EP3064464A1 - Articulated arm with lifting device arranged at its end, and manipulation device for lifting and transfering loads - Google Patents

Articulated arm with lifting device arranged at its end, and manipulation device for lifting and transfering loads Download PDF

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Publication number
EP3064464A1
EP3064464A1 EP15189518.2A EP15189518A EP3064464A1 EP 3064464 A1 EP3064464 A1 EP 3064464A1 EP 15189518 A EP15189518 A EP 15189518A EP 3064464 A1 EP3064464 A1 EP 3064464A1
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Prior art keywords
coupling member
articulated arm
arm
toothed members
lifting
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EP15189518.2A
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German (de)
French (fr)
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EP3064464B1 (en
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    • 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
    • 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
    • B66C23/04—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 jibs the effective length of which is variable in operation, e.g. longitudinally displaceable, extensible

Definitions

  • the invention relates on the one hand to a knuckle arm with a lifting device arranged at the end, wherein the articulated arm comprises at least two arm segments, which are connected to one another by a hinge device, the hinge device each comprising a joint head arranged on the arm segments on their mutually facing ends, the two joint heads being connected by a coupling member coupled to each other, wherein the coupling member is pivotally connected to the respective joint head by a pivot axis.
  • a manipulation device for lifting and moving loads comprising a mast with an articulated arm arranged thereon.
  • Tampering devices or manipulators are known from the prior art well known.
  • Such manipulators or manipulation devices comprise a mast, on the end of which an articulated arm is arranged.
  • the articulated arm in turn has at its free end a lifting device with a rope with a arranged at the lower end of the rope stop means, such as a hook.
  • the rope itself has an operating device, by means of which the load suspended on the hook can be raised or lowered with slight effort by raising or lowering the operating device and thereby exerting force on the operating device.
  • the arm is attached to the lifting device is designed as articulated, in particular provided to couple the two arm segments not only simply by a joint with each other, so that the two arm segments relative to each other are pivotable, but to couple the arm segments by a coupling member.
  • the two arm segments have on their sides facing each other fork-shaped rod ends, which serve to receive the coupling member, wherein the coupling member is received in the region of the joint head by a respective axis of rotation. This ensures that the two arm segments can be folded parallel to each other, that is, the range of action of the articulated arm is thereby significantly increased.
  • the coupling member which, as already stated, oscillates in each case with the two arm segments, free, so that the implementation the thrust force introduced into the corresponding arm segment is indeterminate. That is, there is first a pivotal movement of the coupling member instead of before the arm itself moves to position the lifting device. The consequence of this is that the movement or the positioning of the articulated arm is imprecise, since the movement can not be predicted by the free pendulum motion of the coupling member.
  • the object underlying the invention is therefore to remedy this situation.
  • the invention proposes that the two rod ends are coupled by a power transmission device.
  • the power transmission device ensures that the coupling member, which is arranged according to the prior art freely oscillating between the two rod ends of the arm segments, is now forcibly deflected in its movement by a forced coupling.
  • the two rod ends are positively and / or non-positively connected to each other by the power transmission device, wherein the arm segments are still pivotable relative to each other.
  • a positive or non-positive connection of the two rod ends ultimately only ensures that the freely oscillating movement of the coupling member between the two fork-shaped rod ends is prevented.
  • the force transmission device comprises at least two toothed members, wherein the two toothed members are arranged non-rotatable relative to the condyle, that is fixed relative to the condyle in the region of the condyle, wherein the two toothed members are in mesh with each other.
  • the connection is in this case in particular the fact that the tooth members are articulated non-rotatably on a pivot axis through which the condyle is pivotally connected to the coupling member.
  • the tooth members can also each rotationally fixed to the coupling member, for. B. be arranged by pinning.
  • the coupling member comprises two spaced-apart legs which are connected approximately centrally by a web, wherein the legs receive the pivot axis of the respective condyle, wherein between the legs in the region of each condyle in each case a toothed member is arranged, wherein the two toothed members are in mesh with each other; the condyle for receiving the coupling member is in this case fork-shaped.
  • the respective tooth member may in this case, as already stated above, either be fixed non-rotatably on the pivot axis of the respective joint head or be arranged on the leg of the coupling member. The tooth members roll off each other, resulting in the connection described above.
  • the invention likewise relates to a manipulation device for lifting and moving loads, comprising a mast with an articulated arm arranged thereon according to one or more of claims 1 to 5.
  • the manipulation device designated overall by 1
  • the manipulation device has the mast 3, at the upper end of which the articulated arm, generally designated 10, is articulated pivotably by a pivot joint 5.
  • the articulated arm 10 has at its free end a lifting device 30, wherein the lifting device 30 comprises a cable 31 or the like, the end having a stop means 33 in the form of a hook.
  • the rope 31 also has the designated 35 Operating device to shorten the cable 31 by means of the lifting device 30 or extend.
  • the invention is now the formation of the joint means designated 20 as a link between the two arm segments 12 and 13th
  • the joint device 20 results in detail in the view of Fig. 2 ,
  • the arm segments 12, 13 have each end a fork-shaped joint head 21, 22, wherein each condyle 21, 22 has a pivot axis 21 a, 22 a.
  • Connected are the two fork-shaped rod ends 21, 22 through the designated 24 coupling member.
  • the coupling member 24 comprises two spaced-apart legs 25, 26, which are connected by the web 27 spaced apart.
  • the coupling member 24 is pivotally connected by the two pivot axes 21 a, 22 a with the arm segments 12, 13, as is directly in the view of Fig. 2 results.
  • the two toothed members 28, 29 are connected to the pivot axis 21 a, 22 b rotationally fixed, or on the legs 25, 26 of the coupling member 24, z. B. by a pinning (not shown) are arranged non-rotatably.
  • the two mutually meshing toothed members 28, 29 form insofar at least a part of the power transmission device 23 as part of the hinge device 20.

Abstract

Knickarm (10) mit endseitig angeordneter Hubeinrichtung (30), wobei der Knickarm (10) mindestens zwei Armsegmente (12, 13) umfasst, die durch eine Gelenkeinrichtung (20) miteinander verbunden sind, wobei die Gelenkeinrichtung (20) an den Armsegmenten (12, 13) auf ihren einander zugewandten Enden angeordnet jeweils einen Gelenkkopf (21, 22) umfasst, wobei die beiden Gelenkköpfe (21, 22) durch ein Koppelglied (24) miteinander gekoppelt sind, wobei das Koppelglied (24) mit dem jeweiligen Gelenkkopf (21, 22) durch eine Schwenkachse (21 a, 22a) drehgelenkig verbunden ist, wobei die beiden Gelenkköpfe (21, 22) durch eine Kraftübertragungseinrichtung (23) gekoppelt sind.Articulated arm (10) with end-mounted lifting device (30), wherein the articulated arm (10) comprises at least two arm segments (12, 13) which are interconnected by a hinge device (20), wherein the hinge device (20) on the arm segments (12 , 13) arranged on their mutually facing ends each having a joint head (21, 22), wherein the two rod ends (21, 22) by a coupling member (24) are coupled together, wherein the coupling member (24) with the respective condyle (21 , 22) is pivotally connected by a pivot axis (21 a, 22 a), wherein the two rod ends (21, 22) by a power transmission device (23) are coupled.

Description

Die Erfindung betrifft einerseits einenKnickarm mit endseitig angeordneter Hubeinrichtung, wobei der Knickarm mindestens zwei Armsegmente umfasst, die durch eine Gelenkeinrichtung miteinander verbunden sind, wobei die Gelenkeinrichtung an den Armsegmenten auf ihren einander zugewandten Enden angeordnet jeweils einen Gelenkkopf umfasst, wobei die beiden Gelenkköpfe durch ein Koppelglied miteinander gekoppelt sind, wobei das Koppelglied mit dem jeweiligen Gelenkkopf durch eine Schwenkachse drehgelenkig verbunden ist. Somit kann sich das Koppelglied relativ zum Gelenkkopf um die Schwenkachse verdrehen oder verschwenken. Andererseits betrifft die Erfindung eine Manipulationseinrichtung zum Anheben und Versetzen von Lasten umfassend einen Mast mit einem daran angeordneten Knickarm.The invention relates on the one hand to a knuckle arm with a lifting device arranged at the end, wherein the articulated arm comprises at least two arm segments, which are connected to one another by a hinge device, the hinge device each comprising a joint head arranged on the arm segments on their mutually facing ends, the two joint heads being connected by a coupling member coupled to each other, wherein the coupling member is pivotally connected to the respective joint head by a pivot axis. Thus, that can be Rotate coupling member relative to the condyle about the pivot axis or pivot. On the other hand, the invention relates to a manipulation device for lifting and moving loads comprising a mast with an articulated arm arranged thereon.

Manipulationseinrichtungen oder auch Manipulatoren genannt sind aus dem Stand der Technik hinreichend bekannt. Derartige Manipulatoren oder Manipulationseinrichtungen umfassen einen Mast, an dem endseitig ein Knickarm angeordnet ist. Der Knickarm wiederum besitzt an seinem freien Ende eine Hubeinrichtung mit einem Seil mit einem am unteren Ende des Seils angeordneten Anschlagmittel, beispielsweise einem Haken. Das Seil selbst weist eine Bedieneinrichtung auf, mithilfe der an dem Haken hängende Lasten durch Auf- oder Abwärtsbewegung der Bedieneinrichtung und der hierdurch auf die Bedieneinrichtung ausgeübten Kraft mit geringfügigem Kraftaufwand die Last angehoben oder abgesenkt werden können.Tampering devices or manipulators are known from the prior art well known. Such manipulators or manipulation devices comprise a mast, on the end of which an articulated arm is arranged. The articulated arm in turn has at its free end a lifting device with a rope with a arranged at the lower end of the rope stop means, such as a hook. The rope itself has an operating device, by means of which the load suspended on the hook can be raised or lowered with slight effort by raising or lowering the operating device and thereby exerting force on the operating device.

Um die an der Hubeinrichtung anhängende Last möglichst genau positionieren zu können, ist der Arm an dem die Hubeinrichtung befestigt ist als Knickarm ausgebildet, wobei insbesondere vorgesehen ist, die beiden Armsegmente nicht nur einfach durch ein Gelenk miteinander zu koppeln, so dass die beiden Armsegmente relativ zueinander verschwenkbar sind, sondern die Armsegmente durch ein Koppelglied zu koppeln. Die beiden Armsegmente weisen auf ihren einander zugewandten Seiten gabelförmige Gelenkköpfe auf, die der Aufnahme des Koppelgliedes dienen, wobei das Koppelglied im Bereich des Gelenkkopfes durch jeweils eine Drehachse aufgenommen wird. Hierdurch wird erreicht, dass die beiden Armsegmente parallel aufeinander zugeklappt werden können, dass heißt, der Aktionsradius des Knickarmes wird hierdurch wesentlich erhöht. Allerdings pendelt das Koppelglied, das, wie bereits ausgeführt, mit den beiden Armsegmenten jeweils gelenkig verbunden ist, frei, so dass die Umsetzung der in das entsprechende Armsegment eingeleiteten Schubkraft unbestimmt ist. Das heißt, es findet zunächst eine Schwenkbewegung des Koppelgliedes statt bevor sich der Arm selbst zur Positionierung der Hubeinrichtung bewegt. Die Folge hiervon ist, dass die Bewegung bzw. die Positionierung des Knickarmes unpräzise ist, da der Bewegungsablauf durch die freie Pendelbewegung des Koppelgliedes nicht prognostizierbar ist.In order to position the load attached to the lifting device as accurately as possible, the arm is attached to the lifting device is designed as articulated, in particular provided to couple the two arm segments not only simply by a joint with each other, so that the two arm segments relative to each other are pivotable, but to couple the arm segments by a coupling member. The two arm segments have on their sides facing each other fork-shaped rod ends, which serve to receive the coupling member, wherein the coupling member is received in the region of the joint head by a respective axis of rotation. This ensures that the two arm segments can be folded parallel to each other, that is, the range of action of the articulated arm is thereby significantly increased. However, the coupling member which, as already stated, oscillates in each case with the two arm segments, free, so that the implementation the thrust force introduced into the corresponding arm segment is indeterminate. That is, there is first a pivotal movement of the coupling member instead of before the arm itself moves to position the lifting device. The consequence of this is that the movement or the positioning of the articulated arm is imprecise, since the movement can not be predicted by the free pendulum motion of the coupling member.

Die der Erfindung zugrunde liegende Aufgabe besteht demzufolge darin, hier Abhilfe zu schaffen. Insbesondere soll durch die Erfindung gewährleistet sein, dass durch die Bewegung des einen Armsegmentes, nämlich insbesondere des äußeren, endseitigen Armsegments unmittelbar eine definierte Bewegung des anderen Armsegmentes des Knickarmes um das Schwenkgelenk erfolgt, mit welchem der Knickarm endseitig am Mast befestigt ist.The object underlying the invention is therefore to remedy this situation. In particular, it should be ensured by the invention that by the movement of the one arm segment, namely in particular the outer, end arm segment directly a defined movement of the other arm segment of the articulated arm takes place about the pivot joint, with which the articulated arm is attached to the end of the mast.

Zur Lösung der Aufgabe wird erfindungsgemäß vorgeschlagen, dass die beiden Gelenkköpfe durch eine Kraftübertragungseinrichtung gekoppelt sind. Die Kraftübertragungseinrichtung sorgt dafür, dass das Koppelglied, das nach dem Stand der Technik frei pendelnd zwischen den beiden Gelenkköpfe der Armsegmente angeordnet ist, nunmehr in seiner Bewegung durch eine Zwangskopplung zwangsgelenkt ist. Das heißt, dass eine Bewegung des äußeren Armsegmentes, das heißt des einen freien Armsegmentes, unmittelbar eine definierte Bewegung des anderen Armsegmentes zur Folge hat. Somit ist die Handhabung eines solchen Knickarms, wie sie Gegenstand des Oberbegriffs des Anspruches 1 ist, wesentlich erleichtert.To achieve the object, the invention proposes that the two rod ends are coupled by a power transmission device. The power transmission device ensures that the coupling member, which is arranged according to the prior art freely oscillating between the two rod ends of the arm segments, is now forcibly deflected in its movement by a forced coupling. This means that a movement of the outer arm segment, that is, the one free arm segment, directly results in a defined movement of the other arm segment. Thus, the handling of such articulated arm, as it is the subject of the preamble of claim 1, much easier.

Vorteilhafte Merkmale und Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.Advantageous features and embodiments of the invention will become apparent from the dependent claims.

So ist insbesondere vorgesehen, dass die beiden Gelenkköpfe form- und/oder kraftschlüssig durch die Kraftübertragungseinrichtung miteinander in Verbindung stehen, wobei die Armsegmente dennoch relativ zueinander verschwenkbar sind. Das heißt, dass eine form- oder kraftschlüssige Verbindung der beiden Gelenkköpfe schlussendlich lediglich dafür sorgt, dass die frei pendelnde Bewegung des Koppelgliedes zwischen den beiden gabelförmigen Gelenkköpfen unterbunden ist.It is thus provided in particular that the two rod ends are positively and / or non-positively connected to each other by the power transmission device, wherein the arm segments are still pivotable relative to each other. This means that a positive or non-positive connection of the two rod ends ultimately only ensures that the freely oscillating movement of the coupling member between the two fork-shaped rod ends is prevented.

Im Einzelnen ist in diesem Zusammenhang insbesondere vorgesehen, dass die Kraftübertragungseinrichtung mindestens zwei Zahnglieder umfasst, wobei die beiden Zahnglieder unverdrehbar gegenüber dem Gelenkkopf, das heißt feststehend gegenüber dem Gelenkkopf im Bereich des Gelenkkopfes angeordnet sind, wobei die beiden Zahnglieder kämmend miteinander in Verbindung stehen. Die Verbindung erfolgt hierbei insbesondere dadurch, dass die Zahnglieder unverdrehbar an einer Schwenkachse angelenkt sind, durch die der Gelenkkopf mit dem Koppelglied jeweils schwenkbar verbunden ist. Alternativ können die Zahnglieder auch jeweils drehfest an dem Koppelglied, z. B. durch Verstiftung angeordnet sein. Durch die Verwendung solcher Zahnglieder wird demzufolge eine formschlüssige Verbindung der Armsegmente im Bereich des Koppelgliedes erreicht. Denkbar ist allerdings auch die Verwendung von Antriebsketten, was ebenfalls in einer formschlüssigen Verbindung resultieren würde. Einsetzbar sind allerdings auch kraftschlüssige Verbindungen, beispielsweise bewerkstelligt durch die Verwendung von Riementrieben.Specifically, it is provided in this context in particular that the force transmission device comprises at least two toothed members, wherein the two toothed members are arranged non-rotatable relative to the condyle, that is fixed relative to the condyle in the region of the condyle, wherein the two toothed members are in mesh with each other. The connection is in this case in particular the fact that the tooth members are articulated non-rotatably on a pivot axis through which the condyle is pivotally connected to the coupling member. Alternatively, the tooth members can also each rotationally fixed to the coupling member, for. B. be arranged by pinning. By the use of such toothed members a positive connection of the arm segments in the region of the coupling member is consequently achieved. It is also conceivable, however, the use of drive chains, which would also result in a positive connection. However, it is also possible to use non-positive connections, for example accomplished by the use of belt drives.

In diesem Zusammenhang ist im Einzelnen insbesondere vorgesehen, dass das Koppelglied zwei beabstandet zueinander angeordnete Schenkel umfasst, die etwa mittig durch einen Steg verbunden sind, wobei die Schenkel die Schwenkachse des jeweiligen Gelenkkopfes aufnehmen, wobei zwischen den Schenkeln im Bereich eines jeden Gelenkkopfes jeweils ein Zahnglied angeordnet ist, wobei die beiden Zahnglieder miteinander kämmend in Verbindung stehen; der Gelenkkopf zur Aufnahme des Koppelgliedes ist hierbei gabelförmig ausgebildet ist. Das jeweilige Zahnglied kann hierbei, wie oben bereits ausgeführt, entweder unverdrehbar an der Schwenkachse des jeweiligen Gelenkkopfes befestigt sein oder an dem Schenkel des Koppelgliedes angeordnet sein. Die Zahnglieder wälzen aufeinander ab, was zu der oben beschriebenen Verbindung führt.In this context, it is specifically provided in particular that the coupling member comprises two spaced-apart legs which are connected approximately centrally by a web, wherein the legs receive the pivot axis of the respective condyle, wherein between the legs in the region of each condyle in each case a toothed member is arranged, wherein the two toothed members are in mesh with each other; the condyle for receiving the coupling member is in this case fork-shaped. The respective tooth member may in this case, as already stated above, either be fixed non-rotatably on the pivot axis of the respective joint head or be arranged on the leg of the coupling member. The tooth members roll off each other, resulting in the connection described above.

Gegenstand der Erfindung ist ebenfalls eine Manipulationseinrichtung zum Anheben und Versetzen von Lasten umfassend einen Mast mit daran angeordnetem Knickarm gemäß einem oder mehrerer der Ansprüche 1 bis 5.The invention likewise relates to a manipulation device for lifting and moving loads, comprising a mast with an articulated arm arranged thereon according to one or more of claims 1 to 5.

Anhand der Zeichnungen wird die Erfindung nachstehend beispielhaft näher erläutert.

Fig. 1
zeigt die Manipulationseinrichtung in einer perspektivischen Darstellung;
Fig. 2
zeigt die Gelenkeinrichtung als Verbindung zwischen den beiden Armsegmente in vergrößerter Darstellung.
With reference to the drawings, the invention will be explained in more detail below by way of example.
Fig. 1
shows the manipulation device in a perspective view;
Fig. 2
shows the hinge device as a connection between the two arm segments in an enlarged view.

Gemäß Fig. 1 weist die insgesamt mit 1 bezeichnete Manipulationseinrichtung den Mast 3 auf, an dessen oberen Ende durch ein Schwenkgelenk 5 der insgesamt mit 10 bezeichnete Knickarm verschwenkbar angelenkt ist. Der Knickarm 10 weist an seinem freien Ende eine Hubeinrichtung 30 auf, wobei die Hubeinrichtung 30 ein Seil 31 oder ähnliches umfasst, das endseitig ein Anschlagmittel 33 in Form eines Hakens aufweist. Das Seil 31 besitzt darüber hinaus die mit 35 bezeichnete Bedieneinrichtung, um das Seil 31 mit Hilfe der Hubeinrichtung 30 zu verkürzen oder zu verlängern.According to Fig. 1 For example, the manipulation device, designated overall by 1, has the mast 3, at the upper end of which the articulated arm, generally designated 10, is articulated pivotably by a pivot joint 5. The articulated arm 10 has at its free end a lifting device 30, wherein the lifting device 30 comprises a cable 31 or the like, the end having a stop means 33 in the form of a hook. The rope 31 also has the designated 35 Operating device to shorten the cable 31 by means of the lifting device 30 or extend.

Gegenstand der Erfindung ist nunmehr die Ausbildung der mit 20 bezeichneten Gelenkeinrichtung als Bindeglied zwischen den beiden Armsegmenten 12 und 13.The invention is now the formation of the joint means designated 20 as a link between the two arm segments 12 and 13th

Die Gelenkeinrichtung 20 ergibt sich im Einzelnen in Anschauung von Fig. 2. Die Armsegmente 12, 13 weisen endseitig jeweils einen gabelförmigen Gelenkkopf 21, 22 auf, wobei jeder Gelenkkopf 21, 22 eine Schwenkachse 21 a, 22a besitzt. Verbunden sind die beiden gabelförmigen Gelenkköpfe 21, 22 durch das mit 24 bezeichnete Koppelglied. Das Koppelglied 24 umfasst zwei beabstandet zueinander angeordnete Schenkel 25, 26, die durch den Steg 27 beabstandet miteinander verbunden sind. Das Koppelglied 24 ist durch die beiden Schwenkachsen 21 a, 22a gelenkig mit den Armsegmenten 12, 13 verbunden, wie sich dies unmittelbar in Anschauung von Fig. 2 ergibt. Zwischen den beiden Schenkeln 25, 26 des Koppelgliedes 24 befinden sich die beiden Zahnglieder 28, 29, die entweder mit der Schwenkachse 21 a, 22b drehfest verbunden sind, oder aber an dem Schenkel 25, 26 des Koppelgliedes 24, z. B. durch eine Verstiftung (nicht dargestellt) unverdrehbar angeordnet sind. Die beiden aufeinander kämmenden Zahnglieder 28, 29 bilden insofern zumindest einen Teil der Kraftübertragungseinrichtung 23 als Bestandteil der Gelenkeinrichtung 20.The joint device 20 results in detail in the view of Fig. 2 , The arm segments 12, 13 have each end a fork-shaped joint head 21, 22, wherein each condyle 21, 22 has a pivot axis 21 a, 22 a. Connected are the two fork-shaped rod ends 21, 22 through the designated 24 coupling member. The coupling member 24 comprises two spaced-apart legs 25, 26, which are connected by the web 27 spaced apart. The coupling member 24 is pivotally connected by the two pivot axes 21 a, 22 a with the arm segments 12, 13, as is directly in the view of Fig. 2 results. Between the two legs 25, 26 of the coupling member 24 are the two toothed members 28, 29, which are connected to the pivot axis 21 a, 22 b rotationally fixed, or on the legs 25, 26 of the coupling member 24, z. B. by a pinning (not shown) are arranged non-rotatably. The two mutually meshing toothed members 28, 29 form insofar at least a part of the power transmission device 23 as part of the hinge device 20.

Bezugszeichenliste:LIST OF REFERENCE NUMBERS

11
Manipulationseinrichtungmanipulation device
33
Mastmast
55
Schwenkgelenkpivot
1010
Knickarmarticulated
1212
Armsegmentarm segment
1313
Armsegmentarm segment
2020
Gelenkeinrichtungjoint device
2121
Gelenkkopfjoint head
21a21a
Schwenkachseswivel axis
2222
Gelenkkopfjoint head
22a22a
Schwenkachseswivel axis
2323
KraftübertragungseinrichtungPower transmission device
2424
Koppelgliedcoupling member
2525
Schenkelleg
2626
Schenkelleg
2727
Stegweb
2828
Zahngliedtooth member
2929
Zahngliedtooth member
3030
Hubeinrichtunglifting device
3131
Seilrope
3333
Anschlagmittelslings
3535
Bedieneinrichtungoperating device

Claims (7)

Knickarm (10) mit endseitig angeordneter Hubeinrichtung (30), wobei der Knickarm (10) mindestens zwei Armsegmente (12,13) umfasst, die durch eine Gelenkeinrichtung (20) miteinander verbunden sind, wobei die Gelenkeinrichtung (20) an den Armsegmenten (12, 13) auf ihren einander zugewandten Enden angeordnet jeweils einen Gelenkkopf (21, 22) umfasst, wobei die beiden Gelenkköpfe (21, 22) durch ein Koppelglied (24) miteinander gekoppelt sind, wobei das Koppelglied (24) mit dem jeweiligen Gelenkkopf (21, 22) durch eine Schwenkachse (21 a, 22a) drehgelenkig verbunden ist,
dadurch gekennzeichnet,
dass die beiden Gelenkköpfe (21, 22) durch eine Kraftübertragungseinrichtung (23) gekoppelt sind.Articulated arm (10) with end-mounted lifting device (30), wherein the articulated arm (10) comprises at least two arm segments (12, 13) which are connected to one another by a hinge device (20), wherein the articulation device (20) on the arm segments (12 , 13) arranged on their mutually facing ends each having a joint head (21, 22), wherein the two rod ends (21, 22) by a coupling member (24) are coupled together, wherein the coupling member (24) with the respective condyle (21 , 22) is pivotally connected by a pivot axis (21 a, 22 a),
characterized,
in that the two rod ends (21, 22) are coupled by a power transmission device (23). Knickarm (10) nach Anspruch 1,
dadurch gekennzeichnet,
dass die beiden Gelenkköpfe (21, 22) form- und/oder kraftschlüssig durch die Kraftübertragungseinrichtung (23) miteinander in Verbindung stehen, wobei die Armsegmente (12, 13) relativ zueinander verschwenkbar sind.Articulated arm (10) according to claim 1,
characterized,
in that the two rod ends (21, 22) are positively and / or non-positively connected with each other by the power transmission device (23), wherein the arm segments (12, 13) are pivotable relative to one another. Knickarm (10) nach einem der voranstehenden Ansprüche,
dadurch gekennzeichnet,
dass die Kraftübertragungseinrichtung (23) mindestens zwei Zahnglieder (28, 29) umfasst, wobei die beiden Zahnglieder (28, 29) unverdrehbar gegenüber dem Gelenkkopf (21, 22) im Bereich des Gelenkkopfes (21, 22) angeordnet sind, wobei die beiden Zahnglieder (28, 29) kämmend miteinander in Verbindung stehen.Articulated arm (10) according to one of the preceding claims,
characterized,
that the power transmission means (23) comprises at least two toothed members (28, 29), said two toothed members (28, 29) non-rotatably relative to the joint head (21, 22) in the region of the joint head (21, 22) are arranged, said two toothed members (28, 29) are intermeshing with each other. Knickarm (10) nach einem der voranstehenden Ansprüche,
dadruch gekennzeichnet,
dass das Koppelglied (24) die beiden Zahnglieder (28, 29) aufnimmt, wobei die beiden Zahnglieder (28, 29) fest an der Schwenkachse und/oder dem Koppelglied (21 a, 22b) des jeweiligen Gelenkkopfes (21, 22) angeordnet sind.Articulated arm (10) according to one of the preceding claims,
dadruch marked,
in that the coupling member (24) accommodates the two toothed members (28, 29), the two toothed members (28, 29) being fixedly arranged on the pivot axis and / or the coupling member (21a, 22b) of the respective joint head (21, 22) , Knickarm (10) nach einem der voranstehenden Ansprüche,
dadurch gekennzeichnet,
dass das Koppelglied (24) zwei beabstandet zueinander angeordnete Schenkel (25, 26) umfasst, die etwa mittig durch einen Steg (27) verbunden sind, wobei die Schenkel (25, 26) die Schwenkachse (21 a, 22a) des jeweiligen Gelenkkopfes (21, 22) aufnehmen, wobei zwischen den Schenkeln (25, 26) im Bereich eines jeden Gelenkkopfes (21, 22) jeweils ein Zahnglied (28, 29) angeordnet ist, wobei die beiden Zahnglieder (28, 29) miteinander kämmend in Verbindung stehen, wobei der Gelenkkopf (21, 22) zur Aufnahme des Koppelgliedes (24) gabelförmig ausgebildet ist, wobei die beiden Zahnglieder (28, 29) jeweils drehfest mit der entsprechenden Schwenkachse (21 a, 22a) und/oder dem Koppelglied verbunden sind.Articulated arm (10) according to one of the preceding claims,
characterized,
in that the coupling member (24) comprises two spaced-apart legs (25, 26) which are connected approximately centrally by a web (27), wherein the legs (25, 26) the pivot axis (21 a, 22 a) of the respective condyle ( 21, 22), wherein between the legs (25, 26) in the region of each condyle (21, 22) each have a tooth member (28, 29) is arranged, wherein the two toothed members (28, 29) are in mesh with each other , wherein the condyle (21, 22) for receiving the coupling member (24) is fork-shaped, wherein the two toothed members (28, 29) each rotatably connected to the corresponding pivot axis (21 a, 22 a) and / or the coupling member are connected. Manipulationseinrichtung (1) zum Anheben und Versetzen von Lasten umfassend einen Mast mit einem daran angeordneten Knickarm (10) gemäß einem oder mehrerer der Ansprüche 1 bis 5.Manipulating device (1) for lifting and moving loads comprising a mast with an articulated arm (10) arranged thereon according to one or more of Claims 1 to 5. Manipulationseinrichtung (1) nach einem der voranstehenden Ansprüche,
dadurch gekennzeichnet,
dass der Knickarm (10) schwenkbar an dem Mast (3) angeordnet ist.Manipulating device (1) according to one of the preceding claims,
characterized,
that the articulated arm (10) is pivotally mounted on the mast (3).
EP15189518.2A 2015-03-06 2015-10-13 Articulated arm with lifting device arranged at its end, and manipulation device for lifting and transfering loads Active EP3064464B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202015001778.9U DE202015001778U1 (en) 2015-03-06 2015-03-06 Thrust-force and motion transmission joint by means of gears in the middle joint of an articulated arm

Publications (2)

Publication Number Publication Date
EP3064464A1 true EP3064464A1 (en) 2016-09-07
EP3064464B1 EP3064464B1 (en) 2018-02-28

Family

ID=54324855

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15189518.2A Active EP3064464B1 (en) 2015-03-06 2015-10-13 Articulated arm with lifting device arranged at its end, and manipulation device for lifting and transfering loads

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Country Link
EP (1) EP3064464B1 (en)
DE (1) DE202015001778U1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0003577A1 (en) * 1978-02-15 1979-08-22 Siemens Aktiengesellschaft Speed control for the slewing and/or lifting gear of a crane
WO2007064275A1 (en) * 2005-12-02 2007-06-07 Cranab Ab An arrangement related to a crane
US20090152226A1 (en) * 2007-12-14 2009-06-18 Gorbel, Inc. Lifting apparatus with compensation means
US20140360961A1 (en) * 2013-06-05 2014-12-11 Raka Corporation Articulated jib crane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0003577A1 (en) * 1978-02-15 1979-08-22 Siemens Aktiengesellschaft Speed control for the slewing and/or lifting gear of a crane
WO2007064275A1 (en) * 2005-12-02 2007-06-07 Cranab Ab An arrangement related to a crane
US20090152226A1 (en) * 2007-12-14 2009-06-18 Gorbel, Inc. Lifting apparatus with compensation means
US20140360961A1 (en) * 2013-06-05 2014-12-11 Raka Corporation Articulated jib crane

Also Published As

Publication number Publication date
EP3064464B1 (en) 2018-02-28
DE202015001778U1 (en) 2016-06-09

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