EP0930263A1 - Dispositif de manutention des charges - Google Patents

Dispositif de manutention des charges Download PDF

Info

Publication number
EP0930263A1
EP0930263A1 EP98300239A EP98300239A EP0930263A1 EP 0930263 A1 EP0930263 A1 EP 0930263A1 EP 98300239 A EP98300239 A EP 98300239A EP 98300239 A EP98300239 A EP 98300239A EP 0930263 A1 EP0930263 A1 EP 0930263A1
Authority
EP
European Patent Office
Prior art keywords
arm
balancer
load
support structure
rope
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.)
Withdrawn
Application number
EP98300239A
Other languages
German (de)
English (en)
Inventor
Roman Niggli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DORBEN COMPANY LIMITED
Original Assignee
Kerebel Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kerebel Ltd filed Critical Kerebel Ltd
Priority to EP98300239A priority Critical patent/EP0930263A1/fr
Publication of EP0930263A1 publication Critical patent/EP0930263A1/fr
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually

Definitions

  • the present invention relates to an apparatus for the handling of loads.
  • This type of apparatus is generally used to lift and move loads within the limits of a predetermined space e.g. at a mechanical component assembly station on a production line, or at a distribution point for products or for semi-finished products which must be sent to other work-stations for further operations to be carried out on them.
  • Devices known to the prior art comprise substantially a means for gripping or holding the load, at least one load counter-balancing device and means of measuring the weight of the load.
  • a commercial balancer can be used with its cable or rope (or cables or ropes) acting on said first arm at a point between the hinging point of the arm to the support structure and the means for gripping or handling the load, or in a point placed on an arm portion extending from the hinge point in a direction opposite to that of the load.
  • the device can operate taking into account not only the actual weight of the load but also the frictional forces between the various moving surfaces in mutual contact, and the apparatus may further comprise means of controlling the weight balancer automatically as a function of the weight of the load and the forces applied to it. In this way the power delivered by the balancer is controlled in real-time as a means of assisting the movement imparted by the operative.
  • an apparatus 1 comprising a support structure 2, which can be mounted on a fixed vertical support 2a or on a support longitudinally movable along a rail (not shown), and means 3 of gripping a load by an operative.
  • the means 3 are represented by a platform with handles 4 , but it is to be understood that said means may include any form which is found suitable to sustain the load, e.g. another frame to maintain a component in a particular position, or a hook.
  • the structure 2 carries a second arm 5 which is rotatable in a horizontal plane about the axis A and carries a depending plate 6 to which a first arm 7 is hinged at 8 to be able to swing in a vertical plane.
  • the other end of said first arm 7 is hinged, at 9, to a plate 10 carrying a load gripping and holding means, in the form of a rotatable supporting element 11 and said platform 3.
  • the arm 7 is twinned by another reinforcing arm 12 to set up a parallel structure in which the arm 12 is hinged at 13 to the plate 6 and at 14 to said plate 10, in order to control the movements of the load gripping or handling means 3, 11 in a vertical plane so that said means 3, 11 always remains parallel to itself.
  • Fig. 1 the positions of arm 7, 12 are also represented by dotted lines in the minimum and maximum elevations of the load.
  • a zero-gravity balancer 15 (in this embodiment a commercial zero-gravity balancer) is mounted on the support structure 12, for instance on the side thereof opposite to that of the arms 7, 12.
  • the balancer 15 usually operates by means of a cable or rope or a plurality of cables or ropes 16 to the end of which the load to be balanced is attached.
  • the cable or rope 16 passes over two freely rotatable pulleys 17 and 18, and is attached to a chosen point 19 along the extension of arm 7. More detailedly, the second arm 5 carries a support for the pulley 18 so that said pulley 18 and the point 19 are substantially aligned.
  • the zero-gravity balancer 15 can be of a commercial type, with given ranges of load capacity, lifting speed and stroke, it is possible to conform the balancer 15 with the required load weight and operating features of the apparatus by simply choosing the point 19 of attachment for the end of cable(s) or rope(s) 16 along the arm 7. Between the rope end and the arm attaching point 19, a conventional stroke reducer 20 can be placed. In this way, by simply varying the attaching point 19 (and if appropriate the horizontal position of pulley 18) it is possible to cover with a single balancer 15 very wide ranges of load weights and working requirements of the apparatus.
  • the balancer may be of the known type in which the (load) weight is pre-set, or of the self-balancing type, for instance by means of a load cell 21.
  • FIG 3 shows another embodiment of the present invention, wherein the same references indicate similar components to those of Figures 1 and 2.
  • the arms 7 and 12 are directly hinged to the support structure 2 which is rotatably mounted on its base 2a.
  • Arm 7 has an extension 7a in a direction opposite to that of the load and the attaching point 19 for the rope 16 of balancer 15 is provided at a suitably chosen point along this arm extension 7a.
  • the balancer 15 is fixedly mounted on the structure 2 and the rope 16 may reach the attaching point 19 directly or after passing on a free pulley 22 mounted on an arm 23.
  • the present invention encompasses apparatus and designs thereof in which the position of the rope or cable attachment point and the positions of the balancer are defined during design of the apparatus to meet particular operating requirements. This permits a basic design to be used for a variety of applications simply by varying one or both of the positions defined above. The apparatus is then constructed according to the design with the above positions predetermined.
  • the invention also encompasses apparatus and designs in which a plurality of attachment positions of the rope/cable and/or of the balancer may be pre-defined, and an individual apparatus can be configured or re-configured to suit immediate operating requirements.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP98300239A 1998-01-14 1998-01-14 Dispositif de manutention des charges Withdrawn EP0930263A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP98300239A EP0930263A1 (fr) 1998-01-14 1998-01-14 Dispositif de manutention des charges

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP98300239A EP0930263A1 (fr) 1998-01-14 1998-01-14 Dispositif de manutention des charges

Publications (1)

Publication Number Publication Date
EP0930263A1 true EP0930263A1 (fr) 1999-07-21

Family

ID=8234618

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98300239A Withdrawn EP0930263A1 (fr) 1998-01-14 1998-01-14 Dispositif de manutention des charges

Country Status (1)

Country Link
EP (1) EP0930263A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111422136A (zh) * 2019-01-10 2020-07-17 佛吉亚汽车工业公司 机动车辆的后部总成和相关使用方法
EP3862144B1 (fr) 2020-02-05 2023-11-08 BARRUS GmbH Manipulateur destiné à l'agencement sur un véhicule et procédé pour déplacer et/ou sécuriser un manipulateur

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3020562A1 (de) * 1980-05-30 1981-12-10 Fuchs, Johannes, 7257 Ditzingen Vorrichtung zum manuellen bewegen von lasten
US4529064A (en) * 1984-08-06 1985-07-16 Andrea Jr Rocco A D Gravity crane
WO1993000285A1 (fr) * 1991-06-25 1993-01-07 Stroedter Wilhelm Commande et regulation electroniques de l'equilibre d'engins de levage
EP0733579A1 (fr) * 1995-03-20 1996-09-25 Enzo Scaglia Dispositif de manutention d'une charge

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3020562A1 (de) * 1980-05-30 1981-12-10 Fuchs, Johannes, 7257 Ditzingen Vorrichtung zum manuellen bewegen von lasten
US4529064A (en) * 1984-08-06 1985-07-16 Andrea Jr Rocco A D Gravity crane
WO1993000285A1 (fr) * 1991-06-25 1993-01-07 Stroedter Wilhelm Commande et regulation electroniques de l'equilibre d'engins de levage
EP0733579A1 (fr) * 1995-03-20 1996-09-25 Enzo Scaglia Dispositif de manutention d'une charge

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111422136A (zh) * 2019-01-10 2020-07-17 佛吉亚汽车工业公司 机动车辆的后部总成和相关使用方法
EP3862144B1 (fr) 2020-02-05 2023-11-08 BARRUS GmbH Manipulateur destiné à l'agencement sur un véhicule et procédé pour déplacer et/ou sécuriser un manipulateur

Similar Documents

Publication Publication Date Title
US4597602A (en) Load leveling device
US4648647A (en) Load handling apparatus
CN106044534B (zh) 用于提升和安置载荷的具有六个自由度的自平衡设备
RU2401241C2 (ru) Устройство стропления детали с компенсацией усилия и подъемная система с таким устройством
EP0392926A3 (fr) Engin de télémanipulation prévu pour être suspendu à une unité de levage
GB2286573A (en) Load lifting apparatus overload sensing
US4659278A (en) Manipulator based on the pantograph principle
CN112775873A (zh) 一种检修平台
US6779635B1 (en) Mechanism for providing motion and force while maintaining parallelism between a base structure and a movable structure
CN101372036B (zh) 一种新型并联浇注机器人
EP0930263A1 (fr) Dispositif de manutention des charges
US5771748A (en) Highly stable Z axis drive
CN112743573B (zh) 一种具有自动配重装置的机械人及其使用方法
EP0733579A1 (fr) Dispositif de manutention d'une charge
CN220334589U (zh) 起重机吊具
KR100478396B1 (ko) 호이스트 장치용 컨트롤러
CN113998572B (zh) 一种变压器吊装机构
US3661276A (en) Extended reach counterweight
CN211366697U (zh) 吊具及升降机构
CN208516793U (zh) 八绳小车
CN114261878A (zh) 一种起重机械用具有自动调整机构的吊钩组件
SU1548030A1 (ru) Манипул тор
CN111634813A (zh) 起重机起升机构
US3795421A (en) Grapple assembly
CN221395975U (zh) 一种基于视觉的无序抓取装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DORBEN COMPANY LIMITED

17P Request for examination filed

Effective date: 20000117

AKX Designation fees paid

Free format text: AT CH DE ES FR GB IT LI NL SE

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20010801