EP2989042B1 - Dispositif permettant le déplacement manuel de charges - Google Patents

Dispositif permettant le déplacement manuel de charges Download PDF

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Publication number
EP2989042B1
EP2989042B1 EP14719017.7A EP14719017A EP2989042B1 EP 2989042 B1 EP2989042 B1 EP 2989042B1 EP 14719017 A EP14719017 A EP 14719017A EP 2989042 B1 EP2989042 B1 EP 2989042B1
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EP
European Patent Office
Prior art keywords
cable
rope
articulation point
cantilever
suspension
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.)
Active
Application number
EP14719017.7A
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German (de)
English (en)
Other versions
EP2989042A1 (fr
Inventor
Klaus-Dieter SCHWABENTHAN
Jonas MAST
Valentin Schmidt
Kay Woeltje
Werner Kraus
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.)
J Schmalz GmbH
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J Schmalz GmbH
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Publication date
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Publication of EP2989042A1 publication Critical patent/EP2989042A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • 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
    • B66C23/02—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 non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/16—Rope, cable, or chain drives for trolleys; Combinations of such drives with hoisting gear
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/48—Manually-movable jib cranes for use in workshops
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists

Definitions

  • the present invention relates to a device for the hand-guided movement of loads by means of a holding or gripping element as a lifting aid, which is attached to a carrying rope.
  • a carrying rope is attached to a e.g. horizontally aligned boom, which can be wrapped or unwound via a cable or rope winch for lifting loads to be transported.
  • Various types of grippers such as vacuum grippers, with which the loads can be attached to the end of the rope by an operator, serve as the holding element.
  • the boom of the support device can usually be pivoted to the side, and a cable articulation point on the boom is adjusted in the longitudinal direction of the boom via an adjusting mechanism so that the load can be shifted from an original location to a destination.
  • the operator of the device actuates the load by hand in order to move it to its destination and to set it down there.
  • the EP 1 557 747 B1 a device for avoiding instabilities in such auxiliary lifting devices, which has a trolley that can be displaced on a vertical support.
  • a winch for a carrying rope is attached to the trolley. If an operator wants to shift a picked up load, the shift is initiated by pushing the load sideways, so that the carrying rope is deflected from the vertical into an oblique orientation. The size and direction of the displacement of the laser are determined as a function of the measured deflection.
  • the trolley is then controlled in the direction of a compensation of the rope angle to the vertical. The speeds of the trolley are determined based on the direction and magnitude of the deflection angle of the rope.
  • the cable winch is moved along with the trolley along the vertical boom. Therefore, a suitably dimensioned trolley and carrying device, as well as and a comparatively large one Drive required to adjust the trolley.
  • a device with the features of the preamble of claim 1 is in US 2004/026349 A1 described.
  • the present invention is based on the object of providing a manually operated lifting aid with a simple, light and space-saving structure.
  • the device according to the invention has a carrying device with at least one, preferably horizontally extending boom, over which a carrying rope or carrying cable is guided from a rope winding device (e.g. actively driven or drivable cable winch) over a rope articulation point that can be shifted or adjusted along the boom.
  • a holding or gripping element is attached which is adapted to pick up loads, for example in the form of a gripper, a hook or a suction gripper.
  • a sensor is provided for measuring a rope angle of the carrying rope in relation to the vertical, as well as a control that is coupled to the sensor and interacts with it. This is designed to simultaneously control a displacement of the cable articulation point and a cable length of the support cable on the basis of a measured cable angle.
  • At least one actuator coupled to the controller is provided for adjusting the cable articulation point in the longitudinal direction of the boom and / or in a direction transverse to the longitudinal direction of the boom.
  • both the rope winding device and the actuator for shifting the rope articulation point can be controlled as a function of the rope angle measured by the sensor.
  • the sensor When an operator moves the suspension rope out of the vertical by applying a lateral force to the load, the sensor detects the corresponding deflection angle of the suspension rope from the vertical. The detection values of the sensor are transmitted to the control. An automatic adjustment of the cable articulation point along the boom of the carrying device is effected by means of the control. At the same time, the control controls the rope winding device in accordance with an adjustment of the rope articulation point to adapt the effective Rope length of the suspension rope. This makes it possible, in particular, to hold the load at a constant height on the holding element of the device. In this way, the cable winch can be mounted in a stationary manner, for example on a vertical support, without the adjustment of the cable articulation point leading to an adjustment of the height of the load to be carried. Only the cable articulation point that can be adjusted with an actuator is provided on the boom itself.
  • the rope winding device is controlled in such a way that when the rope articulation point is adjusted as a function of the rope deflection angle on the arm of the carrying device, the carrying rope according to the strength of the Adjustment wrapped or unwound, so that the carried load is indeed moved with the displacement of the rope articulation point, but the rope length between the rope articulation point and the carried load remains constant.
  • the controller depending on the cable angle detected by the sensor, not only is the movement of the cable articulation point on the carrying device actively controlled, but the cable winch also winds up or unwinds the carrying cable to maintain the carrying height.
  • the rope winding device is in particular mounted in a stationary manner on the carrying device.
  • the rope winding device is attached to a rear end of the boom or to a vertical support of the carrying device.
  • the control has a means for actively tracking the cable articulation point on the boom of the carrying device in a direction of regulating the cable angle of the carrying cable to the vertical. If an operator of the device moves a held load in a certain direction (for example, forwards), the sensor detects the size of the angle of the carrying rope and transmits this value to the control.
  • An algorithm is stored in the control, for example, which effects a corresponding adjustment of the rope articulation point in the specific direction (e.g. forward).
  • the rope connection point is with a corresponding drive or actuator is provided, via which a corresponding displacement of the cable articulation point is brought about, in such a way that the support cable is moved back to the vertical.
  • control has a means for keeping the rope length constant between the load and the boom in the event of a lateral displacement of the load by a user. This can ensure that the load is always at the height above the ground selected by a user. This facilitates the handling of the device according to the invention by a user who has to use less force when shifting the loads.
  • a trolley that is adjustable on the carrying device and controllable by the controller is preferably provided between the cable articulation point and the boom.
  • the trolley has in particular a drive means for displacement in the longitudinal direction of the boom.
  • the rope articulation point can be implemented, for example, by means of a pulley.
  • the pulley is e.g. arranged on the trolley.
  • An automatically drivable trolley can be formed, for example, from a base body with a C-shaped cross section, which is inserted into a corresponding inverted T-profile or H-profile of the boom.
  • the control unit automatically moves the driven trolley in the direction that leads to a return of the suspension rope to the vertical (adjustment).
  • the forces for moving the cable articulation point and the boom are thus decoupled from the user, which is particularly advantageous in the case of fast handling processes, since the inertial mass to be moved is thereby reduced.
  • the trolley can be relocated and / or the arrangement (eg angle of rotation) of the boom on a support can be changed.
  • Active tracking of the position of the cable articulation point from front to back or back to front, and possibly also to the side of the boom of the carrying device, can thus be implemented.
  • the boom can be rotatably arranged on a support, e.g. be arranged on an actively rotatable axis around a vertical support.
  • a two-dimensional movement can be realized with the boom.
  • the carrying device preferably comprises a laterally (in particular in the horizontal plane) pivotable boom on a vertical support, which is provided with an actuator for actively rotating the boom about a vertical axis of rotation.
  • the carrying device can have a comparatively simple structural design in the form of an essentially L-shaped lifting beam.
  • the carrying device can also have an articulated arm boom with an additional vertical axis of rotation, on which a swivel joint that can be adjusted via an actuator is provided. In this way, the radius of action of the device is further increased.
  • the carrying device has a scissor boom, in which two booms or carrying arms that are articulated to one another are provided.
  • the sensor for detecting the rope angle in relation to the vertical can be designed as a one-dimensional measuring deflection sensor or angle sensor, which is arranged at a predefined distance below the rope articulation point adjacent to the carrying rope.
  • a one-dimensional angle measurement of the rope angle from the support rope can be implemented, for example, using a so-called line sensor.
  • a laser can also be used, which is directed from top to bottom onto the operating unit or the gripping element in order to deflect the carrying rope to measure from the vertical.
  • Such a sensor can advantageously also be used for detecting the rope length between the rope articulation point and the load to be carried.
  • the cable articulation point is formed in the form of a deflection roller with an anti-jump device. This reduces the frictional forces that arise when adjusting the support rope at the rope articulation point. This also further accelerates the winding and unwinding of the carrying rope.
  • a first embodiment of a device 10 according to the invention for the hand-guided movement of loads by means of a holding or gripping element 11 is shown.
  • the Device 10 has a carrying device 1 with a carrying rope 2 guided along it.
  • a gripping element 11 is provided, which is a vacuum gripper in this embodiment.
  • the gripping element 11 can be supplied with a vacuum via a vacuum line 13, for example.
  • a compressed air operated vacuum generator e.g. ejector
  • an electrically driven vacuum generator is provided, for example integrated into the gripping element 11.
  • the line 13 can then be a compressed air line 13 or an electrical supply line 13.
  • the carrying device 1 here consists of a vertical stand 15, at the upper end of which a boom 3 is articulated so as to be pivotable about a vertical axis.
  • the support rope 2 is guided via a rope articulation point 5 on the boom 3, the rope articulation point 5 being adjustable in the longitudinal direction of the boom 3.
  • loads picked up with the vacuum gripper 11 can be shifted to a target position by an operator by adjusting the cable articulation point 5 on the boom 3 and the pivoting orientation of the boom 3 as desired.
  • a rope winding device 4 is provided, by means of which the carrying rope 2 can be wound up for lifting loads and unwound for laying down loads.
  • a sensor 6 is provided for measuring a rope angle of the support rope 2 in relation to the vertical.
  • the principle of the invention is shown in the schematic side views of FIGS. 3 and 4 illustrated.
  • the rope articulation point 5 is movably attached to the boom 3 of the carrying device 1 via a trolley 7.
  • the cable articulation point 5 in this embodiment is a deflection pulley 8, via which the carrying cable 2 is smoothly deflected downward into the vertical.
  • a sensor 6 is provided to the side of the carrying rope 2.
  • the sensor 6 is specially designed to measure a Rope angle of the support rope 2 in relation to the vertical.
  • the sensor 6 detects the corresponding rope angle.
  • the value of the rope angle is entered or transferred to a control (not shown), and an adjustment of the trolley 7 of the rope articulation point 5 is calculated there using appropriate algorithms, by which the rope articulation point 5 must be adjusted in order to bring the supporting rope 2 back into position to bring the vertical.
  • the rope winding device 4 is simultaneously controlled according to the invention via the specially adapted control, in order to adjust the effective length of the Adjust the suspension rope 2. In this way, the load that is attached to the gripping element 11 remains at the same height as it was set by an operator for the displacement.
  • the rope winding device 4 Since the rope winding device 4 is fixedly mounted on the rear end of the boom 3, the height of the load would change if the rope articulation point 5 was adjusted. According to the invention, this is prevented in that, simultaneously with a displacement of the cable articulation point 5, the cable winding device 4 is activated by the controller and the cable length is compensated accordingly. In this way, a constant level of the load on the gripping element 11 is maintained.
  • the invention accordingly provides a type of active tracking of the position of the cable articulation point 5 and automatic adjustment of the cable angle.
  • the force for moving the load by an operator is accordingly significantly reduced compared to a conventional lifting aid of this type, in which the operator applies an additional force to adjust the cable articulation point 5 on the boom 3 and / or to rotate the boom 3 about the vertical axis of rotation got to. Since the forces for moving the boom are thus decoupled from the user, fast handling processes become the dynamic shifting of loads possible.
  • the inert masses of the loads to be moved are significantly reduced compared to conventional lifting aids of this type.
  • the work processes for shifting loads can therefore be carried out significantly more quickly than in a case in which the operator has to adjust a merely passively adjustable rope articulation point 5 with a force on the load on the gripping element 11.
  • the boom 3 can be provided with an actuator on the vertical axis of rotation. With such an actuator, the swivel position of the boom 3 can also be actively tracked in accordance with a deflection of the carrying rope 2 on the basis of the rope angle measured by the sensor 6.
  • a vacuum gripper is provided as a gripping element 11. This can be supplied with a vacuum, for example, via a vacuum line 13 which is guided along the carrying rope 2.
  • other gripping elements 11 can also be used, such as a force-carrying glove or simple hook elements.
  • the invention is also not limited to the illustrated form of a support device 1 with a pivotable simple arm 3 and can be transferred to various other such support devices with which a lifting aid for moving loads is made possible.
  • the sensor 6 for measuring the cable angle is preferably a sensor with a one-dimensional measuring principle.
  • other types of sensors can also be used as sensor 6, with which an adjustment of the carrying rope 2 from the vertical can be measured.
  • the sensor 6 is attached at a defined distance below the trolley 7 of the cable articulation point 5.
  • the sensor 6 can, for example, be a line sensor or, alternatively, a sensor with a laser measurement that is directed from top to bottom onto the gripping element 11.
  • the rope angles can be adjusted in different ways be measured in relation to the vertical of a support rope 2 and used for the inventive active adjustment of the rope angle via the control and the actuator of the trolley 7.
  • FIG. 5 to 8 various detailed views of an exemplary embodiment of a device 10 according to the invention are shown in the region of the cable articulation point 5.
  • the rope articulation point 5 of the carrying rope 2 is implemented here in the form of a deflection pulley 8 which is provided with a safety device 9 to prevent the carrying rope 2 from jumping off.
  • the deflection roller 8 is mounted on the side of a trolley 7.
  • the trolley 7 has a U-shape in cross section and is inserted on the boom 3 from below.
  • the cross section of the substantially square boom 3 is formed with laterally projecting webs 17 on which inner rollers 14 of the trolley 7 rest.
  • a drive belt 12 is provided, which is deflected via a pulley at the free end of the boom 3 and adjusted via an actuator (not shown) provided in the rear area of the boom 3 by means of the control according to a detected cable angle.
  • the sensor 6 for measuring the rope angle of the carrying rope 2 is provided at a predefined distance below the trolley 7.
  • the sensor 6 is a so-called line sensor, with which a one-dimensional angle measurement is made possible.
  • the sensor 6 has two sensor sections which are arranged opposite one another next to the carrying rope 2 and which are fastened to a sensor holding plate.
  • the sensor 6 is connected to a controller (not shown) in which control algorithms are stored which enable active tracking of the cable articulation point 5 in order to regulate the cable angle of the carrying cable 2.
  • control according to the device 10 according to the invention is coupled to the rope winding device 4, so that simultaneously with a movement of the trolley 7 and thus the rope articulation point 5, the carrying rope 2 is correspondingly wound or unwound in order to keep the carrying rope 2 not only in the vertical, but also in a constant To keep length between the rope articulation point 5 and the load carried by the gripping element 11. Since the control for regulating the rope angle is directly coupled to the actuator of the trolley 7 and to the rope winding device 4, the rope angle is reduced again directly after the load has been adjusted by an operator, so that when the load is moved, the carrying rope 2 is essentially always is in the vertical position. An additional force for tracking a passive cable articulation point 5 is not required.
  • the Fig. 9 shows a second embodiment of a device 10 according to the invention as a lifting aid for moving loads.
  • the carrying device 1 here does not consist of a simple pivotable boom 3, but is implemented as a so-called articulated boom.
  • a first section in the form of a pivotably mounted boom 3 is provided on the stand 15 of the support device 1.
  • the boom 3 is provided with an actuator 16 on the vertical axis of rotation, so that the rotational position of the boom 3 can be actively adjusted by means of the controller (not shown) in accordance with a shift of the load on the gripping element 11.
  • a second boom 3 is provided at the front free end of the first boom 3, which is articulated via a second vertical axis of rotation.
  • the second boom 3 is also provided here with an actuator 16 via which the rotational position of the boom 3 can be actively adjusted.
  • the rope articulation point 5 is located at the front free end of the second boom 3, via which the carrying rope 2 is guided vertically downwards to the gripping element 11.
  • a vacuum gripper is shown as an example as a gripping element. This can be supplied with a vacuum from a vacuum device, not shown, for example via a vacuum line 13.
  • the rope winding device 4 is arranged in a stationary manner at the upper end of the stand 15.
  • a sensor 6 is provided for measuring the cable angle. If the support rope 2 between the rope articulation point 5 and the gripping element 11 is deflected from the vertical by a force that is applied laterally to the load by an operator, the control determines the required adjustment of the boom 3 on the basis of the measured rope angle in order to regulate the support rope 2 back into the vertical. On this basis, the actuators 16 on the axes of rotation of the boom 3 are then activated so that the carrying rope 2 is returned to the vertical. With such an articulated arm extension of the carrying device 1, the radius of action of the device 10 is increased further.
  • the control system is provided with appropriate control algorithms which calculate the required adjustment of the boom 3 on the basis of a measured cable angle.
  • the principle according to the invention of an active tracking of the position of the rope articulation point 5 in combination with the adjustment of the rope length of the support rope 2 can be applied to different types of such lifting aids and lifting devices.
  • the invention can also be used with a so-called scissor boom.
  • another form of support device 1 can also be provided, for example a scaffold mounted on the ceiling with various vertical jib elements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Manipulator (AREA)
  • Invalid Beds And Related Equipment (AREA)

Claims (9)

  1. Dispositif (10) permettant le mouvement en particulier guidé à la main de charges au moyen d'un élément de retenue ou de préhension (11) comme aide au levage monté sur un câble porteur (2),
    avec un système de support (1), lequel présente une flèche (3) par l'intermédiaire de laquelle le câble porteur (2) est guidé depuis les côtés d'un système d'enroulement de câble (4) en passant par un point d'articulation de câble (5) réglable, dans lequel la longueur du câble porteur (2) peut être ajustée avec le système d'enroulement de câble (4), dans lequel un capteur (6) est prévu pour mesurer un angle de câble du câble porteur (2) par rapport à la verticale, et dans lequel une commande coopérant avec le capteur (6) est prévue, laquelle est conçue pour provoquer un déplacement du point d'articulation de câble (5) en fonction de l'angle de câble mesuré avec le capteur (6),
    caractérisé en ce que le système d'enroulement de câble (4) est disposé sur le système de support (1), et que la commande est conçue pour provoquer, simultanément avec le déplacement du point d'articulation de câble (5), une modification de la longueur de câble du câble porteur (2), et qu'au moins un entraînement de réglage couplé à la commande est prévu pour le réglage du point d'articulation de câble (5) dans la direction longitudinale de la flèche (3) et/ou dans une direction transversale à la direction longitudinale de la flèche (3).
  2. Dispositif (10) selon la revendication 1, caractérisé en ce que la commande commande un moyen, en particulier un dispositif de réglage, pour le guidage précis actif du point d'articulation de câble (5) dans une direction permettant la régulation de l'angle de câble du câble porteur (2) en direction de la verticale.
  3. Dispositif (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que la commande est réalisée de telle sorte que, lors d'un déplacement latéral de la charge, la longueur de câble entre la charge et la flèche (3) est maintenue constante.
  4. Dispositif (10) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un chariot roulant (7) déplaçable sur le système de support (1) et en particulier sur la flèche (3) est prévu, lequel présente le point d'articulation de câble (5), dans lequel le déplacement du chariot roulant (7) est commandé par la commande.
  5. Dispositif (10) selon la revendication 4, caractérisé en ce que l'au moins un entraînement de réglage est réalisé pour le réglage du chariot roulant (7) dans la direction longitudinale de la flèche (3).
  6. Dispositif (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de support (1) est une flèche (3) pivotante latéralement sur un appui vertical, laquelle est pourvue d'un entraînement de réglage pour la rotation active de la flèche (3) autour d'un axe de rotation vertical.
  7. Dispositif (10) selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le système de support (1) est une flèche à bras articulé avec un axe de rotation vertical supplémentaire, sur lequel est prévue une articulation rotative réglable par l'intermédiaire d'un entraînement de réglage.
  8. Dispositif (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que le capteur (6) est réalisé pour mesurer une distance de déviation du câble porteur (2), dans lequel le capteur (6) est disposé à une distance prédéfinie au-dessous du point d'articulation de câble (5).
  9. Dispositif (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que le point d'articulation de câble (5) est formé sous forme d'une poulie de renvoi (8) avec un dispositif anti-saut (9) .
EP14719017.7A 2013-04-26 2014-04-24 Dispositif permettant le déplacement manuel de charges Active EP2989042B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013207643 2013-04-26
PCT/EP2014/058331 WO2014174006A1 (fr) 2013-04-26 2014-04-24 Dispositif permettant le déplacement manuel de charges

Publications (2)

Publication Number Publication Date
EP2989042A1 EP2989042A1 (fr) 2016-03-02
EP2989042B1 true EP2989042B1 (fr) 2020-12-09

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Country Status (5)

Country Link
US (1) US10077170B2 (fr)
EP (1) EP2989042B1 (fr)
JP (1) JP2016520493A (fr)
CN (1) CN105143089B (fr)
WO (1) WO2014174006A1 (fr)

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CN107336260A (zh) * 2017-09-01 2017-11-10 深圳龙海特机器人科技有限公司 自补偿关节与提升装置
DE102019111850A1 (de) 2019-05-07 2020-11-12 J. Schmalz Gmbh Verfahren zum Betreiben einer Vorrichtung zum handgeführten Bewegen von Gegenständen
JP7458060B2 (ja) 2020-03-03 2024-03-29 ユニパルス株式会社 荷役助力装置
CN111453628A (zh) * 2020-04-08 2020-07-28 常州市富月砝码有限公司 一种大型砝码悬臂式助力系统
CN111731857A (zh) * 2020-07-03 2020-10-02 连雪芳 一种手动牵引的箱体码垛装置
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JP2016520493A (ja) 2016-07-14
CN105143089B (zh) 2017-06-13
EP2989042A1 (fr) 2016-03-02
US20160068371A1 (en) 2016-03-10
CN105143089A (zh) 2015-12-09
US10077170B2 (en) 2018-09-18

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