EP4079674A1 - Dispositif de manutention à commande - Google Patents

Dispositif de manutention à commande Download PDF

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Publication number
EP4079674A1
EP4079674A1 EP22168480.6A EP22168480A EP4079674A1 EP 4079674 A1 EP4079674 A1 EP 4079674A1 EP 22168480 A EP22168480 A EP 22168480A EP 4079674 A1 EP4079674 A1 EP 4079674A1
Authority
EP
European Patent Office
Prior art keywords
handling device
operating
designed
support
lifting tool
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.)
Pending
Application number
EP22168480.6A
Other languages
German (de)
English (en)
Inventor
Stefan Dreher
Daniel Müller
Steffen Beck
Jonathan Kohler
Hans Burt
Sandro KATZ
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
Original Assignee
J Schmalz GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by J Schmalz GmbH filed Critical J Schmalz GmbH
Publication of EP4079674A1 publication Critical patent/EP4079674A1/fr
Pending legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/181—Load gripping or retaining means by suction means

Definitions

  • the invention relates to a handling device for handling and possibly transporting objects.
  • Hand-held handling devices can be used to move the objects, which allow a high degree of flexibility when loading.
  • Tube lifters with suction grippers arranged at the ends of a lifting tube can be used as lifting aids.
  • Crane-like constructions are also known. From the EP289042A1 For example, a stationary lifting aid is known, with a carrying cable being guided along a horizontally aligned, laterally pivotable boom.
  • a vacuum gripper for fixing the objects to the device can be arranged on the carrying cable. The operator can manually push or pull the objects after picking them up to move them to their destination and cause them to be set down there.
  • Industrial trucks are often used to move objects over long distances, eg order pickers, forklifts or pallet trucks.
  • the present invention is based on the object of providing a handling device which can be operated comfortably and safely, particularly in the case of changing activities.
  • the object is achieved with a handling device having the features of claim 1.
  • the handling device includes a intended operation of the handling device along a vertical support axis extending support.
  • a movable jib is arranged on the support, which cantilever comprises, for example, a plurality of cantilever members which are movably connected to one another.
  • the support and/or the boom are preferably controllable, ie the configuration and position can be adjusted in a driven manner.
  • the support can be adjusted in height in a controlled manner.
  • the cantilever can controllably change its configuration.
  • the handling device includes a controllable lifting tool arranged on the boom, in particular a tube lifter.
  • the lifting tool can preferably be arranged at a connecting portion of the last cantilever member.
  • the handling device comprises a controllable gripping means for fixing objects, in particular suction grippers, which is arranged on the lifting tool in such a way that the gripping means and an object fixed with it can be raised and lowered.
  • the support can be adjusted in height and/or the boom can be moved in rotation and/or in translation relative to the support.
  • the support can also be rotationally movable.
  • the boom can be movable in rotation about the projection direction and/or about the support axis.
  • the boom can have, for example, two booms which are connected to one another in an articulated manner.
  • the first cantilever member and / or the at least another cantilever member can be moved in rotation and/or translationally, in each case to one another and/or for support.
  • the handling device provides at least one controllable drive device, which is designed to adjust the height of the support and/or to move the boom.
  • the at least one drive device can also be designed to move the support.
  • the drive device can be designed in particular to move the first cantilever member and/or the at least one further cantilever member.
  • the handling device also provides an operating device for operating the handling device by an operator, which comprises a holding section that can be gripped by the operator and at least one operating element; depending on the functionalities, several operating elements can also be provided.
  • an operator By gripping the holding section, the operator can guide and handle the handling device, in particular the gripping means and a gripped object.
  • the holding section is arranged on the gripping means, on the lifting tool or between the lifting tool and the gripping means.
  • the gripping means and a gripped object can be easily and safely guided by the proximity of the holding portion to the gripping means.
  • the at least one operating element (or the plurality of operating elements) is arranged on the gripping means, on the lifting tool or between the gripping means and the lifting tool.
  • the operating device is designed in such a way that the gripping means and the lifting tool as well as the support and/or the boom can be controlled by means of the at least one operating element (or by means of the plurality of operating elements).
  • a further drive device is preferably provided for adjusting the lifting tool and/or the gripping means.
  • the operating device interacts in the manner of a control device with corresponding drive devices for the support and/or the boom and possibly for the lifting tool and/or the gripping means.
  • one control element is designed to control one function each, e.g. one control element to control the height of the support, one control element to control the lifting tool, if necessary a control element to control the gripping means and if necessary a control element to control the boom.
  • the handling device with its different functions, such as gripping and raising and lowering the lifting tool and the support, can be operated by the operator in the area of the gripping means.
  • the operator In order to change the configuration of the handling device, the operator therefore does not have to leave his position or put down the gripped object and/or the gripping means.
  • the jib preferably comprises a plurality of cantilever members, with a first cantilever member being arranged on the support in a rotationally and/or non-displaceably fixed manner and extending in a first cantilever plane transversely to the support along a first cantilever direction, and with at least one other cantilever member extending in a further cantilever plane each having a joint on the previous cantilever member is pivotally mounted.
  • the joints and/or the cantilever members are preferably designed in such a way that the subsequent cantilever levels are below the previous cantilever levels.
  • the operating device in particular the holding section and the at least one operating element, is advantageously designed in such a way that the operator can actuate the at least one operating element when holding the holding section.
  • the holding section can be designed in such a way that the operator can grip the holding section with one hand or with both hands, in which case the holding section and the at least one operating element are designed in such a way that the operator, when holding the holding section, can use the at least one operating element with one hand or can be operated with both hands.
  • the holding section is designed in such a way that the operator can grasp it with one hand, and if the at least one operating element is designed and/or positioned in such a way that the operator can simultaneously grasp the handle and operate the operating element with one hand .
  • the handle is designed as a tangible handle bar which, when the handling device is operated as intended, extends essentially perpendicularly, in particular essentially parallel to the support axis.
  • the cross-section of the handlebar can be essentially circular or elliptical in order to fit comfortably in the hand.
  • the handle bar can also be individually adapted to at least one hand of the operator.
  • the at least one control element can be designed as a control knob, sensor field and/or rotary or slide control.
  • the operating element can preferably be actuated by exerting pressure along an actuation direction, it being possible for the actuation direction to be configured essentially horizontally, in particular essentially orthogonally to the support axis. This enables an operator to grip the holding section and to actuate the operating element while holding it, for example by pressing with a thumb and/or a finger.
  • the operating device is advantageously designed such that the at least one operating element can be used to control the at least one drive device for adjusting the height of the support and/or for moving the boom, in particular for moving the first cantilever element and/or the at least one further cantilever element.
  • the operating device can provide a connecting device (e.g. control cable or bus connection) for connecting the at least one operating element and the at least one drive device, which in particular is within the Handling device and is preferably arranged within the support and / or the boom.
  • the operating device is advantageously designed in such a way that the gripping means for fixing an object can be controlled by means of the at least one operating element.
  • the gripping means can be designed, for example, as a mechanical gripper with at least one jaw for fixing the object. Actuating the at least one operating element causes the jaw to be moved, in particular opened and closed.
  • the operating device can interact with a drive device of the gripping means.
  • the gripping means can also be designed as a vacuum gripper with at least one suction point for sucking up an object. In this case, the operating device can then be designed to activate a valve device for controlling the vacuum supply for the vacuum gripper.
  • the operating device is also designed in such a way that the lifting tool can be controlled for raising and lowering by operating the at least one operating element.
  • the lifting tool can be designed, for example, as a lifting hose, as a cable or chain hoist, or as a telescopic column.
  • the handling device can have a controllable vacuum generator, in particular a controllable vacuum pump, for providing the Include negative pressure and / or include a controllable valve device, in particular with at least one controllable valve.
  • the valve preferably serves to control the application of negative pressure to the lifting tool and/or the gripping means.
  • the lifting tool and/or the gripping means can then be controllable with the valve device.
  • the operating device can be designed in such a way that the vacuum generator and/or the valve device can be controlled by means of the at least one operating element.
  • the operating device can be designed in such a way that the vacuum generator can be switched on and off and the power of the vacuum generator can be adjusted by means of the at least one operating element.
  • the operating device can be designed in such a way that at least one valve of the valve device can be opened and closed by means of the at least one operating element.
  • the support and/or the cantilever, in particular the first cantilever element and/or the at least one further cantilever element preferably have channels, in particular internal channels, for conveying media and/or data.
  • the support and/or the jib, in particular the first cantilever element and/or the at least one further cantilever element are preferably designed as hollow profiles, with the internal cavities of the hollow profiles forming the channels mentioned.
  • This provides an internal pressure control system for the lifting tool and/or the gripping means and/or an internal data control system for the operating device and interfering contours through hoses and/or lines avoided.
  • the channels preferably fluidly connect the vacuum generator to the lifting tool and/or to the gripping tool.
  • the channels preferably connect the operating device to the vacuum generator and/or to the at least one drive device in terms of signals.
  • the operating device is advantageously designed such that the at least one operating element can be used to control a peripheral device that interacts with the handling device or is provided in the vicinity of the handling device, in particular a conveyor belt, a robot and/or a production station.
  • the handling device is designed as a mobile handling device for arrangement on and/or for connection to an industrial truck.
  • the industrial truck can be designed in particular as an order picker, a forklift truck or a lift truck.
  • the handling device can preferably comprise a base housing with a central longitudinal axis running parallel to the projection direction and with a transverse axis running orthogonal to the central longitudinal axis and parallel to the first projection plane.
  • the support is preferably arranged eccentrically with respect to the central longitudinal axis on the base housing, in particular in a rotationally and/or non-displaceably fixed manner. In this respect, the support to the central longitudinal axis along the transverse axis is spaced at the Arranged base housing. Accordingly, the handling device can be driven under and moved easily with an industrial truck or with a handling fork of an industrial truck.
  • the base housing preferably has at least one tine receptacle for at least one tine of a handling fork of an industrial truck, the tine receptacle being designed in particular in the manner of a tine overshoe.
  • the base housing and/or the tine receptacle is preferably designed in such a way that the base housing can be driven under by the industrial truck and the at least one tine can be inserted into the at least one tine receptacle. This allows the handling device to be transported easily by means of the industrial truck.
  • the at least drive device and/or the vacuum pump can preferably be arranged in the base housing.
  • a mobile handling device 10 with an industrial truck 12 designed as a forklift is shown.
  • the forklift truck 12 has a handling fork 14 with two prongs 16 .
  • the handling device 10 is designed to be connected to or attached to the forklift truck 12 or to a lift truck.
  • a coordinate system with the axes X, Y and Z is also shown.
  • the forklift truck 12 is moved along an insertion direction 18, which runs in the positive X-direction.
  • the handling fork 14 is located inside or below the handling device 10 and is then raised in the positive Z-direction. As soon as the handling device 10 is in the desired position, the handling fork 14 is lowered in the negative Z-direction so that the handling device 10 stands on the floor. To release the forklift truck 12 from the handling device 10, the handling fork 14 moves counter to the insertion direction 18 .
  • the mobile handling device 10 includes, as in particular in 2 to see a base housing 20 with two prong receptacles 21 extending along the X-axis.
  • the handling device 10 includes a support 24 that extends along a support axis 22 that is vertical when the handling device 10 is operated as intended.
  • the support 24 is designed as a column that is telescopic and, to that extent, height-adjustable.
  • a cantilever 26 is arranged on the support 24 .
  • the jib 26 includes a first cantilever member 28 which is fixed in rotation and translation to the support 24 and which extends in a first cantilever plane 30 along a first cantilever direction 32 .
  • the jib 26 also includes a second cantilever member 34 which is mounted on the first cantilever member 28 by means of a first swivel joint 36 so that it can pivot about a first axis of rotation 37 and extends in a second cantilever plane 38 .
  • the jib 26 also includes a third cantilever member 40 which is mounted on the second cantilever member 34 by means of a second rotary joint 42 so that it can pivot about a second axis of rotation 43 and extends in a third cantilever plane 44 .
  • the cantilever members 28, 34, 40 and the pivot joints 36, 42 are configured such that the first cantilever 30 is located above the second cantilever 38 and the third cantilever 44, the second cantilever 38 is located above the third cantilever 44, and that the first projection level 30, the second projection level 38 and the third projection level 44 parallel to one another.
  • the mobility of the support 24 and the boom 26 is indicated by the double-sided arrows.
  • a connection section 46 for coupling a lifting tool 48 is provided on the third projection element 40 .
  • the lifting tool 48 is designed as a controllable tube lifter.
  • a controllable suction gripper 50 for fixing objects 52 is arranged indirectly on the lifting tool 48 in such a way that the suction gripper 50 and an object 52 fixed with it can be raised and lowered.
  • An operating device 54 for operating the handling device 10 by an operator is provided between the tube lifter 48 and the suction gripper 50 .
  • the operating device 54 shown comprises a holding section 56 that can be grasped by the operator and six operating elements 58.
  • the holding section 56 is designed as a tangible handle bar which extends essentially vertically and has an elliptical shape in cross section.
  • the holding portion 56 can be gripped by the operator with one hand.
  • the operating elements 58 are arranged on the operating device 54 in such a way that the operator can actuate the operating elements 58 when holding the holding section 56 .
  • the six operating elements 58 are each designed as an operating button, so that the operator can operate the operating elements 58 in each case along an actuation direction 60 using a finger and/or a thumb by exerting pressure.
  • the direction of actuation 60 is essentially transverse to the support axis 22.
  • the handling device 10 includes a controllable vacuum generator 62 and a controllable drive device 64.
  • the lifting tool 48 and the suction gripper 50 can be driven by means of a vacuum.
  • the vacuum generator 62 is designed as a vacuum pump and for providing the vacuum.
  • the vacuum pump 62 is preferably arranged in the base housing 20 .
  • the handling device 10 includes within the base housing 20, the support 24 and the boom 26 a controllable valve device 66 assigned to the operating device 54 with valves (not shown) for conducting the negative pressure.
  • the drive device 64 interacts with the support 24 and with the cantilever members 28, 34, 40 so that the drive device 64 drives the support 24 for height adjustment and the cantilever members 28, 34, 40 for pivoting.
  • the drive device 64 can move the support 24 and the boom 26 independently after actuating an operating element 58 or assist the operator in guiding the support 24 and the boom 26 so that the movement requires only little effort from the operator.
  • the drive device 64 is preferably arranged in the base housing 20 or on the cantilever 26 .
  • the handling device 10 also includes an internal pressure management system 68 and an internal data management system 70 which are arranged in the hollow support 24 and in the hollow boom 26 .
  • the pressure management system 68 fluidly connects the vacuum pump 62 with the Lifting tool 48 and with the suction gripper 50.
  • the data management system 70 connects the operating device 54 with the vacuum pump 62 and the drive device 64 in terms of signals.
  • the operating device 54 is designed in such a way that the operator can actuate the operating elements 58 when holding the holding section 56 .
  • the vacuum pump 62 , the drive device 64 and the valve device 66 as well as peripheral devices which interact with the handling device 10 and are provided in the vicinity of the handling device 10 can be controlled by means of the operating elements 58 . Consequently, the operating device is designed in such a way that, by means of the operating elements 58, the handling device 10, in particular the vacuum pump 62 and the drive device 64, is switched on and off, the height of the support 24 is adjusted, the cantilever members 28, 34, 40 are pivoted by more than 360° and that Lifting tool 48 can be compressed and expanded parallel to the support axis 22 .
  • the operating device 54 is designed such that the operating elements 58 can be used to raise and lower the suction gripper 50 and thus a fixed object 52 and to generate a negative pressure in the suction gripper 50 to fix the object 52 .
  • the operating device 54 is designed such that the power of the vacuum generator 62 and the drive device 64 can be adjusted by means of the operating elements 58 and the valves of the valve device 66 can be opened and closed.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP22168480.6A 2021-04-20 2022-04-14 Dispositif de manutention à commande Pending EP4079674A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021109902.1A DE102021109902A1 (de) 2021-04-20 2021-04-20 Handhabungsvorrichtung mit Steuerung

Publications (1)

Publication Number Publication Date
EP4079674A1 true EP4079674A1 (fr) 2022-10-26

Family

ID=81595690

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22168480.6A Pending EP4079674A1 (fr) 2021-04-20 2022-04-14 Dispositif de manutention à commande

Country Status (2)

Country Link
EP (1) EP4079674A1 (fr)
DE (1) DE102021109902A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0289042A2 (fr) 1987-04-30 1988-11-02 Mitsubishi Denki Kabushiki Kaisha Disjoncteur
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
EP3002247A1 (fr) * 2014-10-01 2016-04-06 DM Investissements Engin de manutention
DE102015112125A1 (de) * 2015-07-24 2017-01-26 Strödter Handhabungstechnik GmbH Kommissioniergerät
DE202020104055U1 (de) * 2020-02-05 2020-08-14 BARRUS GmbH Manipulator zum Anordnen an einem Fahrzeug

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6386513B1 (en) 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
ES2351906B1 (es) 2009-05-29 2011-12-28 Aranguren Comercial Del Embalaje S.L. Estructura soporte para unir a una traspaleta eléctrica un dispositivo funcional.
DE102018121726A1 (de) 2018-09-06 2020-03-12 Jungheinrich Ag Flurförderzeug umfassend eine Kommissioniervorrichtung
CN209989023U (zh) 2019-04-30 2020-01-24 微可为（厦门）真空科技有限公司 一种带有吸吊的电动叉车

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0289042A2 (fr) 1987-04-30 1988-11-02 Mitsubishi Denki Kabushiki Kaisha Disjoncteur
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
EP3002247A1 (fr) * 2014-10-01 2016-04-06 DM Investissements Engin de manutention
DE102015112125A1 (de) * 2015-07-24 2017-01-26 Strödter Handhabungstechnik GmbH Kommissioniergerät
DE202020104055U1 (de) * 2020-02-05 2020-08-14 BARRUS GmbH Manipulator zum Anordnen an einem Fahrzeug

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Publication number Publication date
DE102021109902A1 (de) 2022-10-20

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