EP3736244A1 - Procédé de fonctionnement d'un dispositif de mouvement guidé à la main des objets - Google Patents

Procédé de fonctionnement d'un dispositif de mouvement guidé à la main des objets Download PDF

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Publication number
EP3736244A1
EP3736244A1 EP20165600.6A EP20165600A EP3736244A1 EP 3736244 A1 EP3736244 A1 EP 3736244A1 EP 20165600 A EP20165600 A EP 20165600A EP 3736244 A1 EP3736244 A1 EP 3736244A1
Authority
EP
European Patent Office
Prior art keywords
angle
strand
transport
predetermined
mode
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.)
Granted
Application number
EP20165600.6A
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German (de)
English (en)
Other versions
EP3736244B1 (fr
Inventor
Bernd Heinzmann
Dominik HEINZELMANN
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 EP3736244A1 publication Critical patent/EP3736244A1/fr
Application granted granted Critical
Publication of EP3736244B1 publication Critical patent/EP3736244B1/fr
Active legal-status Critical Current
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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
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • 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 invention relates to a method for operating a device for the hand-guided movement of objects according to the preamble of claim 1.
  • Devices for the hand-guided movement of objects are used in particular to support an operator when transporting objects, for example for transporting workpieces between different processing locations or for handling packages in logistics.
  • a device for the hand-guided movement of loads in which a support rope is slidably mounted on a support device via a trolley.
  • a deflection of the support rope out of the vertical - for example, by the action of a lateral force by an operator - causes the trolley to be shifted towards the vertical in order to regulate the support rope.
  • the carrying rope must therefore always be deflected in order to achieve a continuous displacement of the trolley. The operator must therefore always bring about a deflection and, if necessary, run along with the displaced load while applying force.
  • the invention is based on the object of further simplifying the handling of objects and making them comfortable for an operator.
  • the forces to be applied by an operator to move the objects should be small.
  • Such a device for moving objects in particular by hand can be, for example, a crane, for example a single-girder or multi-girder bridge crane, ceiling crane, slewing crane, etc.
  • a device comprises a carrying device, which preferably has one or more carriers or arms having.
  • the carrying device can, for example, be designed in the manner of a carrying frame.
  • the device further comprises a holding device for holding an object on the carrying device.
  • the holding device is designed to grip or pick up and hold an object.
  • the holding device comprises a support strand which engages at a strand articulation point on the support device, preferably on a carrier or arm of the support device.
  • the support strand is arranged at the strand articulation point on the support device in such a way that the support force absorbed by the support strand (in particular the weight of the object) is absorbed on the holding device.
  • the device is designed in such a way that the strand articulation point on the carrying device can be displaced, in particular displaceable in a motorized manner by means of a corresponding drive.
  • the supporting strand engages a trolley mounted displaceably on the supporting device.
  • the strand coupling point can then be shifted by shifting the trolley.
  • a drive for moving the trolley is provided, for example a motor drive.
  • the holding device further comprises a holding element for holding the object.
  • the holding element is designed in particular such that the object can be fixed. It is, for example, conceivable that the holding element is designed as a gripper, in particular as a vacuum gripper.
  • the holding element is preferably arranged on the supporting strand, in particular at one end of the supporting strand.
  • the method according to the invention is used to operate such a device, in particular to control movement processes of such a device.
  • the method comprises the following steps, which are carried out in particular in the specified order.
  • a line angle of the supporting line is monitored with respect to the vertical.
  • the strand angle can be defined as that angle at which the supporting strand extends with respect to the vertical.
  • it is checked, in particular continuously, whether the strand angle assumes a value other than 0 °.
  • the device assumes a neutral state, in particular there is no displacement of the strand articulation point. If the strand angle assumes a value other than 0 ° - e.g. by deflecting the supporting strand from the vertical due to a force acting on the holding element and / or on an object fixed to the holding element - the device is switched to a tracking mode and the strand articulation point is shifted in such a way that that the line angle is regulated to 0 °. In this respect, the supporting strand is adjusted towards the vertical. A kind of active tracking of the position of the strand connection point is therefore provided.
  • the displacement speed of the strand articulation point is preferably set as a function of the strand angle, in particular proportional to the strand angle.
  • an adjustment angle of a component of the holding device is also monitored with respect to a reference configuration to determine whether the adjustment angle exceeds a predetermined, first transport angle threshold.
  • the first transport angle threshold is preferably a value of the adjustment angle which is specified in particular as a parameter of the method, for example is stored in a control device of the device. In this respect, in the course of monitoring the setting angle, it is checked, in particular continuously, whether the setting angle is greater than the first transport angle threshold.
  • the first transport angle threshold is preferably an angle greater than 0 °, and in particular between 0 ° and 60 °, more preferably in the range from greater than 0 ° up to and including 50 °, more preferably in the range from greater than 0 ° up to and including 40 °, more preferably in the range from greater than 0 ° up to and including 30 °, more preferably in the range from greater than 0 ° up to and including 20 °, more preferably in the range from greater than 0 ° up to and including 10 °, more preferably between 0 ° and including 5 °. It can also be advantageous to extend the transport angle threshold further in the range from 5 ° to 30 ° preferably from 10 ° to 20 °.
  • the first transport angle threshold can be selected as a function of an operating state of the device (for example the load present on the supporting strand, maximum displacement speed, etc.).
  • the transport mode is characterized by the fact that the strand articulation point is shifted at a specified transport speed.
  • the transport speed can be specified as a parameter of the method, for example stored in the control device of the device.
  • the strand articulation point is constantly shifted with the transport speed when the transport mode is present.
  • the strand articulation point continues to be shifted at the transport speed if the adjustment angle is changed within a predetermined transport angle range.
  • a change in the adjustment angle of the component within the transport angle range does not result in a change in the displacement speed of the strand articulation point.
  • An operator does not have to constantly follow the movement of the object and ensure that the adjustment angle is deflected. It is sufficient if the operator ensures that the adjustment angle remains within the transport angle range.
  • the transport angle range is preferably an angle range of the adjustment angle, which in particular is specified as a parameter of the method, for example is stored in a control device of the device.
  • the transport angle range is preferably an angle range below the transport angle threshold or an angle range around the transport angle threshold.
  • the transport angle range can e.g. the angle range from 0 ° to 60 ° inclusive, more preferably from 0 ° to 50 ° inclusive, more preferably from 0 ° to 40 ° inclusive, more preferably from 0 ° to 30 ° inclusive, more preferably from 0 ° to 20 ° inclusive, more preferably from 0 to 10 ° inclusive, more preferably from 0 to 5 ° inclusive.
  • the absolute largest angle of the transport angle range corresponds to the first transport angle threshold.
  • an operator only has to ensure once that the adjustment angle exceeds the first transport angle threshold. Thereafter, the operator only has to ensure that the setting angle of the component remains within the transport angle range in order to maintain the transport movement.
  • the step of monitoring the leg angle or the step of monitoring the setting angle comprises a periodic or continuous measurement of the leg angle and / or the Adjustment angle.
  • the device preferably has one or more sensors for detecting the branch angle or the setting angle.
  • a sensor can be, for example, a line sensor or a sensor with a laser measurement.
  • the strand angle or setting angle is then monitored in particular by the fact that the sensor measures the strand angle or setting angle periodically at a predetermined frequency or continuously and a measurement signal from the sensor is then passed to a control device which checks whether the measured value is a specific one , exceeds or falls below the value stored in the control device.
  • the strand angle it is checked in particular whether the measured value of the strand angle is not equal to zero.
  • the setting angle it is checked in particular whether the measured value of the setting angle is greater than the first transport angle threshold and whether the measured value of the setting angle is within the transport angle range.
  • the strand angle of the supporting strand itself serves as an adjustment angle for the method.
  • the component of the holding device that is monitored for control is the supporting strand itself and the reference configuration corresponds to the vertical.
  • the adjustment angle is an angle of inclination of the holding element with respect to a rest configuration of the holding element.
  • the component corresponds to the holding element and the reference configuration corresponds to the rest configuration of the holding element. The device can then be switched to transport mode by tilting the holding element.
  • a tilting of the holding element leads to a deflection of the supporting strand from the vertical (for example, if the holding element is firmly connected to the supporting strand).
  • the angle of inclination of the holding element can then be monitored by monitoring the strand angle. It is particularly preferred, however, if the monitoring of the angle of inclination includes the periodic or continuous reading of a sensor arranged on the holding element.
  • the sensor can be a 3D force sensor or a magnetic sensor.
  • a display preferably takes place visually, for example by lighting up a warning light or by displaying information on a display arranged, for example, on the holding element.
  • an indication occurs acoustically, for example by outputting a sound signal (for example periodic beeping).
  • a display can also take place by changing the feel of the holding element, for example by vibrating the holding element.
  • the setting angle is also monitored to determine whether the setting angle exceeds a predetermined, second transport angle threshold.
  • the transport speed is increased, ie the transport speed assumes an overdrive value.
  • the second transport angle threshold is a value of the adjustment angle which is specified in particular as a parameter of the method, for example is stored in a control device of the device.
  • the amount of the second transport angle threshold is greater than the first transport angle threshold. This makes one special intuitive operation of the device favors (greater deflection leads to higher speed).
  • a termination condition is met.
  • This further step is carried out in particular when the transport mode is present, i.e. in particular after the process step of transferring to the transport mode. If the termination condition is met, the device is transferred from the transport mode to a braking mode in which the transport speed is decelerated to zero.
  • the transport speed in the braking mode is braked as quickly as possible to a standstill of the strand articulation point within the scope of the physical possibilities and / or with a view to trouble-free and damage-free handling.
  • a braking delay is generated which in turn can be preset as a parameter for the method (in particular stored in the control device).
  • the device In principle, it is possible that only one termination condition is provided, upon fulfillment of which the device is transferred from transport mode to braking mode. However, it is also conceivable that several termination conditions are provided, the device preferably being transferred from transport mode to braking mode when at least one of these termination conditions is met.
  • the transport mode can be so on be terminated in different ways, which extends the operating options of the device.
  • a termination condition is fulfilled when the setting angle falls below or exceeds a predetermined termination angle threshold.
  • the abort angle threshold is preferably a value of the adjustment angle which is specified in particular as a parameter of the method, for example is stored in a control device.
  • the abort angle threshold is preferably the smallest angle in terms of magnitude of the transport angle range.
  • the abort angle threshold is 0 ° and the abort condition is fulfilled when the setting angle falls below the abort angle threshold.
  • the transport speed is braked in particular by a deflection of the component of the holding device in a direction opposite to an initial deflection, which enables particularly intuitive operation of the device.
  • a termination condition is met when the strand articulation point has reached a predetermined braking position.
  • the device can in particular have a position sensor which monitors a position of the strand articulation point, preferably relative to the carrying device.
  • the braking position can be a predetermined target position (for example a known Storage position). It is also conceivable that the braking position is reached in a direction of displacement of the strand connection point before a target position. In this case, it is possible for the transport speed to be reduced when the braking position is reached, in particular in such a way that the strand articulation point is braked to a standstill when the predetermined target position is reached.
  • the braking positions are the outermost positions of a predetermined maneuvering area within which a shifting of the strand connection point is permitted (for example a delimited area of a production hall).
  • a termination condition is met when a force acting on the holding device exceeds a predetermined threshold value.
  • the threshold value is specified in particular as a parameter of the method, for example stored in a control device of the device.
  • a force sensor is provided on the holding device, which force sensor is designed to measure forces exerted on the holding device.
  • a termination condition is met when an operating element is actuated.
  • the The control element can be a button or switch.
  • the operating element is preferably arranged on the holding element. An operator can then operate the control element without having to let go of the holding element.
  • the supporting strand can oscillate, that is to say, for example, vibrations caused by inertial forces during braking are attenuated before a renewed displacement of the strand articulation point is possible.
  • the risk of damage to the device can be reduced and at the same time the safety for an operator can be increased.
  • FIGS Figures 1 and 2 show a device 10, on the basis of which an embodiment of the method for operating a device for hand-guided movement of objects is to be explained as an example. It goes without saying that the method can also be used to operate corresponding devices, the configuration of which, however, differs in details from that shown in FIGS Figures 1 and 2 embodiment shown differs.
  • the device 10 shown as an example is used for the hand-guided movement of objects 12 and comprises a carrying device 14 and a holding device 16 for holding the object 12 on the carrying device 14.
  • the support device 14 has a support column 20 extending along a vertical axis 18 and a boom 22 extending substantially orthogonally to the support column 20.
  • the boom 22 is articulated at its first end 24 to the upper end 26 of the support column 20 so that it can pivot about the vertical axis 18.
  • the holding device 16 comprises a support strand 28, which in the present example is designed as a support rope.
  • the carrying cord is generally a device which introduces the weight of the object being held into the carrying device 14.
  • a tube lifter can be provided on the support strand through a lifting tube (not shown).
  • the carrying strand 28 engages the carrying device 14 at a strand articulation point 30.
  • the strand articulation point 30 is arranged on a trolley 32, which is mounted displaceably on the boom 22 of the carrying device 14. In this respect, the strand articulation point 30 can be displaced by moving the trolley 32.
  • a drive device (not shown) is provided in a manner known per se.
  • the device 10 further comprises a strand winding device 34 arranged in the region of the first end 24 of the boom 22, by means of which the support strand 28 can be wound up for lifting objects and unwound for depositing objects.
  • the holding device 16 further comprises a holding element 36 which is arranged on the free end 38 of the support strand 28.
  • the holding element 36 is designed as a vacuum gripper, to which a vacuum can be applied via a vacuum line 40.
  • the holding element is designed as a gripping arm, hook, or the like.
  • the device 10 also has a sensor 42 for measuring a strand angle ⁇ of the supporting strand 28 with respect to the vertical (in the Figures 1 and 2 represented by a dashed line denoted by reference numeral 44).
  • the device 10 also includes a control device (not shown) which is designed to cause the drive device (not shown) to move the trolley 32 along the boom 22 (described in more detail below) as a function of a measurement signal from the sensor 42.
  • the support strand 28 extends following the force of gravity, along the perpendicular 44 (reference configuration 50, cf. Figures 1 and 2 ).
  • the support strand 28 is deflected from its reference configuration 50 by a strand angle ⁇ with respect to the perpendicular 44.
  • a strand angle ⁇ with respect to the perpendicular 44.
  • different states of deflection of the supporting strand 28 are possible.
  • the Figures 1 and 2 each show an example of such a deflection state.
  • monitoring here comprises an in particular continuous measurement of the strand angle ⁇ by means of the sensor 42 (step 100 in FIG Figure 4 ).
  • a corresponding measurement signal from the sensor 42 is then forwarded to the control device, which checks whether the strand angle ⁇ assumes a value other than 0 ° (step 102 in FIG Figure 4 ). If the leg angle ⁇ assumes a value different from 0 °, a further check is in particular made to determine whether the leg angle has a first transport angle threshold 54 (cf. Figure 1 ) exceeds (step 104 in Figure 4 ).
  • the first transport angle threshold 54 is in particular a predetermined value of the adjustment angle ⁇ , which is used as a parameter of the method in FIG Control device is stored and the amount is greater than 0 °.
  • the trolley 32 and thus the strand articulation point 30 is displaced in such a way that the strand angle ⁇ is regulated to 0 ° (step 106 in Figure 4 ).
  • the trolley 32 is moved along the boom 22 until the strand articulation point 30 is in particular perpendicularly above the holding element 36 and the supporting strand 28 resumes its reference configuration 50, i.e. it extends along the vertical 44.
  • An operating mode 46 of the device 10 comprising the method steps 100 to 106, for example, can be designated as the tracking mode 56 (cf. Figure 3 , Phase I).
  • a displacement speed 48 of the strand articulation point 30 can be selected in the tracking mode 56 in particular proportional to the measured strand angle ⁇ , in particular proportional to a deflection of the support strand 28 relative to the perpendicular 44 (cf. Figure 3 , Diagrams a and c, phase I there).
  • the device is transferred from the tracking mode 56 to a transport mode 58 (Step 108 in Figure 4 ).
  • the transport mode 58 the strand articulation point 30 is shifted at a predetermined, in particular a constant, predetermined transport speed 60 (cf. Figure 3 , Phase II).
  • the strand articulation point 30 is shifted over a certain strand angle range independently of changes in the strand angle.
  • the strand articulation point 30 continues to be displaced at the transport speed 60 when the strand angle ⁇ is changed but still remains within a predetermined transport angle range ⁇ (cf. Figure 3 , Phase II).
  • a change in the strand angle ⁇ within the transport angle range ⁇ does not lead to a change in the transport speed 60.
  • the transport angle range ⁇ corresponds, for example and preferably, to the angle range from 0 ° to the first Transport angle threshold 54 (cf. Figure 1 and Figure 3 , Diagram a).
  • a second transport angle threshold 61 (cf. Figure 1 ) is provided, if this is exceeded, the transport speed 60 is increased ("overdrive mode").
  • a termination condition is monitored (step 110 in Figure 4 ) and checked whether this is fulfilled (step 112 in Figure 4 ).
  • the device 10 When the termination condition is met, the device 10 is transferred in a next step to a braking mode 64 in which the transport speed is braked, in particular suddenly, to zero (step 114 in FIG Figure 4 , Phase III in Figure 3 ). This takes place in particular in that a defined braking acceleration acts on the strand articulation point 30.
  • the termination condition is fulfilled when the strand angle ⁇ falls below a termination angle threshold 62. To this extent, it is checked in step 112 whether the branch angle ⁇ is smaller than a termination angle threshold 62.
  • the abort angle threshold 62 corresponds to zero degrees, i.e. it corresponds to the lower limit of the transport angle range ⁇ (cf. Figure 1 and Figure 3 , Diagram a).
  • an operator 52 In order to transfer the device 10 from the transport mode 58 to the braking mode 64, an operator 52 must therefore move the support strand 28 in a direction opposite to the initial deflection direction (in Figure 1 clockwise beyond the vertical). This favors intuitive operation.
  • the device 10 is only transferred from the braking mode 64 to the tracking mode 56 again after waiting for the waiting time t min .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP20165600.6A 2019-05-07 2020-03-25 Procédé de fonctionnement d'un dispositif de mouvement des objets guidé à la main Active EP3736244B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019111850.6A DE102019111850A1 (de) 2019-05-07 2019-05-07 Verfahren zum Betreiben einer Vorrichtung zum handgeführten Bewegen von Gegenständen

Publications (2)

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EP3736244A1 true EP3736244A1 (fr) 2020-11-11
EP3736244B1 EP3736244B1 (fr) 2022-04-13

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EP20165600.6A Active EP3736244B1 (fr) 2019-05-07 2020-03-25 Procédé de fonctionnement d'un dispositif de mouvement des objets guidé à la main

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29712462U1 (de) * 1997-07-15 1997-09-11 Münnekehoff, Gerd, 42857 Remscheid System zum Steuern der Bewegungen einer Lasthebevorrichtung
DE19825312A1 (de) * 1997-07-15 1999-03-25 Gerd Dipl Ing Muennekehoff System zum Steuern der Bewegungen einer Lasthebevorrichtung
WO2014174006A1 (fr) 2013-04-26 2014-10-30 J. Schmalz Gmbh Dispositif permettant le déplacement manuel de charges

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60324783D1 (de) * 2002-05-08 2009-01-02 Stanley Works Methode und vorrichtung zur lasthandhabung mit einem intelligenten hilfssystem

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29712462U1 (de) * 1997-07-15 1997-09-11 Münnekehoff, Gerd, 42857 Remscheid System zum Steuern der Bewegungen einer Lasthebevorrichtung
DE19825312A1 (de) * 1997-07-15 1999-03-25 Gerd Dipl Ing Muennekehoff System zum Steuern der Bewegungen einer Lasthebevorrichtung
WO2014174006A1 (fr) 2013-04-26 2014-10-30 J. Schmalz Gmbh Dispositif permettant le déplacement manuel de charges

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DE102019111850A1 (de) 2020-11-12
EP3736244B1 (fr) 2022-04-13

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