisins de l'élément respectif.
  5. Dispositif selon l'une des revendications 1 à 4, caractérisé en ce que, à chaque articulation complémentaire (21, 23) de pivotement, est associé un entraînement à commande indépendante.
  6. Dispositif selon l'une des revendications 1 à 5, caractérisé par la présence d'un assemblage articulé de la flèche sur l'élément de base ou de l'assemblage rotatif (29), disposé sur ce dernier, ledit assemblage étant réalisé sous la forme d'une articulation à cardan ou à rotule, et en association avec deux unités cylindre-piston à commande indépendante, articulées sur l'une de ses extrémités en un point de la flèche et sur l'autre de ses extrémités sur des points distants l'un de l'autre de l'élément de base ou de l'assemblage rotatif (29), afin de permettre des mouvements de basculement de la flèche autour de son point d'articulation sur l'élément de base ou sur l'assemblage rotatif (29).
  7. Dispositif selon l'une des revendications 1 à 6, caractérisé
    - en ce que sur l'extrémité de la tige (9, 70, 132) portant l'outil, est articulé, de manière pivotable, au moins un bras complémentaire (54, 76′, 135, 144),
    - en ce que ce bras complémentaire est destiné et réalisé pour le guidage d'autres outils et/ou dispositifs pour la fixation d'outils,
    - en ce que le bras supplémentaire (45, 144) présente au moins deux articulations et peut être divisé en deux éléments,
    - en ce que les éléments du bras supplémentaire sont reliés par des points d'articulation qui sont réalisés dans la perspective de mouvements de rotation autour d'au moins un axe, et
    - en ce qu'à chaque point d'articulation est associé un entraînement à commande indépendante.
  8. Dispositif selon la revendication 7, caractérisé en ce qu'aux points d'articulation sont associés des mouvements rotatifs autour d'axes (150, 167), perpendiculairement à l'extension longitudinale des éléments et/ou parallèlement aux plans transversaux desdits éléments.
  9. Dispositif selon l'une des revendications 4 à 8, caractérisé en ce que les mouvements rotatifs (13, 14, 29, 36, 51) et les articulations pivotantes (21, 23) sont réunis structurellement.
  10. Dispositif selon la revendication 8 ou 9, caractérisé en ce que les points de pivotement comportant plusieurs axes sont réalisés sous la forme d'unités structurelles.
  11. Dispositif selon l'une des revendications 1 à 10, caractérisé en ce qu'au moins un élément est réalisé de manière télescopique.
  12. Dispositif selon l'une des revendications 1 à 11, caractérisé en ce que la flèche, y compris le ou les bras complémentaire(s), est équipée de conduites pour l'alimentation énergétique et la commande du ou des outils.
  13. Dispositif selon la revendication 12, caractérisé
    - en ce que la flèche ainsi qu'éventuellement le bras ou les bras complémentaire(s) est, ou sont, équipé(s) d' un système à câbles de traction, dans le but de fournir une force de traction dans la zone de l'outil, et
    - en ce que le système à câbles de traction est en liaison active avec un treuil (74) actionné par un moteur, ledit treuil étant disposé sur l'élément de base.
  14. Dispositif selon l'une des revendications 1 à 13, caractérisé en ce que l'élément de base est un véhicule agricole ou un véhicule aquatique ou une partie d'un tel véhicule.
  15. Dispositif selon l'une des revendications précédentes 1 à 13, caractérisé en ce que l'élément de base est une installation destinée à une implantation fixe et réalisée à cet effet.
  16. Dispositif selon l'une des revendications précédentes 1 à 14, caractérisé en ce que le système composé de l'élément de base et de la flèche est un dragueur mobile, une grue, un dispositif de manutention ou un échafaudage de construction équipé d'une plate-forme de travail.
  17. Dispositif selon l'une des revendications précédentes 1 à 13 et 15, caractérisé en ce que le système composé de l'élément de base et de la flèche est un dragueur fixe, une grue, un dispositif de manutention ou un échafaudage de construction équipé d'une plate-forme de travail.
  18. Dispositif selon l'une des revendications précédentes 1 à 17, caractérisé
    - en ce que l'élément de base est équipé d'un poids d'équilibrage (40) disposé de préférence de manière à pouvoir coulisser pour permettre la compensation des couples de basculement et
    - en ce que l'élément de base est équipé d'un magasin à outils et/ou d'un dispositif d'alimentation pour fluides réfrigérants, lubrifiants, etc.
  19. Dispositif selon l'une des revendications précédentes 1 à 18, caractérisé
    - en ce que la flèche de base (7, 20, 26, 43, 59) présente une forme coudée,
    - en ce que l'outil placé sur la tige (9, 70, 71, 132) est un excavateur, un grappin, un outil pour le traitement superficiel de pièces à usiner ou autres objets, un outil pour l'usinage avec ou sans copeaux, un engin de levage ou un outil de montage et
    - en ce que l'outil fixé sur la tige ou sur chaque bras complémentaire (45, 76′, 135, 144) est un excavateur, un grappin, un outil pour le traitement superficiel de pièces à usiner ou autres objets, un outil pour l'usinage avec ou sans copeaux, un engin de levage ou un outil de montage.
  20. Dispositif selon l'une des revendications précédentes 1 à 19, caractérisé
    - en ce que l'entraînement de chaque assemblage rotatif (13, 14, 29, 36, 51) est constitué essentiellement d'un moteur (103, 117) et d'un engrenage (102, 119) et
    - en ce que l'entraînement est en liaison active avec la bague extérieure du palier à roulement (92, 113).
  21. Dispositif selon l'une des revendications précédentes 1 à 20, caractérisé en ce que les dispositifs de freinage et d'immobilisation comprennent au moins un dispositif de freinage et/ou d'arrêt qui est disposé en parallèle à l'entraînement pour ce qui concerne les fluides énergétiques.
  22. Dispositif selon l'une des revendications précédentes 1 à 20 ou 21, caractérisé en ce que le dispositif de freinage et d'immobilisation comprend au moins un dispositif de freinage et/ou d'arrêt qui est disposé en série avec l'entraînement, pour ce qui concerne les flux énergétiques.
  23. Dispositif selon l'une des revendications précédentes 1 à 20 ou 22, caractérisé
    - en ce que pour l'exercice d'une fonction d'arrêt, les éléments sont placés en prise par un engrenage pouvant être désengrené par coulissement axial et
    - en ce que cette prise par engrenage est disposée parallèlement à l'entraînement.
  24. Dispositif selon l'une des revendications précédentes 19 à 23, caractérisé par la présence d'un dispositif de mesure angulaire (122) pour le calcul de l'angle de rotation entre les éléments, ledit dispositif de mesure (122) étant en liaison active avec une commande qui coordonne les mouvements rotatifs des entraînements et/ou l'engrenage ou le désengrenage entre les éléments.
  25. Dispositif selon l'une des revendications précédentes 11 à 24, caractérisé en ce que, à chaque assemblage télescopique d'éléments, sont associés des dispositifs de mesure des longueurs.
  26. Dispositif selon l'une des revendications 1 à 25, caractérisé en ce que, sur l'élément de base, sont disposés, de manière à pouvoir sortir latéralement, des pieds supports (180) destinés et conformés pour reposer sur le sol.
EP91919534A 1990-11-15 1991-11-13 Dispositif pour la commande d'au moins un outil Expired - Lifetime EP0513260B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4036466 1990-11-15
DE4036466 1990-11-15
PCT/EP1991/002136 WO1992008850A2 (fr) 1990-11-15 1991-11-13 Dispositif pour la commande d'au moins un outil

Publications (2)

Publication Number Publication Date
EP0513260A1 EP0513260A1 (fr) 1992-11-19
EP0513260B1 true EP0513260B1 (fr) 1995-06-28

Family

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Family Applications (1)

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EP91919534A Expired - Lifetime EP0513260B1 (fr) 1990-11-15 1991-11-13 Dispositif pour la commande d'au moins un outil

Country Status (16)

Country Link
US (1) US5625967A (fr)
EP (1) EP0513260B1 (fr)
JP (1) JP2958924B2 (fr)
KR (1) KR100199255B1 (fr)
AT (1) ATE124486T1 (fr)
CZ (1) CZ280340B6 (fr)
DE (2) DE4133505A1 (fr)
DK (1) DK0513260T3 (fr)
ES (1) ES2073775T3 (fr)
LT (1) LT3788B (fr)
PL (1) PL168755B1 (fr)
RO (1) RO108710B1 (fr)
RU (1) RU2046885C1 (fr)
SK (1) SK279800B6 (fr)
UA (1) UA48103C2 (fr)
WO (1) WO1992008850A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1831499A1 (fr) * 2004-10-27 2007-09-12 Atlas Copco Rock Drills AB Unite de forage

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DE4133505A1 (de) 1992-05-21
DK0513260T3 (da) 1995-10-02
KR100199255B1 (ko) 1999-06-15
ES2073775T3 (es) 1995-08-16
LT3788B (en) 1996-03-25
KR920703935A (ko) 1992-12-18
PL295550A1 (fr) 1993-02-08
RO108710B1 (ro) 1994-07-29
US5625967A (en) 1997-05-06
ATE124486T1 (de) 1995-07-15
SK279800B6 (sk) 1999-03-12
JP2958924B2 (ja) 1999-10-06
UA48103C2 (uk) 2002-08-15
SK251492A3 (en) 1994-04-06
PL168755B1 (pl) 1996-04-30
RU2046885C1 (ru) 1995-10-27
CZ251492A3 (en) 1994-02-16
DE59105879D1 (de) 1995-08-03
LTIP1601A (en) 1995-07-25
WO1992008850A2 (fr) 1992-05-29
JPH05503333A (ja) 1993-06-03
EP0513260A1 (fr) 1992-11-19
CZ280340B6 (cs) 1995-12-13
WO1992008850A3 (fr) 1992-07-09

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