EP2778109A1 - Grab - Google Patents

Abstract

The frame gripper (1) has a gripping frame (4), which is pivoted on a gripper head (2), which is suspended at a gripper-support shaft. The gripping frame has a recess (6) for driving up at the gripper-support shaft. The gripping frame has a frame unit (7) for closing the recess. The frame unit is designed such that it is removed from the recess.

Description

The present invention relates to a shell grab with at least one claw shell, which is hinged to a gripper head, which is suspended from a gripper arm, wherein the gripper shell has a recess for approaching the gripper arm.

Such claw grabs are used in a variety of forms and can be used, for example, loading cranes such as vehicle cranes or Z-cranes whose arm or boom is Z-fold collapsible, use. The arm of such loader cranes often has several arm sections, the Z-shaped zusammenschwenkbar and possibly telescopically be moved together to achieve a small-sized arrangement for road transport. In this context, it is important that the claw gripper mounted on the support arm can be moved as close as possible to the supporting arm section carrying it, so that the loading crane as a whole does not possibly project beyond the maximum vehicle width or length. This problem of compact transport position meets especially peel grab, but can also occur even with larger clamshell. In a larger grapple shell claw clashes unfavorably with him carrying Gripping arm of the crane or lifting device, whereby a compact transport position is prevented.

To address this problem, the grippers are usually chosen so small or made small by growing smaller gripper shells that the supernatant is eliminated or reduced to an acceptable level. However, this naturally leads to an unwanted reduction in Greifgutkapazität and achievable in the working operation handling rate.

In order not to reduce the size of the entire gripper bowl, it has already been proposed to insert a recess into the gripper bowl, into which the gripper carrier arm can enter, so that the protrusion amount is reduced. However, this leads to a still noticeable reduction in Greifgutkapazität and also to a deterioration in working mode, especially in free-flowing gripping material such as fine gravel, which can fall over the recess from the hook shell.

In the case of orange peel grabs, it has already been envisaged to position the plurality of gripper shells asymmetrically or to arrange them in such a way that an enlarged distance is provided between two gripper shells, into which the gripper carrier arm can enter in the retracted transport position, cf. DE 20 2006 002 928 U1 , The font FR 15 92 771 suggests upwards to the gripper head tapered shell contours that create more space in the pivoted position of the gripper to the gripping head out. However, such approaches bring nothing in clamshell grabs or large Einschalengreifern that are moved up in the transport position with the looper shell back to the gripper arm.

The present invention has for its object to provide an improved shell gripper of the type mentioned, which avoids the disadvantages of the prior art and the latter further develops in an advantageous manner. In particular, without affecting the volume of Greifgutaufnahmeraums or the gripper capacity in the working mode, a compact transport position with the gripper arm moved gripper cup are possible, which reduces the supernatant of the shell gripper in the transport position.

According to the invention, said object is achieved by a shell grab according to claim 1. Preferred embodiments of the invention are the subject of the dependent claims.

It is proposed to make the gripper bowl changeable in terms of its shell shape by means of a movable shell part, so that a disturbing, colliding contour when approaching the gripper arm is removable. According to the invention, the gripper shell comprises a recess closing the shell part, which is removable from the recess. By removing said shell part, a recess in the gripper shell can be produced, in which the gripper arm is at least a little retractable, so that a compact transport position can be reached. In the position closing the recess, said shell part forms a section of the gripper shell wall or gripper shell contour, so that the gripper shell has a complete shell contour in the working configuration without said recess, so that the full shell capacity can be used in operation without impairments.

Advantageously, said shell part can be movably mounted on the remaining gripper shell or a body part of the gripper shell, so that said shell part is movable between a working position closing the recess and a transport or storage position releasing the recess. In principle, it would also be possible to form the recess closing the shell part in the manner of a removable lid, which can be detached from the shell body and removed from the gripper bowl to release the recess and then placed back on the recess for the working operation. However, in order not to have to build and dismantle separate parts and to be able to accomplish the change between working position and transport position easier and above all faster, it is from Advantageous to store said shell part for closing the recess movable on the body of the gripper shell, so that the movable shell part remains in the recess releasing transport position on the body of the gripper shell.

The movable mounting can in this case basically be formed in various ways, for example, be provided a sliding bearing or the movable shell part in the manner of a sliding door, which is slidable in front of the recess to close the recess in the working position, and adjacent to the recess can be pushed to release this. As an alternative to such a sliding solution, said shell part can be designed in particular in the manner of a pivoting flap and pivotally mounted on the body of the gripper shell, so that the recess in the gripper shell can be released or closed by opening and closing the movable shell part.

The pivot bearing can be adapted to the conditions of the gripper shell, in particular their contouring. For example, the movable shell part by means of a link assembly, such as a pair of pivot pins articulated on the body of the gripper cup to be articulated, where appropriate, one, two, three or more pivot axes can be realized.

In terms of a simple, robust and wear-resistant training, however, a single-axis pivot bearing can be provided in an advantageous development. In particular, the movable shell part can be pivoted about a pivot axis which extends along an edge side of the recess and / or along an edge side of the shell part, so that the movable shell part can hinge about one of its edges in the manner of a door or a flap.

Advantageously, the movable mounting of the shell part is designed such that the shell part, when it is moved into its transport position, inwardly into the gripping material receiving space defined or enclosed by the gripper shell into driving. Although it would in principle also be possible to provide an outwardly opening configuration in which the movable shell part to the outside, that is movable to the outside of the gripper shell, however, said Wegfahrbarkeit of the movable shell part has inward advantages in terms of space in the transport position and also advantages also in work mode. When said shell part is moved inwards to release the recess, the gripper interior is used and there is no further part in the way on the collision-critical gripper outer side, which could hinder the approach to the gripper arm. On the other hand, driving away inwards is also favorable for the working position, since this leads to the forces acting in the working mode or the gripping material located in the gripping goods receiving space pressing the movable shell part into its working position closing the recess.

If a pivotable mounting of the movable shell part on the body of the gripper shell provided in the aforementioned manner, it may be particularly advantageous to pivot said shell part with a lower edge portion pivotally on the body part of the gripper shell, so that the shell part with its upper edge portion in the Greifgutaufnahmeraum the gripper shell is hineinschwenkbar. By said lower edge portion is meant the edge of the movable shell part which is closest to the gripping edge of the gripper cup formed by the gripper cup's opposite edge of the gripper cup. This is usually the lower edge of a gripper bowl, on which, for example, cutting teeth or a cutting edge can be located.

Depending on the gripper formation and contouring of the gripper shell, the recess may be provided at different portions of the gripper shell, wherein the recess is advantageously positioned so that it comes to lie directly on said gripper arm when approaching the gripper cup to the gripper arm. In order to achieve a particularly compact transport position, it can be provided that said recess is formed in a central grip cup portion and on both sides of Greifschalenrandabschnitten is enclosed. In particular, said recess may form a slot-shaped swirl or groove-shaped recess which extends in an upright orientation, preferably approximately parallel to the, in particular in the longitudinal center plane of the gripper shell.

In particular, the recess may be arranged such that a longitudinal center plane of the recess in the transport position of the shell gripper, in which the gripper cup provided with the recess has moved up to the gripper arm, extends substantially parallel to the longitudinal center plane of the gripper arm.

The clear width of the recess is larger in the invention than the width of the gripper arm, this has in the section which is approachable to the shell grab, so that the gripper arm is at least partially retractable or retractable into the recess. The depth of the recess is sufficiently dimensioned so that the gripper arm can be sunk sufficiently far to avoid the unwanted supernatant. For example, the recess depth can correspond to at least one third, preferably more than two thirds, of the height or thickness of the gripper carrier arm, so that the gripper carrier arm can travel correspondingly far into the recess.

In particular, said recess is formed in a rear wall of the gripper cup. The movable shell part for closing the recess forms a rear wall part. The said rear wall of the gripper cup means the rear side extending transversely to the gripping direction wall, which may be bordered laterally by two side walls, for example, in a bulk grapple.

The mentioned by the movable shell part closable recess is particularly advantageous if the shell gripper can accomplish the pivoting of the gripper shell mounted on the outside of the shell pivot cylinder, so that no pivot cylinder or pivot linkage or Similar pivot actuator cover said recess on the shell outside or form collision-causing components on the shell outside. In particular, said gripping head, on which the at least one gripper cup is pivotably mounted, may comprise a swivel motor or a rotary motor or be formed by such a swivel motor having at least one rotatable shaft on which the at least one gripper cup is articulated in a rotationally fixed manner. When using such a rotary motor for pivoting the gripper shell, the recess can be kept completely free from the outside, so that a particularly compact approach to the gripper arm can be achieved. Such rotary motors are known per se and are offered for example by the company Kinshofer under the name HPXdrive.

Fig. 1:

eine perspektivische Ansicht eines Schalengreifers in Form eines Zweischalengreifers nach einer vorteilhaften Ausführung der Erfindung, wobei die mit der Ausnehmung versehene Greiferschale perspektivisch von innen her zu sehen und der bewegliche Schalenteil in der die Ausnehmung freigebenden, nach innen geklappten Transportstellung gezeigt ist,

Fig. 2:

eine perspektivische Darstellung des Schalengreifers aus Fig. 1 aus einer anderen Blickrichtung, die die mit der Ausnehmung versehene Greiferschale von der Rückseite bzw. Außenseite her zeigt,

Fig. 3 :

eine perspektivische Darstellung des Schalengreifers ähnlich Fig. 2, wobei die Ausnehmung in der verschlossenen Konfiguration, d.h. das bewegliche Schalenteil in der die Ausnehmung verschließenden Arbeitsstellung dargestellt ist, und

Fig.4:

eine perspektivische Darstellung des Schalengreifers in der an den Greifertragarm herangefahrenen Transportstellung, in der sich der Greifertragarm versenkt in der Ausnehmung der Greiferschale erstreckt.

The invention will be explained in more detail below with reference to a preferred embodiment and associated drawings. In the drawings show:

Fig. 1:

a perspective view of a clamshell in the form of a clamshell grab according to an advantageous embodiment of the invention, wherein the gripper cup provided with the recess to see in perspective from the inside and the movable shell part is shown in the recess releasing the inwardly folded transport position,

Fig. 2:

a perspective view of the shell grab from Fig. 1 from another viewing direction, which shows the gripper cup provided with the recess from the back or the outside,

3:

a perspective view of the shell grab similar Fig. 2 , wherein the recess in the closed configuration, ie the movable shell part is shown in the working position closing the recess, and

Figure 4:

a perspective view of the shell gripper in the approached to the gripper arm transport position in which the gripper arm extends sunk in the recess of the gripper shell.

As Fig. 1 shows, the claw gripper 1 may be formed as a clamshell gripper, which comprises two gripping shells 4 and 5, which are each pivotally hinged to a gripper head 2, so that the gripper shells 4 and 5 can be pivoted toward and away from each other. The gripper shells 4 and 5 can be pivoted about two mutually parallel pivot axes, see. Fig. 1 ,

The gripper head 2 may be formed by a rotary or pivoting motor 11 or comprise such a pivot motor 11, which may comprise two mutually parallel drive shafts 12 which can be rotated in opposite directions to open and close the gripper shells 4 and 5. As Fig. 1 shows, the gripper shells 4 and 5 with their gripper head side end portions rotatably connected to said drive shafts 12, so that a rotation of the drive shafts 12 causes pivoting of the gripper shells 4 and 5. For example, the said drive shafts 12 may laterally comprise over the rotary motor housing projecting stub shafts, on which the gripper shells 4 and 5 are rotatably fastened. Said rotary motor 11 may be formed in a conventional manner as a hydraulic motor.

The gripper head 2 may further comprise a rotary drive 13 in order to turn the shell gripper 1 about an upright axis of rotation. Optionally, a pivot drive may be provided to tilt the shell grabber 1 about a horizontal axis can.

As Fig. 4 shows, the claw grab 1 is suspended or mounted with its gripper head 2 on a gripper arm 3, by means of which the claw gripper 1 can be raised and lowered and maneuvered to the desired location. The mentioned gripper arm 3 can basically be designed differently, for example in the form of a buckling and / or telescopic arm, which can be bent around joint axes, in particular Z-foldable and / or whose Tragarmabschnitte are telescopically formed between the joints. In particular, the gripper arm 3 can form the support arm of a loading crane, which can be provided on a vehicle for loading and unloading of the vehicle. In principle, however, applications of the shell grab 1 on other hoists or other cranes or construction, forestry or material handling machines are possible.

As Fig. 4 shows, the claw gripper 1 is pivotally hinged to the gripper arm 3, so that the claw grab 1 can be moved with one of its gripper shells 4 to the gripper arm 3 or folded to achieve a corresponding, compact configuration in the transport position.

In order to approach the shell grab 1 particularly close to the gripper arm 3, one of the gripper shells 4 is provided with a recess 6, in which the gripper arm 3 can retract when the corresponding gripper shell 4 is folded onto the gripper arm 3 or -gefahren. Said recess 6 extends as a slot through the back or the rear wall 10 of the gripper shell 4 and extends substantially parallel to the longitudinal center plane of the gripper shell 4, in particular in a middle gripper shell portion 4M, which comes to lie in the transport position on the gripper arm 3 and right and is bounded on the left side of gripper shell edge sections 4R and 4L, cf. Fig. 1 and Fig. 2 ,

Said recess 6 in this case has a clear width W which substantially corresponds to the width B of the gripper arm 3, but is dimensioned sufficiently larger, so that the recess 6 can receive the gripper arm 3 and the gripper arm 3 can be lowered in the recess 6.

In order not to lose the corresponding surface of the gripper shell 4 in working operation through the recess 6 and to be able to use the gripper cup 4 unimpaired by the recess 6, said recess 6 can by a shell part 7 are closed. Said shell part 7 is adapted to the contour of the recess 6, wherein the outline contour of the shell part 7 can substantially correspond to the contour of the recess 6. Optionally, the shell part 7, the recess 6 overlap slightly, so that the shell part 7 in the recess 6 occlusive state can be supported on the edges of the recess.

Said shell part 7 sets the contour of the shell sections which surround the recess 6 or are adjacent to it substantially continuously or ideally even steadily so that in the working position of the shell part in which the shell part 7 closes the recess 6, the gripper shell 4 corresponds in its contouring and function of a conventional gripper shell 4 without recess.

The recess 6 can be exposed and thereby the shell grab 1 in his in Fig. 4 shown transport position can be removed by the said shell part 7 is removed from the recess 6. The shell part 7 can this, as Fig. 1 shows, at its lower edge portion 4u articulated articulated to the body part 8 of the gripper cup 4, wherein the pivot axis 13 may extend along said lower edge 4u of the shell part 7 and / or along the lower edge of the recess 6, so that the pivot axis 13 is approximately in the region of the interface between the recess 6 and the shell part 7. The pivot bearing 14 may be realized by a hinge hinge in the manner of a piano hinge or a socket pin connection or in another way.

Advantageously, the pivotal mounting of the shell part 7 is designed such that the shell part 7 can be folded inwards so that it comes to lie in the recess 6 releasing transport position in the Greifgut-receiving space 9 of the gripper shell 4 or the entire shell gripper 1.

In the recess 6 closing working position, the Fig. 3 shows, the shell part 7 may be locked by a locking device 15, for example by fixing an upper edge portion of the shell part 7 or a spaced from the pivot axis 13 at least shell part portion on the body part 8 of the gripper shell 4. For example, said locking device 15 can be moved in and out Include locking bolts.

Alternatively or in addition to such locking the shell part 7 but also by rising or queuing or support on the recess 6 enclosing edges of the body part 8 may be held. Since the force acting on the gripper shell 4 pressure of the Greifguts regularly goes from the inside out, the gripping material pushes the shell part 7 regularly to the outside, so that a queuing to the recess 6 enclosing edges can cause sufficient fixation.

In order to enable the simplest possible operation, the shell part 7 may be assigned a biasing device, for example in the form of a spring device which clamps the shell part 7 in its working position occluding the recess 6 so that the gripper shell 4 or its recess 6 automatically closes when the shell grab 1 is moved out of its folded to the gripper arm 3 transport position.

The gripper shells 4 and 5 are formed in the illustrated embodiment as a relatively wide, marginally fringed with little or only low concave shells. It is understood, however, that the gripper shells 4 and 5 can also be contoured differently, for example in the form of U-shells, grave shells or sorting shells. The gripper shells need not necessarily form a flat closed shell, but may also have a laterally open, transversely to the shell longitudinal center plane substantially planar contouring and / or do not form a flat closed rear wall, but may also include, for example, grate-like shell walls to depending on the purpose of be adapted to the desired function.

Claims (10)

Claw gripper with at least one gripper shell (4), which is hinged to a gripper head (2) which is suspended on a gripper arm (3), wherein the gripper shell (4) has a recess (6) for approaching the gripper arm (3) , characterized in that the gripper shell (4) comprises a recess (6) closing shell part (7) which is formed removably from the recess (6). Claw gripper according to the preceding claim, wherein said shell part (7) is movably mounted on a body part (8) of the gripper shell (4) such that said shell part (7) closes between a working position closing the recess (6) and a recess (Fig. 6) releasing transport and / or storage position is movable. A claw grab according to the preceding claim, wherein said shell member (7) forms a flap or door and / or is pivotally hinged to the body member (8). Claw grab according to one of the preceding claims, wherein the shell part (7) is formed inwardly in a gripping means (4) defined Greifgut-receiving space (9) movable into and / or in said transport and / or storage position in the gripping Receiving space (9) of the gripper shell (4) and from the gripping material in the gripping goods receiving space (9) of the gripper shell (4) can be pressed into the working position. Claw grab according to one of the preceding claims, wherein said shell part (7) with a lower edge portion (7u) on the body of the gripper shell (4) is pivotally articulated and with its upper edge portion (7o) in the Greifgut-receiving space (9) of the gripper shell (4) is pivotable. Claw grab according to one of the preceding claims, wherein the recess (6) is arranged in a central claw shell portion and is enclosed on both sides by claw shell edge portions (4L, 4R). Claw grab according to one of the preceding claims, wherein the recess (6) is arranged such that a longitudinal center plane of the recess (6) in a transport position of the shell gripper, in which the gripper switch (4) is moved up to the gripper arm (3), substantially extends parallel to the longitudinal center plane of the gripper arm (3). Claw grab according to one of the preceding claims, wherein the recess (6) has a clear width (W) which is greater than the width (B) of the gripper arm (3) and the gripper arm (3) in the recess (6) at least partially retractable is. Claw grab according to one of the preceding claims, wherein the recess (6) in a rear wall (10) of the gripper shell (4) is formed and the shell part (7) forms a rear wall part. Claw grab according to one of the preceding claims, wherein the gripper head (2) has a rotary motor (11) with at least one rotatable drive shaft (12) on which the at least one gripper shell (4) is rotationally fixed, and / or a shell outside of the gripper shell (4 ) is formed free of swing cylinders and pivot rods.

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