EP3736244B1 - Method for operating a device for manually moving objects - Google Patents

Description

The invention relates to a method for operating a device for manually moving objects according to the preamble of claim 1.

Devices for manually moving 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.

From the WO 2014/174006 Al a device for the hand-guided movement of loads is known, in which a carrying cable is slidably mounted on a carrying device via a trolley. A deflection of the carrying cable from the vertical - for example, due to lateral force exerted by an operator - causes a displacement of the trolley to correct the carrying cable towards the vertical. With such an embodiment, the support cable 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 shifted load, using force.

The object of the invention is to further simplify the handling of objects and to make it comfortable for an operator. In particular, the forces to be applied by an operator to move the objects should be small.

This object is achieved by a method for operating a device, which comprises the steps according to claim 1.

Such a device for moving objects, in particular in a hand-held manner, can be, for example, a crane, for example a single-girder or multi-girder bridge crane, overhead crane, slewing crane, etc. Such a device comprises a carrying device, which preferably has one or more carriers or cantilevers having. The carrying device can be designed, for example, in the manner of a carrying frame. The device also includes a holding device for holding an object on the carrying device. In this respect, the holding device is designed to grip or pick up and hold an object. The holding device comprises a supporting strand, which engages at a strand articulation point on the carrying device, preferably on a carrier or cantilever of the carrying device. In this respect, the carrying line is arranged on the carrying device at the line articulation point in such a way that the carrying force absorbed by the carrying line (in particular the weight of the object) is absorbed by 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 can be displaced by a motor driven by a corresponding drive. It is conceivable, for example, for the carrying line to act on a trolley that is movably mounted on the carrying device. Then the strand pivot point can be shifted by shifting the trolley. For this purpose, in particular, a drive for moving the trolley is provided, for example a motor drive.

The holding device also includes a holding element for holding the object. The holding element is designed in particular in such a way that the object can be fixed. For example, it is conceivable that the holding element is designed as a gripper, in particular as a vacuum gripper. The holding element is preferably arranged on the support strand, in particular on one end of the support strand.

The method according to the invention serves to operate such a device, in particular to control movement processes of such a device. The method comprises the following steps, which in particular are carried out in the order given. First, a strand angle of the support strand relative to the vertical is monitored. The strand angle can be defined as the angle at which the support strand extends relative to the vertical. In the course of monitoring the strand angle, it is checked, in particular continuously, whether the strand angle has a value other than 0°.

As long as the support strand is vertical (strand angle 0°), the device assumes a neutral state, with the strand attachment point in particular not shifting. If the strand angle assumes a value other than 0° - e.g. due to deflection of 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 pivot point is shifted in such a way that that the strand angle is adjusted to 0°. In this respect, the support strand is adjusted towards the vertical. A type of active tracking of the position of the strand articulation point is therefore provided.

In the tracking mode, the displacement speed of the linkage point of the strand is preferably set as a function of the strand angle, in particular proportionally to the strand angle.

According to the method, an adjustment angle of a component of the holding device is also monitored in relation to a reference configuration to determine whether the adjustment angle exceeds a predefined, first transport angle threshold. The first transport angle threshold is preferably a value of the setting angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device. In this respect, in the course of monitoring the setting angle, in particular continuously, it is checked whether the setting angle is greater than the first transport angle threshold.

Preferably, the first transport angle threshold is 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 for the transport angle threshold to be in the range from 5° to 30° preferably from 10° to 20°. In particular, 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 support strand, maximum displacement speed, etc.).

If the setting angle exceeds the first transport angle threshold, then the device is transferred from the tracking mode into a transport mode. The transport mode is characterized in that the linkage point of the strand 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. In particular, when the transport mode is present, the strand articulation point is constantly shifted with the transport speed. In the transport mode, the strand linkage point also continues to be displaced at the transport speed if the adjustment angle is changed within a predetermined transport angle range. After the transport angle threshold has been exceeded once, a change in the positioning angle of the component within the transport angle range does not lead to a change in the displacement speed of the strand articulation point. An operator therefore does not have to constantly follow the movement of the object and ensure that the setting 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 angular range of the adjustment angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device. The transport angle range is preferably an angular range below the transport angle threshold or an angular range around the transport angle threshold. The transport angle range can, for example, be the angular 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° inclusive to 20°, more preferably from 0 to 10° inclusive, more preferably from 0 to 5° inclusive. In particular, the angle of the transport angle range with the greatest absolute value corresponds to the first transport angle threshold.

To transfer to the transport mode, an operator only has to ensure once that the setting angle exceeds the first transport angle threshold. After that, the operator only has to ensure that the positioning angle of the component remains within the transport angle range in order to maintain the transport movement.

According to an advantageous embodiment, the step of monitoring the strand angle or the step of monitoring the setting angle includes a periodic or continuous measurement of the strand angle and / or the adjustment angle. For this purpose, the device preferably has one or more sensors for detecting the strand angle or the setting angle. Such a sensor can be, for example, a line sensor or a sensor with a laser measurement. The phase angle or setting angle is then monitored in particular by the sensor measuring the phase angle or setting angle periodically at a specified frequency or continuously, and a measurement signal from the sensor is then sent to a control device, which checks whether the measured value is a specific value , exceeds or falls below the value stored in the control device. With regard to the strand angle, it is checked in particular whether the measured value of the strand angle is not equal to zero. With regard to 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.

According to an advantageous embodiment, the strand angle of the support strand itself serves as an adjustment angle for the process. In this respect, the component of the holding device that is monitored for the control is the support strand itself and the reference configuration corresponds to the vertical. With such an embodiment, an operator only has to deflect the carrying strand once beyond the first transport angle threshold in order to achieve a continuous displacement of the strand articulation point with a preferably constant transport speed. Then the operator has to To maintain a shift, just make sure that the support strand is not moved out of the transport angle range. In particular, the forces to be applied by an operator can be reduced since the support strand does not have to be permanently deflected to a large extent in order to be able to continuously move an object held on the holding element.

According to an alternative advantageous embodiment, the adjustment angle is an angle of inclination of the holding element relative to a rest configuration of the holding element. In this respect, 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 transferred to the transport mode by tilting the holding element.

It is possible that an inclination of the holding element leads to a deflection of the support strand from the vertical (e.g. if the holding element is firmly connected to the support strand). Then the inclination angle of the holding element can be monitored by monitoring the strand angle. However, it is particularly preferred if the monitoring of the angle of inclination includes the periodic or continuous reading of a sensor arranged on the holding element. In particular, the sensor can be a 3D force sensor or a magnetic sensor.

Preferably, the device is switched to the transport mode and/or the transport mode is present is displayed, whereby safety for an operator can be increased. A display is preferably made visually, for example by lighting up a warning light or by displaying information on a display arranged on the holding element, for example. As an alternative or in addition, it is preferred if an indication takes place acoustically, for example by outputting a sound signal (eg periodic beeping). A display can also take place through a change in the haptics of the holding element, for example through vibration of the holding element.

According to an advantageous embodiment of the method, the setting angle is also monitored to determine whether the setting angle exceeds a predetermined, second transport angle threshold. When the second transport angle threshold is exceeded, the transport speed is then increased, ie the transport speed assumes an overdrive value. Such a configuration makes it possible, for example after depositing an object at a deposit position, to move back particularly quickly to a pick-up position in order to pick up another object. Like the first transport angle threshold, the second transport angle threshold is a value of the setting angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device. In particular, the absolute value of the second transport angle threshold is greater than the first transport angle threshold. This makes a special intuitive operation of the device favors (greater deflection leads to higher speed).

According to a further advantageous embodiment of the method, it is monitored in a further step whether a termination condition has been met. This further step is carried out in particular when the transport mode is present, i.e. in particular after the method step of transferring to the transport mode. If the termination condition is met, then the device is transferred from the transport mode to a braking mode in which the transport speed is braked to zero. In particular, the transport speed in the braking mode is slowed down as quickly as possible to a standstill of the strand articulation point within the physical possibilities and/or with regard to trouble-free and damage-free handling. In particular, when the braking mode is present, a braking deceleration is generated, which in turn can be specified as a parameter for the method (in particular stored in the control device).

In principle, it is possible that only one termination condition is provided, upon fulfillment of which the device is transferred from the transport mode to the braking mode. However, it is also conceivable that several termination conditions are provided, with the device preferably being transferred from the transport mode to the 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 expands the operating options of the device.

In the context of a preferred embodiment, a termination condition is met when the adjustment angle falls below or exceeds a predetermined termination angle threshold. The break-off angle threshold is preferably a value of the adjustment angle, which is specified in particular as a parameter of the method, for example stored in a control device. The break-off angle threshold is preferably the smallest angle of the transport angle range in terms of absolute value. In particular, the break-off angle threshold is 0° and the break-off condition is met when the setting angle falls below the break-off angle threshold. In this respect, a deceleration of the transport speed is caused in particular by a deflection of the component of the holding device in a direction opposite to an initial deflection, which enables a particularly intuitive operation of the device.

In the context of a further preferred embodiment, a termination condition is met when the strand articulation point has reached a predetermined braking position. For this purpose, the device can have a position sensor, in particular, which monitors a position of the strand articulation point, preferably relative to the carrying device. The braking position can correspond to a specified target position (e.g. a known Storage position) correspond. It is also conceivable that the braking position is reached before a target position in a displacement direction of the strand articulation point. 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. In this way, the risk of the support string overshooting the target position can be reduced. It is also possible that several braking positions are provided. For example, it is conceivable that the braking positions are the outermost positions of a predetermined maneuvering area within which a shifting of the strand articulation point is permitted (e.g. a limited area of a production hall).

In the context of a further preferred embodiment, 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. It is conceivable, for example, for a force sensor to be provided on the holding device, which is designed to measure forces exerted on the holding device.

In the context of a further preferred embodiment, a termination condition is met when an operating element is actuated. For example, it can be the Control element can be a button or switch. The operating element is preferably arranged on the holding element. An operator can then actuate the operating element without having to let go of the holding element.

Provision can be made for the braking mode to be maintained for at least a predefined minimum braking period and/or for a predefined waiting time to be waited in a rest mode after braking to zero. In this way, it can be achieved that the support strand can oscillate, that is, for example, vibrations caused by inertial forces during braking are damped before a renewed displacement of the strand articulation point is possible. In this way, the risk of damage to the device can be reduced and at the same time the safety for an operator can be increased.

The invention is explained in more detail below with reference to the figures.

Figur 1

eine skizzierte Darstellung einer Ausführungsform einer Vorrichtung zum handgeführten Bewegen von Gegenständen mit Tragstrang in einem ersten Auslenkzustand;

Figur 2

eine skizzierte Darstellung der Vorrichtung gemäß Figur 1 mit Tragstrang in einem zweiten Auslenkzustand;

Figur 3

drei zusammengehörige Diagramme zur Erläuterung einer Ausgestaltung des Verfahrens anhand einer beispielhaften Benutzung der Vorrichtung, wobei in den Diagrammen ein Strangwinkel des Tragstrangs (Diagramm (a)), ein Betriebsmodus der Vorrichtung (Diagramm (b)) und eine Verlagerungsgeschwindigkeit des Stranganlenkpunkts (Diagramm (c)) über der Zeit aufgetragen sind; und

Figur 4

ein schematisches Flussdiagramm einer Ausgestaltung des Verfahrens zum Betreiben einer Vorrichtung zum handgeführten Bewegen von Gegenständen.

Show it:

figure 1

a sketched representation of an embodiment of a device for manually moving objects with a support strand in a first deflection state;

figure 2

a sketched representation of the device according to FIG figure 1 with support strand in a second deflection state;

figure 3

three associated diagrams for explaining an embodiment of the method using an example of the use of the device, with the diagrams showing a strand angle of the carrying strand (diagram (a)), an operating mode of the device (diagram (b)) and a displacement speed of the strand pivot point (diagram (c )) plotted against time; and

figure 4

a schematic flowchart of an embodiment of the method for operating a device for manually moving objects.

In the following description and in the figures, the same reference symbols are used for identical or corresponding features.

the Figures 1 and 2 12 show a device 10, which is used as an example to explain an embodiment of the method for operating a device for manually moving objects. It goes without saying that the method can also be used to operate corresponding devices, the design of which, however, differs in detail from that in FIGS Figures 1 and 2 shown configuration 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 carrying device 14 has a carrying column 20 extending along a vertical axis 18 and a cantilever 22 extending essentially orthogonally to the carrying column 20 . The boom 22 is articulated at its first end 24 to the upper end 26 of the support column 20 so as to be pivotable about the vertical axis 18 .

The holding device 16 includes a support strand 28, which is designed as a support cable in the present example. The carrying strand is generally a device which introduces the weight of the object being held into the carrying device 14 . For example, a lifting tube of a tube lifter can be provided on the support strand (not shown). The carrying strand 28 acts on the carrying device 14 at a strand articulation point 30 . By way of example and preferably, the line articulation point 30 is arranged on a trolley 32 which is slidably mounted on the boom 22 of the carrying device 14 . In this respect, the line articulation point 30 can be shifted by shifting the trolley 32 . A drive device (not shown) is provided in a manner known per se for moving the trolley 32 on the boom 22 .

In the example shown, the device 10 also includes 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 also includes a holding element 36 which is arranged on the free end 38 of the support strand 28 . In the present example, the holding element 36 is designed as a vacuum gripper, to which negative pressure can be applied via a negative pressure line 40 . However, it is also conceivable that the holding element is designed as a gripper arm, hook, or the like.

The device 10 also has a sensor 42 for measuring a strand angle α of the support strand 28 relative to the vertical (in Figs Figures 1 and 2 represented by a dashed line denoted by reference numeral 44).

Device 10 also includes a control device (not shown), which is designed to cause the drive device (not shown) to move trolley 32 along boom 22 as a function of a measurement signal from sensor 42 (described in more detail below).

In a rest mode of the device 10, the support strand 28 extends, following gravity, along the vertical 44 (reference configuration 50, cf. Figures 1 and 2 ).

If an operator 52 exerts a force on the object 12 and/or the holding element 36 and/or the support strand 28, the support strand 28 is deflected from its reference configuration 50 by a strand angle α with respect to the vertical 44. Depending on the direction and magnitude of the force exerted, different deflection states of the support strand 28 are possible. the Figures 1 and 2 each show an example of such a deflection state.

An embodiment of the method for operating such a device is described below with reference to FIG Figures 3 and 4 explained.

According to the method, the strand angle α of the support strand 28 relative to the vertical 44 is monitored, in particular continuously. Monitoring includes measuring the strand angle α, in particular continuously, by means of the sensor 42 (step 100 in figure 4 ). A corresponding measurement signal from sensor 42 is then forwarded to the control device, which checks whether the strand angle α has a value other than 0° (step 102 in figure 4 ). If the strand angle α assumes a value other than 0°, it is also checked in particular whether the strand angle exceeds 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 a, which is used as a parameter of the method in FIG Control device is stored and the amount is greater than 0 °.

However, if the strand angle α is not equal to 0°, its absolute value is still smaller than the first transport angle threshold 54 (cf. figure 1 and figure 3 , phase I there), the trolley 32 and thus the line articulation point 30 are shifted in such a way that the line angle α is adjusted to 0° (step 106 in figure 4 ). In this respect, the trolley 32 is moved along the jib 22 until the line articulation point 30 is located in particular vertically above the holding element 36 and the support line 28 assumes its reference configuration 50 again, i.e. it extends along the vertical 44 . An operating mode 46 of the device 10 comprising the method steps 100 to 106 can be referred to as a tracking mode 56 (cf. figure 3 , Phase I) .

In the tracking mode 56, an active tracking of the position of the strand articulation point 30 is thus provided. A displacement speed 48 of the strand articulation point 30 can be selected in the tracking mode 56, in particular proportionally to the measured strand angle α, in particular proportionally to a deflection of the supporting strand 28 with respect to the vertical 44 (cf. figure 3 , diagrams a and c, phase I there).

If the strand angle α is not equal to 0° and is greater than the first transport angle threshold 54, the device is transferred from the tracking mode 56 to a transport mode 58 (Step 108 in figure 4 ). In the transport mode 58, the strand articulation point 30 is displaced at a predefined, in particular constantly predefined, transport speed 60 (cf. figure 3 , phase II).

A displacement of the strand articulation point 30 takes place in the transport mode 58 over a certain strand angle range independently of changes in the strand angle. In particular, the strand pivot point 30 continues to be displaced at the transport speed 60 when the strand angle α is changed but still remains within a specified transport angle range β (cf. figure 3 , phase II). In this respect, in the transport mode 58 - in contrast to the tracking mode 56 - a change in the strand angle α within the transport angle range β does not lead to a change in the transport speed 60. In the present example, the transport angle range β corresponds by way of example and preferably to the angle range from 0° to the first Transport angle threshold 54 (cf. figure 1 and figure 3 , Diagram a).

At one in the Figures 3 and 4 non-illustrated embodiment of the method, it is possible that a second transport angle threshold 61 (cf. figure 1 ) is provided, when it is exceeded, the transport speed 60 is increased ("overdrive mode").

In a further step of the method, a termination condition is monitored (step 110 in figure 4 ) and checked whether this is fulfilled (step 112 in figure 4 ).

If the termination condition is met, the device 10 is transferred to a braking mode 64 in a next step, in which the transport speed is braked, in particular abruptly, to zero (step 114 in 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 .

In the present example, the termination condition is met when the strand angle α falls below a termination angle threshold 62 . To this extent, in step 112 it is checked whether the strand angle α is smaller than a break-off angle threshold 62 .

In the present example, the break-off angle threshold 62 corresponds to zero degrees, i.e. it corresponds to the lower limit of the transport angle range β (cf. figure 1 and figure 3 , Diagram a). In order to transfer the device 10 from the transport mode 58 to the braking mode 64, an operator 52 must 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.

Preferably, after decelerating the transport speed 60 to zero for a given Waiting time t _min waited (step 116 in figure 4 ) before a renewed displacement of the strand articulation point 30 is released (see also figure 3 , phase III in diagram b). In this respect, the device 10 is only transferred from the braking mode 64 to the tracking mode 56 again after the waiting time t _min has been awaited.

It is understood that the method, which with reference to the device according to the Figures 1 and 2 was described as an example for a displacement of the strand articulation point 30 along a displacement direction (one-dimensional), can be applied in a corresponding manner for a displacement of the strand articulation point 30 along two non-parallel directions (two-dimensional).

Claims (10)

1. Process for operating, in particular for controlling of movements, of a device (10) for manually moving objects (12), comprising:

   - a bearing device (14);

   - a holding device (16) for holding an object (12) on the bearing device (14), the holding device (16) comprising a bearing cord (28) that is connected to the bearing device (14) at a cord linkage point (30), and a holding element (36) arranged on the bearing cord (28) for holding the object (12),
   whereby the device (10) is designed such that the cord linkage point (30) can be moved on the bearing device (14),

   the process comprising the following steps:

   - monitoring a cord angle (α) of the bearing cord (28) in relation to the perpendicular (44);

   - if the cord angle (α) is unevenly to zero degrees:

   changing the device to adjustment mode (56) in which a repositioning of the cord linkage point (30) is conducted to adjust the cord angle (α) at zero

   degrees;

   characterised in that the process comprises the following additional steps:

   - monitoring a positioning angle (α) of a component of the holding device (16) in relation to a reference configuration to determine whether the positioning angle (α) exceeds a predefined, first transport angle threshold (54);

   - if the first transport angle threshold (54) is exceeded at least once: changing the device (10) from adjustment mode (56) to transport mode (58), in which the cord linkage point (30) is repositioned with a specified transport speed (60), whereby the repositioning is conducted further at the said transport speed (60) even if the positioning angle (α) is altered within a specified transport angle range (β).
2. Process as per claim 1, whereby the monitoring of the cord angle (α) and/or the positioning angle (α) comprises periodic measuring or continuous measuring of the cord angle (α) or positioning angle (α), respectively.
3. Process as per one of the claims 1 or 2, whereby the positioning angle is the cord angle (α) of the bearing cord (28) in relation to the perpendicular.
4. Process as per one of the claims 1 or 2, whereby the positioning angle is an inclination angle of the holding element (36) in relation to an idle configuration of the holding element (36).
5. Process as per claim 4, whereby the monitoring of the inclination angle comprises the periodic reading or continuous reading of a sensor installed on the holding element, in particular a 3D force sensor or magnet sensor.
6. Process as per one of the preceding claims, whereby the changing of the device (10) in transport mode (58) and/or the presence of the transport mode (58) is/are visually and/or acoustically and/or haptically indicated.
7. Process as per one of the preceding claims, whereby the process comprises the following additional steps:

   - monitoring the positioning angle (α) to determine whether the positioning angle (α) exceeds a specified, second transport angle threshold (61);

   - if the second transport angle threshold (61) is exceeded: increasing the transport speed.
8. Process as per one of the preceding claims, whereby the process comprises the following additional steps:

   - monitoring whether a termination condition has been met;

   - if the termination condition has been met: changing the device from transport mode (58) to brake mode (64) in which the transport speed is reduced to zero.
9. Process as per claim 8, whereby the termination condition is one or more of the following conditions:

   a) the positioning angle (α) exceeds or does not meet a specified termination angle threshold (62);

   b) the cord linkage point (30) has reached a specified brake position;

   c) a force exerted on the holding device (16) exceeds a specified limit;

   d) a control element is activated, preferably one located on the holding device (16).
10. Process as per claim 8 or 9, whereby the brake mode (64) is maintained for a specified minimum brake duration of t_BRK,min and/or after braking to zero a specified wait time t_min is waited in idle mode.

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