EP0520178B1 - Gripper - Google Patents
Gripper Download PDFInfo
- Publication number
- EP0520178B1 EP0520178B1 EP92108187A EP92108187A EP0520178B1 EP 0520178 B1 EP0520178 B1 EP 0520178B1 EP 92108187 A EP92108187 A EP 92108187A EP 92108187 A EP92108187 A EP 92108187A EP 0520178 B1 EP0520178 B1 EP 0520178B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- piston
- load
- actuator
- cylinder unit
- receiving opening
- 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
Links
- 230000005540 biological transmission Effects 0.000 description 2
Images
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
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/48—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces to vertical edge portions of sheets, tubes, or like thin or thin-walled articles
Definitions
- the invention relates to a gripper for picking up loads, in particular by frictional engagement according to the preamble of claim 1.
- a gripper for picking up loads, in particular by frictional engagement according to the preamble of claim 1.
- Such a device is e.g. already known from FR-A-2 533 635.
- the prior art includes grippers in which the frictional connection between the gripper and the load to be taken up is effected via lever linkages, DE-OSen 22 05 707, 29 16 597 and 29 10 624.
- the force or frictional connection is caused by the fact that, e.g. Via a crane hook, which engages in a crane hook eye at the upper end of the lever linkage, triggers a movement of the lever linkage when lifting, which leads to a pincer-like movement of gripping jaws arranged at the end of the lever linkage, which move towards one another and thereby grip the load clamped between them .
- the load is inserted into the load-receiving opening formed between two gripping jaws and clamped by means of a screw bolt which is rotatably inserted in one of the two jaws.
- the gripper which is also based on frictional or frictional engagement in accordance with DD-PSen 117 168 and 120 413, is equipped with a hydraulic locking mechanism for the lever linkage, which is intended to prevent the gripper from being unintentionally released after the load has been switched off.
- the hydraulic Locking thus locks the lever linkage in its position with a load clamped between the gripping jaws.
- the invention has for its object to provide a gripper that is more stable than the known grippers with power transmission via lever linkage.
- the end position with the open load receiving opening is secured by a locking bolt.
- the gripper thus consists of two mutually independent components, namely the pull frame with crane hook eye, which can also be manufactured in one piece and to whose lower crossbar the cylinders of the first KZE are attached.
- the second component which is displaceably guided in or on the pull frame in the direction of the axis of the KZE, has an upper transverse web against which the pistons of the first KZE abut with their free end face, i.e. loose, if necessary press on.
- the second component sits down from the upper crossbar, e.g. as a bracket with side bars, down into the gripping jaws that limit the load-bearing opening between them.
- At least one second KZE with a piston movable in the transverse direction of the load-receiving opening is arranged in one or both gripping jaws. This piston or these pistons tension the load to be taken up and establish a connection between the load and the gripper by means of frictional and non-positive locking.
- the piston can also cross the eyelet so that the load hangs on the piston as a bolt.
- the second KZE is directly connected to the first pressure medium side via lines.
- the pressure medium introduced into the system can flow from one cylinder into the other.
- a movement of the pistons of the first KZE leads to a movement of the piston or pistons of the second KZE, and this is done in such a way that the piston of the second KZE is moved out of its cylinder in the direction of the load to be absorbed when the pistons of the first KZE are pressed into their cylinders.
- the first component forming the gripper consists of the pull frame 1, which is integral or connected to the crane hook eye 2.
- the four first KZE 4 with piston 4a and cylinder 4b are arranged on the lower crosspiece 3 of the pull frame 1.
- the free end faces of the pistons 4a are located on the upper crosspiece 5 of the bracket 6 forming the second component of the gripper, which is continued via sidepieces 7 in the opposite gripping jaws 8, which limit the load-receiving opening 9.
- the second KZE 10 is arranged in one of the gripping jaws 8 and is connected to the first KZE via the line 11.
- the gripper is locked in the open position (FIG. 1) by a hook 12.
- the bracket 6 is guided in a slot 14 in the side webs 7 of the pull frame 1 (Fig. 3).
- the hook 12 is released. Then the pull frame 1 and bracket 6 with gripping jaws 8 can move vertically against each other.
- the bracket 6 will move due to its own weight with respect to the pull frame 1 down and the piston 4a press the first KZE 4 in its cylinder 4b.
- the pistons 4a displace the pressure medium from the cylinders 4b, which is pressed through the lines 11 into the cylinder 10b of the second KZE 10.
- the piston 10a of the second KZE 10 is pushed across the load-receiving opening 9 out of the cylinder 10b until it comes into contact with the load 13 inserted in the load-receiving opening 9 and presses it against the opposite gripping jaw 8 and thus holds it in a frictional manner by friction. Due to this frictional connection, the load can now be lifted and transported to the desired location.
- the bracket 6 After releasing the gripper when the load 13 is switched off, the bracket 6 can be brought back into the receiving end position (FIG. 1) secured by the hook 12 relative to the pull frame 1.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Non-Silver Salt Photosensitive Materials And Non-Silver Salt Photography (AREA)
- Polarising Elements (AREA)
- Materials For Medical Uses (AREA)
Abstract
Description
Die Erfindung betrifft einen Greifer zum Aufnehmen von Lasten, insbesondere durch Reibschluß gemäß dem Oberbegriff des Anspruchs 1. Ein derartiges Gerät ist z.B. bereits aus der FR-A-2 533 635 bekannt.The invention relates to a gripper for picking up loads, in particular by frictional engagement according to the preamble of
Zum Stand der Technik gehören Greifer, bei denen der Reibschluß zwischen dem Greifer und der aufzunehmenden Last über Hebelgestänge bewirkt wird, DE-OSen 22 05 707, 29 16 597 und 29 10 624. Der Kraft- oder Reibschluß wird dadurch hervorgerufen, daß, z.B. über einen Kranhaken, der in ein Kranhakenauge am oberen Ende des Hebelgestänges eingreift, beim Anheber eine Bewegung des Hebelgestänges auslöst, welche zu einer zangenartigen Bewegung von am Ende des Hebelgestänges angeordneten Greifbacken führt, welche sich dabei aufeinanderzu bewegen und dabei die zwischen ihnen eingespannte Last ergreifen.The prior art includes grippers in which the frictional connection between the gripper and the load to be taken up is effected via lever linkages, DE-OSen 22 05 707, 29 16 597 and 29 10 624. The force or frictional connection is caused by the fact that, e.g. Via a crane hook, which engages in a crane hook eye at the upper end of the lever linkage, triggers a movement of the lever linkage when lifting, which leads to a pincer-like movement of gripping jaws arranged at the end of the lever linkage, which move towards one another and thereby grip the load clamped between them .
Bei einer anderen Ausführung gemäß der EP-0 364 728 A1 wird die Last in die zwischen zwei Greifbacken gebildete Lastaufnahmeöffnung eingesetzt und mittels Schraubenbolzen, der in einer der beiden Backen drehbar eingesetzt ist, festgespannt.In another embodiment according to EP-0 364 728 A1, the load is inserted into the load-receiving opening formed between two gripping jaws and clamped by means of a screw bolt which is rotatably inserted in one of the two jaws.
Der ebenfalls auf Kraft- bzw. Reibschluß basierende Greifer gemäß DD-PSen 117 168 und 120 413 ist mit einer hydraulischen Verriegelung des Hebelgestänges ausgestattet, die ein unbeabsichtigtes Lösen des Greifers nach dem Abstellen der Last verhindern soll. Die hydraulische Verriegelung arretiert also das Hebelgestänge in seiner Stellung mit zwischen den Greifbacken eingespannter Last.The gripper, which is also based on frictional or frictional engagement in accordance with DD-PSen 117 168 and 120 413, is equipped with a hydraulic locking mechanism for the lever linkage, which is intended to prevent the gripper from being unintentionally released after the load has been switched off. The hydraulic Locking thus locks the lever linkage in its position with a load clamped between the gripping jaws.
Die vorerwähnten bekannten Greifer mit Kraftübertragung über Hebelgestänge sind verhältnismäßig instabil und daher nur für geringe Lastgewichte verwendbar.The aforementioned known grippers with power transmission via lever linkages are relatively unstable and can therefore only be used for low load weights.
Der Erfindung liegt die Aufgabe zugrunde, einen Greifer zu schaffen, der stabiler ausgeführt ist als die bekannten Greifer mit Kraftübertragung über Hebelgestänge.The invention has for its object to provide a gripper that is more stable than the known grippers with power transmission via lever linkage.
Zur Lösung dieser Aufgabe wird erfindungsgemäß durch die kennzeichnenden Maßnahmen des Anspruches 1 gelöst.To solve this problem, the invention is solved by the characterizing measures of
Gemäß einer bevorzugten Ausgestaltung des erfindungsgemäßen Greifers ist die Endstellung mit offener Lastaufnahmeöffnung durch einen Sperriegel gesichert.According to a preferred embodiment of the gripper according to the invention, the end position with the open load receiving opening is secured by a locking bolt.
Der Greifer besteht also aus zwei voneinander unabhängigen Bauteilen, nämlich dem Zugrahmen mit Kranhakenauge, der auch einstückig herstellbar ist und an dessen unterem Quersteg die Zylinder der ersten KZE befestigt sind. Das zweite Bauteil, welches in oder am Zugrahmen in Richtung der Achse der KZE verschiebbar geführt ist, weist einen oberen Quersteg auf, gegen den die Kolben der ersten KZE mit ihrer freien Endfläche stoßen, d.h. lose, ggf. unter Druck anliegen. Das zweite Bauteil setzt sich vom oberen Quersteg, z.B. als Bügel mit Seitenstegen, nach unten in die Greifbacken fort, die zwischen sich die Lastaufnahmeöffnung begrenzen. In einer oder beiden Greifbacken ist mindestens eine zweite KZE mit in Querrichtung der Lastaufnahmeöffnung beweglichem Kolben angeordnet. Dieser Kolben oder diese Kolben spannen die aufzunehmende Last und stellen eine Verbindung zwischen Last und Greifer durch Kraft- und Reibschluß her.The gripper thus consists of two mutually independent components, namely the pull frame with crane hook eye, which can also be manufactured in one piece and to whose lower crossbar the cylinders of the first KZE are attached. The second component, which is displaceably guided in or on the pull frame in the direction of the axis of the KZE, has an upper transverse web against which the pistons of the first KZE abut with their free end face, i.e. loose, if necessary press on. The second component sits down from the upper crossbar, e.g. as a bracket with side bars, down into the gripping jaws that limit the load-bearing opening between them. At least one second KZE with a piston movable in the transverse direction of the load-receiving opening is arranged in one or both gripping jaws. This piston or these pistons tension the load to be taken up and establish a connection between the load and the gripper by means of frictional and non-positive locking.
Falls die Last eine Öse hat, kann der Kolben die Öse auch queren, so daß die Last am Kolben als Riegel hängt.If the load has an eyelet, the piston can also cross the eyelet so that the load hangs on the piston as a bolt.
Die zweite KZE steht mit der ersten druckmittelseitig über Leitungen in direkter Verbindung. So kann das in das System eingebrachte Druckmedium aus einem Zylinder in den oder die anderen strömen. Eine Bewegung der Kolben der ersten KZE führt so zu einer Bewegung des oder der Kolben der zweiten KZE, und zwar geschieht das in der Weise, daß der Kolben der zweiten KZE in Richtung auf die aufzunehmende Last aus seinem Zylinder herausgefahren wird, wenn die Kolben der ersten KZE in ihre Zylinder hineingedrückt werden.The second KZE is directly connected to the first pressure medium side via lines. The pressure medium introduced into the system can flow from one cylinder into the other. A movement of the pistons of the first KZE leads to a movement of the piston or pistons of the second KZE, and this is done in such a way that the piston of the second KZE is moved out of its cylinder in the direction of the load to be absorbed when the pistons of the first KZE are pressed into their cylinders.
Der Vorgang beim Ergreifen und Abstellen einer Last wird anhand des in der Zeichnung dargestellten Ausführungsbeispiels erläutert.
Figur 1- zeigt den erfindungsgemäßen Greifer in seiner unwirksamen Endstellung,
Figur 2- in der Endstellung mit eingespannter Last,
Figur 3- ist eine Seitenansicht des Greifers.
- Figure 1
- shows the gripper according to the invention in its inactive end position,
- Figure 2
- in the end position with clamped load,
- Figure 3
- is a side view of the gripper.
Gleiche Teile sind in den verschiedenen Figuren mit denselben Bezugszeichen versehen.Identical parts are provided with the same reference symbols in the different figures.
Das erste den Greifer bildende Bauteil besteht aus dem Zugrahmen 1, der mit dem Kranhakenauge 2 einstückig oder verbunden ist. Am unteren Quersteg 3 des Zugrahmens 1 sind die vier ersten KZE 4 mit Kolben 4a und Zylinder 4b angeordnet. Die freien Endflächen der Kolben 4a liegen am oberen Quersteg 5 des das zweite Bauteil des Greifers bildenden Bügels 6, der sich über Seitenstege 7 in die gegenüberliegenden Greifbacken 8 fortsetzt, welche die Lastaufnahmeöffnung 9 begrenzen. In einer der Greifbacken 8 ist die zweite KZE 10 angeordnet, die über die Leitung 11 mit den ersten KZE verbunden ist. Durch einen Haken 12 wird der Greifer in der Öffnungsstellung (Fig. 1) arretiert. Der Bügel 6 ist in einem Schlitz 14 in den Seitenstegen 7 des Zugrahmens 1 geführt (Fig. 3).The first component forming the gripper consists of the
Zum Aufnehmen einer Last (13) mittels des erfindungsgemäßen Greifers, der in einen nicht dargestellten Kranhaken eingehängt sein mag, wird der Haken 12 gelöst. Daraufhin können sich Zugrahmen 1 und Bügel 6 mit Greifbacken 8 gegeneinander vertikal verschieben. Dabei wird sich der Bügel 6 aufgrund seines Eigengewichts gegenüber dem Zugrahmen 1 nach unten verschieben und dabei die Kolben 4a der ersten KZE 4 in deren Zylinder 4b drücken. Die Kolben 4a verdrängen dabei das Druckmedium aus den Zylindern 4b, welches durch die Leitungen 11 in den Zylinder 10b der zweiten KZE 10 gedrückt wird. Dabei wird der Kolben 10a der zweiten KZE 10 quer über die Lastaufnahmeöffnung 9 aus dem Zylinder 10b herausgedrückt, bis er an die in die Lastaufnahmeöffnung 9 eingesetzte Last 13 zur Anlage kommt und diese gegen die gegenüberliegende Greifbacke 8 drückt und damit durch Reibschluß kraftschlüssig festhält. Aufgrund dieser Reibschlußverbindung kann die Last nun angehoben und an die gewünschte Stelle transportiert werden.To pick up a load (13) by means of the gripper according to the invention, which may be hooked into a crane hook, not shown, the
Nach Entlastung des Greifers beim Abstellen der Last 13 kann der Bügel 6 gegenüber dem Zugrahmen 1 wieder in die durch Haken 12 gesicherte Aufnahme-Endstellung (Fig. 1) gebracht werden.After releasing the gripper when the
- 11
- ZugrahmenTrain frame
- 22nd
- KranhakenaugeCrane hook eye
- 33rd
- unterer Quersteglower crossbar
- 44th
- erste Kolben-Zylinder-Einheitfirst piston-cylinder unit
- 4a4a
- Kolbenpiston
- 4b4b
- Zylindercylinder
- 55
- oberer Querstegupper crossbar
- 66
- Bügelhanger
- 77
- SeitenstegeSide bars
- 88th
- GreifbackenGripping jaws
- 99
- LastaufnahmeöffnungLoad opening
- 1010th
- zweite Kolben-Zylinder-Einheitsecond piston-cylinder unit
- 1111
- Leitungmanagement
- 1212th
- Hakenhook
- 1313
- Lastload
- 1414
- Schlitzslot
Claims (2)
- A grab for receiving loads by frictional connection, wherein disposed between the crane hook lug (2) and the grab jaws (8) are a first pneumatic or hydraulic piston-and-cylinder unit (actuator) and a second actuator (10) which is connected on the pressure medium side via a line (11) to the first actuator and presses against the load during lifting, the positions of the first and second actuators being so adjusted by suitable quantities of pressure medium filled into the whole system that the piston (10a) of the second actuator touches the load before the or each piston (4a) of the first actuator has reached its end position countersunk in the cylinders (4b), characterized in that the crane hook lug (2) engages with a pulling frame (1) whose lower crossbar (3) bears at least two first actuators (4) whose pistons (4a) bear against the upper crossbar (5) of a bowed member (6) which can be displaced in relation to the pulling frame (1) and is continued in a one-piece grab jaw (8) bounding a load-receiving opening (9) traversed by a piston (10a) of the second actuator (10), the upper crossbar (5) being guided in slots (14) in the lateral webs (7) of the pulling frame (1).
- A grab according to claim 1, characterized in that the end position with the load-receiving opening (9) open is secured by a hook (12) acting as a lock bolt.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4120888A DE4120888A1 (en) | 1991-06-25 | 1991-06-25 | GRIPPERS |
DE4120888 | 1991-06-25 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0520178A1 EP0520178A1 (en) | 1992-12-30 |
EP0520178B1 true EP0520178B1 (en) | 1995-10-04 |
Family
ID=6434666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP92108187A Expired - Lifetime EP0520178B1 (en) | 1991-06-25 | 1992-05-15 | Gripper |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0520178B1 (en) |
AT (1) | ATE128696T1 (en) |
DE (2) | DE4120888A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104058330B (en) * | 2014-06-19 | 2015-10-14 | 牛永杰 | Pipeline transportation is sling all-in-one |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2366157A (en) * | 1944-03-28 | 1945-01-02 | Albert L Stahl | Grabhook |
FR1230272A (en) * | 1959-07-16 | 1960-09-14 | Claw for sheet metal handling | |
US3310335A (en) * | 1965-10-13 | 1967-03-21 | Neil E Shuey | Load lifting mechanism |
DE2255865C3 (en) * | 1972-11-15 | 1975-09-04 | Ernst Peiniger Gmbh, Unternehmen Fuer Bautenschutz, 4300 Essen | Device for gripping and pulling up facade elements or the like |
DE2940347A1 (en) * | 1979-10-04 | 1981-04-09 | Ballast-Nedam Groep N.V., Amsterdam | METHOD AND DEVICE FOR PRODUCING CONCRETE HOLLOW ELEMENTS |
FR2533635A1 (en) * | 1982-09-23 | 1984-03-30 | Albin Alexis | Process for recovering the potential energy developed by a crane and device for implementing this |
DE3404740A1 (en) * | 1984-02-10 | 1985-08-14 | Hermann Dipl.-Ing. 2080 Pinneberg Kruse | CRANE LOADING HARNESS |
-
1991
- 1991-06-25 DE DE4120888A patent/DE4120888A1/en not_active Withdrawn
-
1992
- 1992-05-15 EP EP92108187A patent/EP0520178B1/en not_active Expired - Lifetime
- 1992-05-15 DE DE59203880T patent/DE59203880D1/en not_active Expired - Fee Related
- 1992-05-15 AT AT92108187T patent/ATE128696T1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
DE4120888A1 (en) | 1993-01-07 |
DE59203880D1 (en) | 1995-11-09 |
ATE128696T1 (en) | 1995-10-15 |
EP0520178A1 (en) | 1992-12-30 |
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