EP0610577B1 - Multi-part accessory for a mobile working apparatus - Google Patents

Abstract

A multicomponent attachment apparatus for a movable working device which is detachably attached to the front end of the working device, including a device-sided adapter in order to connect the attachment to the working device, a building component-sided supporting member with holders to pick up, move, hold and deliver a building component, and intermediate pieces between the adapter and the supporting member, whereby the intermediate pieces are connected movably together and to the adapter and the supporting member and include a lifting module (1) which is connected to the working device and can be vertically adjusted and fixed in position at any desired height with respect to the working device by a lifting drive; a sliding module (4) movably mounted to opposite sides of the front of the lifting module (1) and movable by a sliding drive and stoppable in any desired side position; a spacing module (10) mounted to the front of the sliding module is movable in a longitudinal direction of the working device by means of a spacing drive and can be held in a desired position; and a swivelling module (20, 26) which is swivel-mounted on the front of the spacing module (10) and is swivellable by a pivot drive and can be stopped in a desired swivel position.

Description

• a) ein fahrzeugseitiges Anschließteil zum Anschließen des Manipuliergerätes am fahrbares Arbeitsgerät, ein bauteilseitiges Trageteil mit Halterungen zum Bewegen, Halten und Abgeben des Bauteiles und Zwischenteile zwischen dem Anschließteil und dem Trageteil vorgesehen sind,
• b) die Zwischenteile miteinander und mit dem Anschließteil sowie dem Trageteil beweglich derart verbunden sind, daß bis auf heben und senken räumliche Bewegungen möglich sind,
• c) ein Schiebemodul nach beiden Seiten verschieblich gelagert und mittels eines Schiebeantriebes verschiebbar sowie in einer gewünschten Seitenlage arretierbar ist,
• d) ein Distanzierungsmodul vorgesehen und mittels eines Distanzierungsantriebes in Längsrichtung zu verlängern oder zu verkürzen und in der gewünschten Position zu halten ist,
• e) vorn an dem Distanzierungsmodul ein Schwenkmodul schwenkbeweglich gelagert und mittels eines Schwenkantriebes zu verschwenken und in der gewünschten Schwenklage zu arretieren ist,
• f) ein Neigungsmodul vorgesehen ist, das um eine parallel zur Flurebene in Längsrichtung orientierte Neigungsachse in beiden Neigungsrichtungen zu neigen ist und
• g) ein Drehmodul vorgesehen ist, das um eine senkrecht auf der Flurebene stehende und durch die Mittellängsachse des Distanzierungsmoduls verlaufende Drehachse in beiden Drehrichtungen zu drehen ist.

The invention relates to a multi-part manipulator that can be detachably attached to a front of an industrial truck

• a) a vehicle-side connection part for connecting the manipulation device to the mobile working device, a component-side support part with brackets for moving, holding and releasing the component and intermediate parts between the connection part and the support part are provided,
• b) the intermediate parts are movably connected to one another and to the connecting part and the supporting part in such a way that spatial movements are possible except for lifting and lowering,
• c) a sliding module is slidably mounted on both sides and can be moved by means of a sliding drive and can be locked in a desired lateral position,
• d) a spacing module is provided and can be lengthened or shortened in the longitudinal direction by means of a spacing drive and held in the desired position,
• e) a swivel module is pivotally mounted on the front of the spacing module and can be swiveled by means of a swivel drive and locked in the desired swivel position,
• f) an inclination module is provided which is to be inclined in both inclination directions about an inclination axis oriented parallel to the floor plane in the longitudinal direction and
• g) a rotary module is provided which is to be rotated in both directions of rotation about an axis of rotation which is perpendicular to the corridor plane and runs through the central longitudinal axis of the spacing module.

The assembly of plate-shaped and / or rod-shaped components, if these are large in their spatial dimensions and / or heavy in weight, can be carried out by several people at the same time, the components, for example large-area plates or long rods, supports or frames and the like to be brought into the required position, to be held there and to be fastened. Such work is difficult and tiring due to the large dimensions and the high weights of such components. In addition, there is a considerable risk of accidents for the persons involved in this work and the risk that such plates or rods can be damaged during assembly work.

A manipulating device is known from US Pat. No. 3,598,263 which works together with a fork lift. This manipulator is attached to the tines of the fork's height-adjustable fork.

A platform is connected to the tines of the lifting carriage of the fork lifter, on which a circular guide for a rotary plate is provided. Two cross rails are provided on the rotating plate, on which suitable cross rails of a sliding frame are arranged, the sliding frame being laterally displaceable relative to the lifting slide by means of the cross rail pair. The rotating plate is rotatably mounted on the platform and can be rotated by means of a pump.

On a vertically standing bearing rail, two spaced-apart thrust piston gears are provided, on the piston rod ends of which a bar is arranged, which is connected to a supporting part. Here, the support part is at an angle of 180 ° rotatable and can be fixed on the circumference in certain positions.

In addition, the supporting part is pivotally mounted to a limited extent about the horizontal transverse axis and is provided with a plurality of suction cups with which a glass pane can be held.

Of the three possible longitudinal movements, namely distancing in the longitudinal direction, pushing in the horizontal transverse direction and lifting in the vertical transverse direction, only the two first-mentioned movements are possible.

Of the three possible rotary movements, namely tilting about the longitudinal axis, pivoting about the horizontal transverse axis and rotating about the vertical axis, the first and last mentioned movements, namely tilting and rotating, are only possible by a limited angle, while the remaining movement, namely pivoting a horizontal transverse axis only by a very limited angle and without the possibility of picking up the component from the ground.

Furthermore, with this attachment, installation overhead or on a surface offset in height but parallel to the corridor level is not possible due to the low pivotability of the supporting part or the second pivot axis required for overhead installation. With this device, it can only be installed on largely vertical surfaces.

From DE-AS 1 006 794 a stacking device is known which has a chassis, at the front end of which a lifting mast is provided, on which a lifting carriage is guided so as to be adjustable in height.

Here, the mast together with the lifting carriage belongs directly to the stacking device, that is to say to the mobile working device. A frame-shaped auxiliary mast is arranged approximately horizontally on the lifting slide of the lifting mast, on which a slide equipped with a load carrier can be moved in the longitudinal axis of the auxiliary mast. The auxiliary mast with the slide and the load carrier represents an attachment that is designed as a spacing module.

In this case, the mobile implement consists of the undercarriage, the mast and the lifting carriage, while the attachment consists of the auxiliary mast, the carriage and the load carrier. The separation between the mobile implement and the attachment thus runs between the lifting carriage of the mast and the device-side articulation end of the auxiliary mast. The mast and its lifting carriage are fixed, non-removable parts of the implement and are therefore not part of the front attachment. They cannot be assigned to the additional device either.

This attachment only allows movement in the longitudinal direction of the auxiliary mast or in the vehicle longitudinal direction. It is not possible to lift the load carrier with this attachment, rather it is lifted over the lifting carriage of the lifting mast, that is to say by means of the mobile implement.

With this known stacking device it is possible to raise or lower loads and to take loads with the connected load carrier, to move them along the auxiliary mast, to subsequently move them with the working device and finally to set them down again.

From DE-Z: Deutsche Hebe- und Fördertechnik, July 1988, p. 89 a clear view tine adjustment device is known, which is arranged as a lifting carriage on a fork lift truck and whose tines are laterally displaceable, in such a way that both tines are arranged move in opposite directions. This means that both tines are moved either towards each other or apart. This means that the tines cannot be moved out of alignment with the fork lifter. This means that only the distance between the two tines or the loading distance between the two tines can be changed.

A front attachment for a mobile fork lift truck is known from German utility model 92 00 663, the front attachment has a frame that is to be connected to the fork fork forks. In addition, the attachment has a receiving device for receiving and delivering objects to be transported, the receiving device being connected to the frame so as to be pivotable about a horizontal axis. The receiving device has gripping elements for holding plate-shaped mounting elements. It is also provided that the horizontal axis is aligned transversely to the direction of travel of the fork lift and that the receiving device can also be pivoted about a vertical axis. The horizontal axis and the vertical axis can be held in a first intermediate piece of the receiving device, which is connected to the frame so as to be pivotable about the vertical axis and to the rest of the receiving device about the horizontal axis. This makes it easier to attach mounting plates when building cold rooms and cold stores.

With this front attachment, it is only possible to take up plates and rotate them around three axes. A precise positioning of such plates is not possible with the front attachment, rather it is necessary for the exact positioning of the plates to position the plates with the fork lifter carrying the front attachment, that is to say to drive precisely with the fork lifter. This requires a particularly experienced forklift driver who must be constantly present during such assembly work.

It is therefore not sufficient to simply move the fork lift approximately in the vicinity of the assembly point and to carry out the exact positioning with the attachment.

From the German Offenlegungsschrift 25 15 562 an attachment for fork lift trucks with a mast for vertical displacement is known, which is able to work without additional support measures. This arrangement is such that a telescopic, angle-adjustable boom is provided on the fork carriage of the fork lift truck, at the end of which an articulated, adjustable platform is articulated, the platform of which with a hydraulic, by the respective angle adjustment device of the boom positively controlled inclination correction device in kept horizontal position becomes. In this case, elements are provided which couple the mechanical, hydraulic and electrical drive devices of the front attachment with the corresponding energy sources of the fork lifter which supply the mechanical, hydraulic or electrical energy.

The invention has for its object to provide a manipulator of the type mentioned, with which it is possible to lift and precisely position components in the form of bulky plates and long supports or frames, without the need for this exact positioning is to be carried out with the mobile implement itself, rather it is sufficient to bring the components by means of the mobile implement only in the vicinity of the assembly point.

It should therefore be possible to move plates and the like anywhere, completely independently of the industrial truck but exclusively by the manipulator, so that the position of the mobile implement relative to the position at which the plate or the like is to be attached for accuracy the positioning and for the positioning itself is of no importance.

• h) am fahrzeugseitigen Ende des Manipuliergerätes ein Hebe modul angeordnet ist, das mit dem fahrbaren Arbeitsgerät zu verbinden und gegenüber diesem mittels eines Hebeantriebes in der Höhe verstellbar sowie in der gewünschten Höhe festlegbar ist,
• i) das Schiebemodul vorn am Hebemodul vorgesehen ist,
• j) das Distanzierungsmodul vorn am Schiebemodul angeordnet ist,
• k) das Schwenkmodul das Trageteil bildet,
• l) das Neigungsmodul zwischen dem Schiebemodul und dem Distanzierungsmodul vorgesehen ist und mittels eines Neigungsantriebes anzutreiben und in einer bestimmten Position zu arretieren ist und
• m) das Drehmodul zwischen dem Distanzierungsmodul und dem Schwenkmodul angeordnet ist und mittels eines Drehantriebes anzutreiben und in einer gewünschten Position zu fixieren ist.

This object is achieved in that

• h) a lifting module is arranged on the vehicle-side end of the manipulation device, which is to be connected to the mobile working device and is adjustable in height by means of a lifting drive and can be fixed in the desired height,
• i) the sliding module is provided on the front of the lifting module,
• j) the spacing module is arranged on the front of the sliding module,
• k) the swivel module forms the supporting part,
• l) the inclination module is provided between the sliding module and the spacing module and is to be driven by means of an inclination drive and to be locked in a certain position, and
• m) the rotary module is arranged between the spacing module and the swivel module and is to be driven by means of a rotary drive and is to be fixed in a desired position.

Here, the attachment is designed so that the three linear movements can be carried out with it, namely lifting and lowering, lateral shifting to both sides and distancing in the longitudinal direction of the mobile implement back and forth as well as swiveling in a vertical plane in the longitudinal direction of the mobile implement. All of these movements are to be carried out solely by the front attachment, regardless of the implement to which it is to be connected, and without any of these movements being carried out by the implement, for example by the lifting mast of a stacking device of a truck loading crane or mobile crane.

In addition, the swivel angle of the swivel module should be slightly more than 90 ° around both swivel axes, so that both upright and flat-lying plate-shaped objects and profiles can be gripped by the attachment and moved around the second swivel axis until overhead installation.

All vehicles to which the attachment can be connected, for example by means of a coupling or the like, can be considered as mobile working devices. These vehicles are industrial trucks, trucks, excavators, mobile cranes and the like.

In this way, one arrives at a multi-part manipulating device which can be releasably attached to a mobile working device at the front and which can be attached to any mobile working devices. This manipulator is designed so that the manipulation of plates and the like takes place entirely independently of the mobile implement, exclusively by the manipulator. It is irrelevant in which inclined position the mobile vehicle is Working device is opposite the place where the plate or the like is to be attached, because the attachment is able to carry out all the necessary spatial movements for manipulating such a plate.

Furthermore, it is recommended that the swivel module consists of a swivel arm and a support arm, the swivel arm being pivotally mounted at its lower end in a swivel bearing on the spacer module or on the rotary module and at the upper end via an upper swivel bearing with the support arm connected is.

The drives of the individual modules can be mechanical, electrical, hydraulic or pneumatic drives or drives by hand.

According to a further advantageous feature of the invention, the arrangement can be such that suction cups, electromagnets or mechanical holders in the form of clips or the like are provided on the support arm as holders, which are distributed on the support arm in a certain pattern or on a certain grid are arranged.

Fig. 1

eine Seitenansicht auf das erfindungsgemäß ausgebildete Vorsatzgerät in der inaktiven Stellung und

Fig. 2

das Vorsatzgerät gemäß Figur 1 in der aktiven Stellung.

The invention is further explained below using an exemplary embodiment, the illustration being largely stylized. It shows

Fig. 1

a side view of the inventive attachment in the inactive position and

Fig. 2

the attachment according to Figure 1 in the active position.

On an industrial truck, not shown in the drawing, a lifting module 1 is provided at its front end in the longitudinal direction of the vehicle, which can be adjusted upwards in the direction of arrow 2 on the industrial truck and downward in the direction of arrow 3 on the industrial truck and can be locked at the desired height . The height is adjusted via a drive, not shown in the drawing.

In the longitudinal direction of the vehicle in front of the lifting module 1, a sliding module 4 is provided on the latter, which can be moved to the left in the direction of arrow 5 along the lifting module 1 and to the right in the direction of arrow 6 along the lifting module 1 and can be locked in the desired position. The drive for the sliding module 4 is also not shown.

Further in the vehicle longitudinal direction in front of the sliding module 4 is an inclination module 7, which is opposite the sliding module 4 in the direction of arrow 8 up to the right or in the direction of arrow 9 down to the left and vice versa by means of a drive not shown in detail in the drawing can incline.

Instead, it is also possible to incline the upper part 28 of the swivel arm 20 about an axis 29 in the direction of the arrow 30 and the arrow 30.

A distancing module 10 is attached even further in the longitudinal direction of the vehicle in front of the inclination module 7, since it is connected to the inclination module 7 via spacing brackets 11 and 12, the spacing module being used by means of a spacing drive (not shown) 10 direction of arrows 13 and 14 in the vehicle longitudinal direction to the front and in the direction of arrows 15 and 16 against the vehicle longitudinal direction to the rear is adjustable.

On the spacing module 10, a rotary module 17 is to be rotated clockwise about an axis of rotation 18 in the direction of the arrows 19 or counterclockwise against the direction of the arrows 19. The rotary module drive is not shown.

At the lower end of the rotary module 17, a swivel arm 20 is provided, which is pivotally attached to its lower end 21 in the area 22 by means of a swivel joint on the rotary module 17 and which at its upper end 23 in the area 24 via a swivel joint with the upper part 25 Support arm 26 is connected. Holders in the form of suction cups, electromagnets, mechanical clamps or the like are provided on the support arm in a manner not shown in detail, with which a component 27 can be picked up, moved, held, and released again. The component 27 can be a plate-shaped component or a rod-shaped component, in each case made of metal, plastic, wood, concrete or the like.

• a) Heben und Senken,
• b) seitliches Verschieben nach rechts und links,
• c) Längsverschieben nach vorn und zurück,
• d) Neigen oben nach rechts und links um eine horizontale Längsachse,
• e) Drehen rechtsherum und linksherum um eine vertikale Achse
  und
• f) Schwenken um mindestens eine horizontale Querachse.

With the above-described attachment for an industrial truck, bulky pallets, plates and the like plate-shaped objects, such as windows, doors and the like, but also rod-shaped material, in particular profiles, can be raised, swiveled, moved forward and moved sideways. With the support arm 26 arranged on the front attachment, it is thus possible to move a plate or the like as desired in space. The following six movement components are therefore possible:

• a) lifting and lowering,
• b) shifting to the right and left,
• c) longitudinal displacement forward and backward,
• d) tilt to the right and left about a horizontal longitudinal axis,
• e) Rotate clockwise and anti-clockwise around a vertical axis
  and
• f) swiveling around at least one horizontal transverse axis.

For picking up, moving, holding and releasing the individual components, it is possible to use either only suction cups or only electromagnets or suction cups and electromagnets together. Mechanical brackets can also be used.

The arrangement of the individual modules is interchangeable.

Claims (4)

1. A multi-part (1, 7, 10, 17, 20, 26) handling device which can be releasably mounted at the front on a mobile working apparatus, wherein

   a) there are provided a connecting part at the vehicle side for connection of the handling device to the mobile working apparatus, a carrier part (20, 26) at the component side with holding means for moving, holding and delivering the component, and intermediate parts between the connecting part and the carrier part (20, 26),

   b) the intermediate parts are movably connected together and to the connecting part and the carrier part in such a way that three-dimensional movements are possible except for raising and lowering,

   c) a thrust module (4) is mounted displaceably towards both sides and is displaceable by means of a thrust drive and can be arrested in a desired side position,

   d) there is provided a spacing module (10) which is to be increased or reduced in length in the longitudinal direction by means of a spacing drive and is to be held in the desired position,

   e) a pivot module (20, 26) is mounted pivotably at the front on the spacing module (10) and is to be pivoted by means of a pivot drive and is to be arrested in the desired pivot position,

   f) there is provided an inclining module (7) which is to be inclined in both directions of inclination about an axis of inclination which is oriented parallel to the floor surface in the longitudinal direction, and

   g) there is provided a rotating module (17) which is to be rotated in both directions of rotation about an axis of rotation which is perpendicular to the floor surface and which extends through the longitudinal central axis of the spacing module,
      characterised in that

   h) arranged at the end of the handling device that is towards the vehicle is a lifting module (1) which is to be connected to the mobile working apparatus and which is displaceable in respect of height with respect thereto by means of a lifting drive and which can be fixed at the desired height,

   i) the thrust module (4) is provided at the front on the lifting module (1),

   j) the spacing module (10) is arranged at the front on the thrust module (4),

   k) the pivot module (20, 26) forms the carrier part (20, 26),

   l) the inclining module (7) is provided between the thrust module (4) and the spacing module (10) and is to be driven by means of an inclining drive and is to be arrested in a given position, and

   m) the rotating module (17) is arranged between the spacing module (10) and the pivot module (20) and is to be driven by means of a rotary drive and is to be fixed in a desired position.
2. A handling device according to claim 1 characterised in that the pivot module (20, 26) comprises a pivot arm (20) and a carrier arm (26), wherein the pivot arm (20) is pivotably mounted at its lower end (21) in a pivot mounting (22) on the spacing module (10) or on the rotating module (17) and at the upper end (23) is pivotably connected by way of an upper pivot mounting (24) to the carrier arm (26).
3. A handling device according to claim 1 or claim 2 characterised in that the drives of the individual modules (1, 7, 10, 17, 20, 26) are mechanical, electrical, hydraulic or pneumatic drives or drives are required.
4. A handling device according to one of the preceding claims characterised in that provided on the carrier arm (26) as holding means are suction cups, electromagnets or mechanical holding means in the form of clamps or the like, which are distributed on the carrier arm in a given pattern or are arranged on a given layout.

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