EP1961691B1 - Transfer device - Google Patents

Abstract

The device has a transfer arm (1) and a cabin arm (2), where the cabin arm exhibits two arms (10, 20), which are connected with one another by a connecting element, and an actuating element (15) for moving one of the arms. The actuating element is linked by a coupling point to the connecting element, which is arranged below a coupling point (31) of the former arm. The two arms are coupled by a separated linking axis to the connecting element.

Description

The present invention relates to a transhipment apparatus having an envelope boom and a cabin boom, wherein the cabin boom comprises a first and a second arm, which are articulated to each other via a connecting element, and a first actuator for moving the first arm.

Under handling equipment in this context, handling equipment for example for wood, scrap or any other goods, but also to understand excavators and cranes. The envelope boom can be used to transfer the corresponding goods, while the cabin jib serves to adjust the position of the driver's cab. This gives the driver an improved view of the work area, such as hatches, railway carriages or the like. The cabin boom has for this purpose the articulated arms, via which the position of the car relative to the handling device is adjustable. The improved visibility allows more precise and faster work cycles.

The handling equipment usually has an envelope boom and a separate cabin boom, which can be moved independently of each other. The envelope boom is usually arranged on the superstructure, which is rotatable relative to the undercarriage. The cabin boom is usually also hinged to the uppercarriage of the handling unit and laterally offset from the envelope boom. At its free end, the cabin boom carries the driver's cab, which is movable relative to the superstructure.

Generic cargo handling equipment are off DE 44 43 170 C3 . EP 960 982 B1 and DE 20 2004 019 708 known in which both arms are made of parallel link gears. However, the lower parallel link elements of both arms have a common pivot axis on the connecting element, which causes an unfavorable distribution of forces and a severely limited movement. In addition, the actuators for movement of the parallel links are either disposed within the parallelogram, so that they are loaded on train, or the actuator for moving the first arm is disposed between the first and the second arm, which in turn means a limited Verstellgeometrie.

Object of the present invention is therefore to provide a handling device according to the preamble of claim 1, which has an improved distribution of forces and Verstellgeometrie.

This object is achieved by a handling device according to claims 1 or 2.

According to the invention for this purpose, the actuator for moving the first arm is articulated via a pivot point on the connecting element, which is arranged below the pivot points of the first arm or. This results in a significantly improved distribution of forces, in which the actuator is also burdened only by the weight of the cabin only to pressure. The effective area results from the bottom side of the hydraulic cylinder and is therefore larger than in the prior art. In addition, there is an improved Verstellgeometrie, in which the adjustment of the first and second arm can be designed independently of each other.

The present invention further comprises a handling device, in which, according to the invention, the first and the second arm are each articulated on the connecting element via separate pivot axes. By dispensing with a common pivot axis of the first and the second arm on the connecting element also the Verstellgeometrie is significantly improved and a more flexible interpretation of the movement path of the cabin boom possible.

It will be obvious to those skilled in the art that the aspects mentioned in claims 1 and 2 are independently of each other of great advantage. However, a particularly advantageous force distribution and Verstellgeometrie results in particular by a combination of both features in which the actuator is articulated for moving the first arm at a pivot point below the articulation points of the first arm on the connecting member and the second arm is articulated via separate pivot axes on the connecting element. This results in maximum flexibility in the design of the adjustment and movement geometry of the cabin boom and optimal power dissipation.

In addition, in the handling devices according to the invention, in order to achieve different reach heights or ranges, only the arms must be extended or shortened, while the kinematics with the actuators can basically remain the same. Here at most the piston diameter of the hydraulic cylinders used as actuators must be adapted. Thus, the handling device according to the invention can be adapted with minimal design effort for different operating conditions with respect to the range or reach.

Further advantageous embodiments of the present invention will become apparent from the dependent claims.

Advantageously, the actuator of the second arm is arranged on the underside of the second arm. Thus, this actuator is charged by the weight of the cabin only to pressure, so that here also results in a larger effective area. Also, the cramped space within the parallel links are avoided.

Further advantageously, according to the invention, the actuators of the first and / or the second arm are loaded by the weight of the cabin to pressure. This has the advantages already mentioned above regarding the force dissipation and the adjustment geometry.

Further advantageously, the driver's cab in the handling device according to the invention by force fit forcibly guided parallel or at a certain angle to the ground. As a result, the orientation of the cabin during movement of the cabin boom must not be readjusted, but is done automatically by positive engagement. The driver can thus bring the cabin in the desired position without changing the angle of the car to the ground.

Advantageously, for this purpose, the first and / or the second arm designed as a parallel link. This allows in a relatively simple manner a forced parallel guidance of the driver's cab.

Advantageously, the first and / or the second arm of the cabin boom according to the invention comprises at least one support element which has a closed box profile. This results in a sturdy construction which is lightweight at the same time yet stiffly responsive to bending and torsional loading.

Further advantageously, the first and / or the second arm is designed as a parallel link and comprises a bottom arranged main bearing element, which has a closed box profile. So takes over this main bearing element the main load, and the coupling rods and the connecting element can be made simpler and lighter in weight.

Further advantageously, in the transhipment device according to the invention, the first and / or the second arm of the cabin boom designed as a parallel link, wherein the arm associated with this actuator from outside of the parallelogram engages the lower arm. This results in the already described optimal force dissipation and adjustment geometry.

Further advantageously, the first and / or the second arm has in its interior at least one hollow profile for receiving the cables or hoses running to the driver's cab. In particular, these can advantageously run within the closed box profile.

Further advantageously, the connecting element according to the invention has a joint whose pivot axis is perpendicular to the pivot axes of the first and / or the second arm. By means of this joint, the cabin can not only be adjusted with respect to the height and the boom width, but can also be pivoted laterally. As a result, z. B. the lateral distance between the cabin jib and the cargo handling boom are increased, which may be necessary just for bulky Umschlaggut to still get an optimal view of the loading point. Advantageously, the pivot axis of the joint runs in the vertical direction.

Further advantageously, the joint of the connecting element is associated with an actuator. About this actuator, the cabin can then be pivoted accordingly.

Further advantageously, the hinge of the connecting element connects a first and a second part of the connecting element articulated to each other, wherein the first and the second arm are articulated respectively on the first and on the second part of the connecting element. In this case, it is of particular advantage that according to the invention the first and the second arm are each articulated via separate pivot axes on the connecting element and also the actuator is not arranged between the two arms.

Further advantageously, the connecting element has at least five separate pivot axes, in each case two for the arms of the cabin boom designed as parallel links and one for the actuator of the first arm. As a result, the three bearing points for storage and adjustment of the first arm can be arranged arbitrarily to the two bearing points of the second arm, so that the movement and Verstellgeometrie the boom can be arbitrarily adapted to the application.

Further advantageously, the cabin jib has a docking position on the handling device, in particular on the uppercarriage of the handling device. So the driver z. B. for maintenance work on the transhipment device or the superstructure by driving the cab in the docking position.

Further advantageously, the cabin can be lowered by the cabin boom to the ground level. Thus, the driver can either get on the ground from the ground, or he can use the cabin boom to transport spare parts on the handling device or on the superstructure.

For this purpose, the handling device advantageously has a platform for the transport of material, which is arranged on the cabin. This platform allows even larger elements to be transported with the cabin jib to the handling unit.

Access to the cab takes place either from the ground when the cab is lowered to ground level or in the docking position on the superstructure. It is also conceivable that the cabin boom still has a further access position, which allows easy access to the driver's cab.

Figur 1:

eine Seitenansicht eines Ausführungsbeispiels des erfindungsgemäßen Umschlaggeräts,

Figur 2:

eine weitere Seitenansicht des Ausführungsbeispiels des erfindungsgemäßen Umschlaggeräts,

Figur 3:

eine Seitenansicht des Ausführungsbeispiels des erfindungsgemäßen Umschlaggeräts mit abgesenkter Kabine,

Figur 4:

eine Seitenansicht des Ausführungsbeispiels des erfindungsgemäßen Umschlaggeräts mit der Kabine in Andockposition am Oberwagen und

Figur 5:

eine Seitenansicht eines weiteren Ausführungsbeispiel des erfindungsgemäßen Umschlaggeräts mit drei Detailansichten.

The present invention will now be explained in more detail with reference to embodiments and drawings. Show

FIG. 1:

a side view of an embodiment of the handling device according to the invention,

FIG. 2:

a further side view of the embodiment of the handling device according to the invention,

FIG. 3:

a side view of the embodiment of the invention Umschlaggeräts with lowered cab,

FIG. 4:

a side view of the embodiment of the handling device according to the invention with the cabin in docking position on the superstructure and

FIG. 5:

a side view of another embodiment of the handling device according to the invention with three detailed views.

FIG. 1 shows an embodiment of the cargo handling apparatus according to the invention with an envelope boom 1 and a cabin boom 2, which are arranged on the uppercarriage 5 of the material handling device according to the invention. The handling device is a wheeled excavator, which can be moved over the undercarriage 6. Just as well, the present invention can also be used for crawler excavators and other material handlers. The envelope boom 1 in this case has two articulated arms, which can be moved via corresponding actuators. Depending on the application, a corresponding gripper is then attached to the top of the turn-up jib with which the material to be handled can be gripped.

Envelope 1 and cabin jib 2 are next to each other so arranged on the superstructure 5, that the movement planes of the two arms substantially are arranged parallel to each other. Likewise, it is conceivable to set the plane of movement of the cabin boom slightly obliquely against the plane of movement of the envelope boom, so that increases with increased boom width of the cabin boom and the distance to the cargo handling boom.

The superstructure 5 is rotatably arranged in the envelope device shown on the undercarriage 6, so that both the envelope boom and the cabin boom, which are both hinged to the superstructure 5, are rotated by rotation of the upper carriage 5 in the same way.

In order to ensure the driver of the handling device an optimal view of the transfer point, the cabin boom 2 according to the invention comprises a first arm 10 and a second arm 20, which are connected via a connecting element 30 hinged together. The first arm 10 carries the driver's cab 3 of the handling device. For this purpose, a support bracket 4 is arranged on the first arm 10, which is designed in an L-shape and on which the driver's cab 3 is mounted. The second arm 20, however, is hinged on the handling device, here on the superstructure 5. The first arm 10 is moved via an actuator 15, the second arm 20 via an actuator 25. Both actuators are designed as a hydraulic cylinder.

According to the invention, the first actuator 15 is articulated to move the first arm 10 via a pivot point 33 on the connecting element 30, which is arranged below the articulation points 31 of the first arm 10. As a result, the first actuator 15 is only loaded on pressure. In addition, there is an improved Verstellgeometrie, in which the first and the second arm can be moved independently.

Furthermore, in the case of the handling device according to the invention, the first arm and the second arm 20 are articulated via respective separate pivot axes 31 and 32 on the connecting element. The fact that the first arm 10 and the second arm 20 have no common pivot axes, in turn, the adjustment and movement geometry of the cabin boom 2 can be optimally adjusted.

Also, the actuator 25 of the second arm 20 is disposed below the second arm 20, so that this is also loaded only by pressure.

The first and the second arm of the cabin boom 2 are both designed as a parallel link, so that the driver's cab is positively guided by means of positive engagement parallel to the ground. By this Parallellenkerausführung only the position of the cab 3, but not their inclination is changed by adjusting the cabin boom 2.

As it turned out FIG. 2 , in which the cover boom 1 is not shown for the sake of clarity, the first arm 10 consists of a main support element 12 and a coupling rod 10 which are each articulated via articulation points 11 on the support bracket 4 and via articulation points 31 on the connecting element 30. Likewise, the second arm 20 consists of a main support member 22 and a coupling rod 23 which are articulated via articulation points 21 on the superstructure 5 and articulation points 32 on the connecting element 30. The alignment of the articulation points 21 of the second arm 20 on the superstructure 5 to each other results automatically from the desired boom width and height of the cabin boom. If, in particular, a large boom height is important, the articulation points 21 are therefore arranged as possible in a horizontal line, whereas if a large boom width is required, the articulation points 21 are arranged more strongly in a vertical line. The oblique arrangement shown here is therefore a compromise of boom height and boom width. Moreover, the range of movement of the boom according to the invention can also be adjusted accordingly by the orientation of the articulation points 31 of the first arm 10 on the connecting element. In the present invention, the use of separate articulation axes 31 and 32 of the first and second arms on the connecting element 30 results in increased flexibility with which the desired radii of movement can be easily achieved.

The main support members 12 and 22 are embodied according to the invention as closed box sections, which gives them increased stability with a lightweight construction. Likewise, cables and hoses to the cab can be passed through the hollow sections in the main support members 12 and 22.

As already described, the first arm 15 associated with the first arm 15 is articulated via an articulation point 33 on the connecting element 30, which is located below the articulation points 31 of the main support member 12 and coupling rod 13. As a result, the first actuator 15 is disposed below the first arm 10 and loaded only on pressure. For this purpose, the first actuator 15 is furthermore articulated via an articulation point 14 on the first arm 10, specifically on the main support element 12 of the parallel link arranged at the bottom. The second actuator 25 associated with the second arm 20 is articulated via an articulation point 24 on the main support element 22 of the second arm 20 likewise designed as a parallel link, as well as via another articulation point on the uppercarriage of the handling device 5. The actuators are, unlike in the prior art, not disposed within the parallel link, but attack from outside to one of the two parallel link elements, here to the bottom arranged main support element. This results in the already described above advantages in the power dissipation and the Verstellgeometrie.

In FIG. 3 the cab 3 was lowered by the cabin boom to the ground level and is at a level with the undercarriage 6. This allows either the driver to board or material to the platform 7, which is located next to the car 3, are charged. The platform 7 is also at the support bracket 4, which is connected to the first arm 10 of the cabin boom, arranged. The platform 7 has a railing 9 with a lockable via a chain access opening. The cab 3 with the platform 7 is shown left again in frontal view.

At the in FIG. 3 In the embodiment shown, the actuators 15 and 25 of the first and second arms 10 and 20 of the cabin boom are shown in FIG Position in the area of their minimum length. Likewise, it would be possible by another embodiment of the actuators, the arms or the articulation points to lower the cabin boom below the ground level, so that he z. B. can be positioned below a quay wall. The cabin boom can be designed accordingly depending on the application, with an increased range in particular by a simple extension of the arms 10 and 20 is possible without the Verstellgeometrie the actuators 15 and 25 would have to be changed ..

FIG. 4 shows the cabin boom now in its docking position on the handling device, in which the platform 7 docks on a platform 8 arranged on the superstructure 5. This makes it possible, on the one hand, from the driver's cab directly to the superstructure z. B. to get to maintenance. It is also possible to transport material to the superstructure 5 and thus use the cabin boom as a material lift. The platform 8 on the superstructure 5 also has a railing 40 and can also be reached from the undercarriage 6 via a ladder 41.

FIG. 5 shows a second embodiment of the handling device according to the invention, which differs from the first embodiment only in the embodiment of the connecting element 30. The connecting element 30, which can be seen enlarged again on the right in individual views, has a joint 34, the pivot axis of which is perpendicular to the articulation axes 31 and 32 of the first and second arms. About this hinge 34, the pivot axis 34 is arranged vertically, the first arm 10 of the cabin boom and thus also the driver's cab itself can pivot laterally against the second arm 20, so that the cabin of the in FIG. 5 not shown Envelope boom, which would be arranged in the picture behind the cabin boom, swing away. For this purpose, the connecting element has an actuator 35, via which the joint 34 can be moved.

The connecting element 30 in this case has a first part 38 and a second part 39, which are pivotally connected to each other via the hinge 34.

On the first part 38 are the articulation points 31 of the first arm 10 and the articulation point 33 of the first actuator 15. At the second part 39 are the articulation points 32 of the second arm 20. The actuator 35 of the joint 34 is about articulation points with the first part 38th and the second part 39 of the connecting member 30 pivotally connected and so can adjust the pivoting position.

The joint 34 on the connecting element 30 thus results in the possibility of changing the lateral position of the driver's cab in addition to the adjustment of the deflection height and width, so that an almost arbitrary three-dimensional positioning of the driver's cab becomes possible, which provides an optimum view of the transhipment point allows, without this, the envelope boom would be impaired in its function. In particular, so even with bulky cargo in which the driver's cab must have a certain distance from the cargo handling boom, nevertheless an optimal view can be ensured.

Claims (14)

1. A material handling machine with a material handling boom (1) and a cabin boom (2), wherein the cabin boom (2) comprises a first and a second arm (10, 20), which are pivotally connected with each other via a connecting element (30), and a first actuator (15) for moving the first arm (10), wherein the first and the second arm (10, 20) are designed as parallel steering arms,
   characterized in
   that the actuator (15) is articulated to the connecting element (30) via a pivot point (33), which is arranged below the one or more pivot points (31) of the first arm (10), and that the actuator (15) associated to this arm (10) engages the lower arm from outside the parallelogram.
2. The material handling machine according to claim 1, wherein the first and the second arm (10, 20) each are articulated to the connecting element (30) via separate pivot axes (31, 32).
3. The material handling machine according to any of the preceding claims, wherein the actuator (25) of the second arm (20) is arranged on the lower surface of the second arm (20).
4. The material handling machine according to any of the preceding claims, wherein the actuators (15, 25) of the first and/or the second arm (10, 20) are under a compressive load by the weight of the cabin (3).
5. The material handling machine according to any of the preceding claims, in which the operator cabin (3) is forcibly guided parallel to or at a specific angle relative to the ground by means of a positive connection.
6. The material handling machine according to any of the preceding claims, wherein the first and/or the second arm (10, 20) comprises at least one supporting element (12, 22) which has a closed box profile.
7. The material handling machine according to any of the preceding claims, wherein the first and/or the second arm (10, 20) has at least one hollow section in its interior for receiving the cables or tubes extending to the operator cabin (3).
8. The material handling machine according to any of the preceding claims, wherein the connecting element (30) includes a joint (34) whose swivel axis is vertical to the pivot axes (31, 32) of the first and/or the second arm (10, 20).
9. The material handling machine according to claim 8, wherein an actuator (35) is associated to the joint (34) of the connecting element (30).
10. The material handling machine according to claim 8, wherein the joint (34) of the connecting element (30) pivotally connects a first and a second part (38, 39) of the connecting element with each other, and the first and the second arm (10, 20) each are articulated to the first or the second part (38, 39) of the connecting element (30).
11. The material handling machine according to any of the preceding claims, wherein the connecting element (30) has at least five separate pivot axes (31, 32, 34), namely two each for the arms (10, 20) designed as parallel steering arms and one for the actuator (15) of the first arm (10).
12. The material handling machine according to any of the preceding claims, wherein the cabin boom has a docking position on the material handling machine, in particular on the uppercarriage (5) of the material handling machine.
13. The material handling machine according to any of the preceding claims, wherein the cabin (3) can be lowered to ground level by the cabin boom.
14. The material handling machine according to any of the preceding claims, wherein a platform for transporting material is arranged at the cabin (3).

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