EP4134346A1 - Entraînement pivotant hydraulique pour un préhenseur - Google Patents

Entraînement pivotant hydraulique pour un préhenseur Download PDF

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Publication number
EP4134346A1
EP4134346A1 EP22185600.8A EP22185600A EP4134346A1 EP 4134346 A1 EP4134346 A1 EP 4134346A1 EP 22185600 A EP22185600 A EP 22185600A EP 4134346 A1 EP4134346 A1 EP 4134346A1
Authority
EP
European Patent Office
Prior art keywords
piston
hydraulic
drive
drive units
gripper
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
EP22185600.8A
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German (de)
English (en)
Other versions
EP4134346B1 (fr
Inventor
Dominik REBENSBURG
Thomas Friedrich
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.)
Kinshofer GmbH
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Kinshofer GmbH
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Filing date
Publication date
Application filed by Kinshofer GmbH filed Critical Kinshofer GmbH
Publication of EP4134346A1 publication Critical patent/EP4134346A1/fr
Application granted granted Critical
Publication of EP4134346B1 publication Critical patent/EP4134346B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/402—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with means for facilitating the loading thereof, e.g. conveyors
    • E02F3/404—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with means for facilitating the loading thereof, e.g. conveyors comprising two parts movable relative to each other, e.g. for gripping
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/006—Pivot joint assemblies

Definitions

  • the present invention relates to grippers which have at least two gripper arms or shells which can be moved in the manner of tongs and which can be pivoted open and closed in opposite directions to one another by a hydraulic pivot drive.
  • the invention also relates in particular to the hydraulic pivoting drive for such a gripper, with at least two output pieces which are each mounted on a common support so that they can rotate about a pivot axis and each have non-rotatable connection means for non-rotatable connection with one/r of the said gripper arms or shells. wherein the driven pieces can be driven in opposite directions to one another by separate, independently functioning hydraulic drive units.
  • Grippers of the type mentioned are used, for example, on excavators for gripping building materials such as gravel, sand or earth, or on demolition equipment in the form of demolition shears and tongs for dividing and/or gripping structural parts such as walls, concrete slabs and the like, but also in other areas such as used in forestry, for example, in the form of log grapples.
  • the grippers usually have two gripper arms or shells that can be pivoted open and closed in opposite directions to one another and can be hydraulically pivoted open and closed, but three, four or more gripper arms or shells can also be used can be provided, which can be pivoted apart and together in a star shape, as is the case, for example, with orange peel grabs for handling loose goods such as scrap metal, waste or cardboard and paper.
  • the hydraulic drive units of such grippers usually include hydraulic cylinders, which can be articulated directly on the gripper arms or shells that are to be pivoted open and closed in opposite directions, in order to swing the shells open or closed by lengthening or shortening the hydraulic cylinder, with the hydraulic cylinders also being on the one hand a shell support piece and on the other hand can be hinged to the shells.
  • pivoting drives which work according to the spindle or screw principle and have a pressurized, displaceable piston which is in screwed engagement with screw-toothed pivoting axes in order to pivot the pivoting axes and thus the gripper arms or shells up and down by moving the piston to be able to, see for example EP 31 53 629 B1 , DE 203 19 227 U1 or DE 20 2006 013 101 U1 .
  • the gripper shells or arms are usually pivoted open and closed in a synchronized manner, which can be ensured by mechanical or geared connection of the two shells, but can also be achieved hydraulically, see for example U.S. 5,558,380 B, according to which the two hydraulic cylinders, which are used to swing the shells open and closed, are supplied with approximately the same amount of hydraulic oil via a flow divider.
  • the pivot shafts are synchronized via the common piston, which is in screw-engagement therewith.
  • the swivel drives that allow such an asymmetric or asynchronous operation of the gripper shells or arms are unsatisfactory in terms of size and the drive forces or torques that can be provided and in particular the ratio of size and drive torque.
  • special measures are often required to protect the moving parts and parts that are to be hydraulically sealed from harsh operating conditions.
  • the present invention is therefore based on the object of creating an improved hydraulic swivel drive and an improved gripper of the type mentioned at the outset, which avoid the disadvantages of the prior art and develop the latter in an advantageous manner.
  • a compact arrangement that is insensitive to dirt and external mechanical loads, high driving forces or moments for the gripper shells or arms are to be provided and an asynchronous or synchronous operation of the gripper shells or arms is to be made possible in a simple manner.
  • the independently functional, hydraulic drive units for the rotary drive of the driven pieces, to which the gripper arms or shells are coupled in a torque-proof manner have pistons that can be displaced in the direction of the pivot axes of the output pieces, which are mounted displaceably under pressure in separate drive housings and are each in screwed engagement with a threaded part, with the named threaded part or the respective piston being in drive connection with one of the output pieces, so that an axial displacement of the respective piston in Direction of the pivot axis of the associated driven piece causes a rotation of the associated driven piece about said pivot axis.
  • the pistons of the screw drive units are parallel to the pivot axes of the gripper shells or arms designed to be movable, with the displacement movement being converted into the desired rotary movement of the drive pieces via the screw engagement.
  • the swivel drive can provide very high drive forces or torques with a very compact design and is at the same time insensitive to external influences such as dirt or mechanical shocks.
  • this also makes it possible to arrange the pivot axes of the grab shells differently with great freedom, whereby not only the distance between the pivot axes can be variably determined, but also mutually crossed pivot axes can be realized, for example for multi-shell grabs.
  • the drive units can be actuated either asynchronously or synchronously with one another, or the gripper shells can be optionally adjusted asynchronously or synchronously with one another.
  • the gripper shells can move at different speeds, different speed profiles and/or over an adjustment path of different lengths.
  • the grab shells move synchronously with one another.
  • the drive units and the gripper shells can be mechanically uncoupled, with the drive units being able to be individually pressurized and controlled so that the respective shell or arm movement can be controlled independently and at an individual speed.
  • a hydraulic synchronization device can be provided for synchronizing the movements of the several drive units in order to be able to swing the gripper shells or arms open and closed synchronously with one another without mechanical forced coupling.
  • Such a hydraulic synchronization device can include, for example, a hydraulic flow divider, via which the several separate hydraulic drive units are connected to one another and can be actuated in a manner coordinated with one another.
  • a flow divider can divide the amount of pressurized fluid between the pressure chambers of the multiple drive units, so that each pressure chamber receives the same amount of pressurized medium from a pressure port.
  • Such a flow divider can be designed, for example, in the form of a piston flow divider or a gear flow divider.
  • the named flow divider can divide the pressure medium quantity or flow into equal parts, so that the pressure chamber for actuating each piston receives the same pressure medium quantity.
  • a quantity divider with a different division factor can also be used if coordinated actuation of the gripper shells or arms is desired, but different actuation speeds and/or travels are desired.
  • An actuation that is coordinated with one another, but at different speeds and/or with different travel distances, can also be achieved by different configurations of the pressure chamber cross-sections or piston cross-sections of the individual Achieve drive units, and this can also be used to put the provided drive torque in a certain ratio to each other.
  • a hydraulic supply and control system can also be assigned to the several separate drive units, which can control the pressure medium quantities and/or flows supplied to the pressure chambers of the individual drive units individually and/or differently from one another .
  • a supply and/or control system can include control valves, for example, with the aid of which the amount of pressure medium supplied to a respective drive unit can be controlled individually.
  • a switching device can advantageously be provided in order to be able to switch between synchronous operation of the gripper shells or arms and asynchronous operation of said gripper shells or arms.
  • Such a switching device can advantageously be designed hydraulically, for example it can comprise a bypass circuit or a bypass valve, with the aid of which the aforementioned flow divider can be bypassed.
  • the drive units can fundamentally be designed or constructed differently with regard to the design of their piston, the screw engagement with the threaded part and the drive connections to the drive pieces.
  • the piston which can be displaced in the manner described parallel to the pivot axis of its gripper shell, can be slidably but non-rotatably mounted in the associated cylinder and can be in screwed engagement with a rotatably mounted piston rod, wherein said piston rod can be rotatable but axially fixed and non-rotatably with the drive pieces can be connected to the associated gripper shell or to the associated gripper shell.
  • the end sections of the piston rod can form the drive pieces for the gripper shell or the gripper arm and protrude from the pressure medium cylinder at the front.
  • the non-rotatable, displaceable mounting of the piston in the cylinder can be accomplished in various ways.
  • the piston and the cylinder can have a cross-sectional contour that deviates from the circular shape, for example an oval or elliptical configuration.
  • the piston can also be prevented from rotating about its displacement axis by the piston being seated eccentrically on the piston rod, in which case the piston can also be contoured as a circular cylinder without being able to rotate in the cylinder.
  • the piston does not necessarily have to be guided in the cylinder in a rotationally fixed manner.
  • the piston can also be in screwed engagement with the cylinder, so that the piston rotates at the same time when it is axially displaced along the cylinder axis.
  • the piston can, for example, be non-rotatably but displaceably seated on the said piston rod, for example by contouring a piston inner lateral surface and a piston rod outer lateral surface in a manner that deviates from the circular or circular-cylindrical shape.
  • splined profiling or just elliptical profiling of the mating surfaces between piston and piston rod can be provided.
  • the piston rod can also be in screwed engagement with the piston when the piston is in screwed engagement with the cylinder, so that a double rotational adjustment movement is generated, so to speak.
  • the piston when the piston is displaced axially, the piston rotates through the screwing engagement with the cylinder.
  • the axial movement of the piston also causes the piston rod to twist.
  • the rotary movements of the piston relative to the cylinder and of the piston rod relative to the piston can add up, although the orientation of the pairings of screw engagements can also be selected so that the rotary movements or speeds can be subtracted from one another are, for example, such that a faster piston rotation is converted into a slower piston rod rotation.
  • the hydraulic drive units assigned to the various gripper shells or arms can be designed differently from one another with regard to the design of the pistons and/or the screw engagement between the piston and cylinder and/or between the piston and piston rod and/or between the piston and rotary part in order to be able to be connected to different hydraulic drive units to generate different pivoting speeds and/or driving forces or moments, depending on the design of the gripper.
  • the screw engagement on one drive unit can have a different pitch than on another drive unit in order to design the setting speed and/or the drive torques or forces exerted on the shells differently.
  • an orange peel grab could have grab shells or arms of different sizes, for example one larger shell and two smaller ones, so that the hydraulic drive unit for the larger shell is a drive unit with a higher torque, for example due to a larger piston cross-sectional area and/or a smaller pitch, and the drive units are configured for the smaller shells for a smaller driving torque, for example by a smaller piston cross section and/or a larger pitch of the screw engagement.
  • the hydraulic drive units for different gripper shells or arms can be configured differently in order to realize different swivel angles, for example in such a way that one drive unit rotates "its" drive piece by a larger angle and another drive unit "its" drive piece by a smaller one twisted angle.
  • At least one of the hydraulic drive units can be adjustably mounted on the common carrier for this purpose, for example displaceable transversely to the pivot axis by means of a carriage guide and fixed in different positions by a fixing device in order to be able to set different center distances of the pivot axes.
  • At least one of the electric drive units can also be relocatably mounted on the common carrier, for example via a hole pattern and plug-in or fixing bolts, whereby not only different axis distances of parallel pivot axes, but also different angular alignments of the pivot axes can be adjusted to one another.
  • the gripper 1 can comprise two gripper arms or shells 2, which can be pivoted up and down about two spaced, for example parallel, pivot axes 3 in order to grip goods to be gripped or, in the case of tongs or scissors, to process them.
  • more than two gripper arms or shells 2 can also be provided in multi-shell grabs, the pivot axes of which can be aligned in different, non-parallel directions.
  • the gripping arms 2 are pivoted on a carrier 4, which itself can be articulated on a tool operator, such as an excavator handle or a rope of a cable excavator, if necessary with the interposition of a slewing gear for rotating the gripper 1 about an upright axis.
  • a tool operator such as an excavator handle or a rope of a cable excavator
  • Said carrier 4 also carries two separate, independently functioning drive units 5, 6 which, in the case of a clamshell or two-arm gripper, can be aligned parallel to one another and attached to the carrier 4 at a distance from one another, with a longitudinal axis of the drive units 5, 6 in particular being parallel aligned to the pivot axes 3, in particular can be arranged coaxially thereto.
  • the named drive units 5, 6 each comprise at least one driven piece 7, which can be driven in rotation about the respective pivot axis 3 and can be connected in a torque-proof manner to one of the named gripping arms 2, so that rotating the respective driven piece 7 causes the gripping arm 2 mounted on it to pivot causes.
  • the drive units 5, 6 are advantageously designed as screw drive units, with each drive unit 5, 6 having a piston 8 which can be displaced in the direction of the respective pivot axis 3 and which is in screwed engagement with at least one threaded part 9, with said threaded part 9 or the piston 8 is in drive connection with a driven piece 7, so that an axial displacement of the piston 8 causes the pivot axis 3 of the associated driven piece 7 to rotate.
  • said threaded part 9 can be cup-shaped or sleeve-shaped and have helical gearing on an inner lateral surface, which is in screwed engagement with a helical gearing of piston 8 provided on the outer lateral surface side.
  • the piston 8 may include a cylindrical projection 10 which is helically toothed and is in screw engagement with the threaded portion 9, with a pressurizing portion 11 of the piston 8 in a
  • the pressure chamber 12 of the cylinder 13 can be rotationally fixed, but can be guided in an axially displaceable manner, so that by pressurizing the pressure chamber 12, the piston can be displaced axially and a rotational movement of the threaded part 9 can be generated via the screw engagement described.
  • the threaded part 9 can be axially fixed and coupled in a torque-proof manner to said driven piece 7 so that a displacement of the piston 8 can cause a rotational movement of the driven piece 7 and thus of the gripping shell mounted in a torque-proof manner.
  • the cylinder 13 or, in general, the housing of the drive unit 5, 6 can be mounted on the carrier 4 in a rotationally fixed manner.
  • the piston 8 does not have to be guided in the cylinder 13 in a rotationally fixed manner, but gearing could also be provided between the piston 8 and the cylinder 13 .
  • gearing could also be provided between the piston 8 and the cylinder 13 .
  • the cup-shaped or sleeve-shaped threaded part 9 which is in the figure 5 is shown to provide a piston rod as a threaded part, which is helically toothed on the outside and can extend through the piston 8 in order to mesh with a helical toothing provided there on the inner casing side.
  • the piston-cylinder unit which is formed by the piston 8 and the cylinder 13, is advantageously designed to be double-acting, with the piston 8 being able to separate or divide two pressure chambers 12 and 15 in the cylinder 13 from one another.
  • the piston 8 can be displaced in one direction or the other and thus the coupled gripping arm 2 can be pivoted open or closed.
  • the pressure chamber assignment can be made in such a way that pressurization of the smaller ring chamber causes the gripper arm 2 to pivot open and pressurization of the full chamber 12, which has a larger cross section, causes it to pivot closed of the gripper arm 2 causes.
  • higher closing forces than opening forces can be achieved in a simple manner.
  • the drive units 5, 6 each have their own housing 14 and are self-contained, ready for operation and functional per se independently of one another, although of course coordinated actuation can nevertheless be effected by controlling the hydraulic loading of the two drive units 5, 6.
  • the hydraulic supply and/or control system 17 can include a hydraulic synchronization device 18 with a flow divider 19, with the aid of which the actuation of the gripper arms 2 can be synchronized or coordinated with one another in such a way that the gripper arms 2 swing up and down in the desired dependence on one another, in particular, can be swung open and swung closed in opposite directions.
  • the flow divider 19 divides the flow of pressure medium to pressurize the respective pressure chambers 12 or 15 of the drive units 5, 6 in a predetermined ratio to one another, so that the drive units 5, 6 are subjected to the same quantities of pressure medium or pressure medium quantities in a specific ratio to one another, as a result of which the synchronize or coordinate rotational movements of the drive units 5, 6 with one another.
  • the pressure chambers 12 of the drive units 5, 6, which cause the gripper arms 2 to pivot can each be assigned a check valve 20 in order to avoid unwanted pressure loss and thus a reduction in the gripping forces.
  • a controlled switching valve 21 can be connected upstream of said switch-back valves 20 and selectively block or connect the lines leading to the switch-back valves 20, cf. figure 7 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
EP22185600.8A 2021-07-23 2022-07-19 Entraînement pivotant hydraulique pour un préhenseur Active EP4134346B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202021103928.0U DE202021103928U1 (de) 2021-07-23 2021-07-23 Hydraulischer Schwenkantrieb für einen Greifer

Publications (2)

Publication Number Publication Date
EP4134346A1 true EP4134346A1 (fr) 2023-02-15
EP4134346B1 EP4134346B1 (fr) 2024-05-01

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Application Number Title Priority Date Filing Date
EP22185600.8A Active EP4134346B1 (fr) 2021-07-23 2022-07-19 Entraînement pivotant hydraulique pour un préhenseur

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EP (1) EP4134346B1 (fr)
DE (1) DE202021103928U1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5558380A (en) 1994-09-19 1996-09-24 Deere & Company Logging grapple
DE19749848A1 (de) * 1996-12-12 1998-09-03 Kinshofer Greiftechnik Zweischalengreifer
DE20107206U1 (de) * 2001-04-02 2002-08-08 Kinshofer Greiftechnik GmbH, 83666 Waakirchen Antriebsvorrichtung für eine Greifeinrichtung
DE20319227U1 (de) 2003-12-11 2005-04-21 Kinshofer Greiftechnik Gmbh & Co. Kg Hydraulischer Schwenkantrieb für einen Greifer
DE202006013101U1 (de) 2006-08-25 2008-01-03 Kinshofer Gmbh Hydraulischer Schwenkantrieb für einen Greifer
EP3153629B1 (fr) 2015-10-06 2018-07-25 Kinshofer GmbH Entraînement pivotant hydraulique et dispositif de préhension comprenant un tel entraînement pivotant
EP2327840B2 (fr) * 2009-11-25 2019-06-26 Dean R. Weyer Ensemble d'outils inclinable pour un véhicule
EP3656928A1 (fr) 2018-11-23 2020-05-27 Rafko Voje Grappin hydraulique multifonctionel avec opération synchronisé et non-synchronisé

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19804219C2 (de) 1998-02-03 2000-05-31 Groeger Gunnar Greifersystem für Holz oder holzähnliches Material
DE202019100365U1 (de) 2019-01-23 2020-04-24 Pöttinger Landtechnik Gmbh Landwirdschaftliche Arbeitsmaschine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5558380A (en) 1994-09-19 1996-09-24 Deere & Company Logging grapple
DE19749848A1 (de) * 1996-12-12 1998-09-03 Kinshofer Greiftechnik Zweischalengreifer
DE20107206U1 (de) * 2001-04-02 2002-08-08 Kinshofer Greiftechnik GmbH, 83666 Waakirchen Antriebsvorrichtung für eine Greifeinrichtung
DE20319227U1 (de) 2003-12-11 2005-04-21 Kinshofer Greiftechnik Gmbh & Co. Kg Hydraulischer Schwenkantrieb für einen Greifer
DE202006013101U1 (de) 2006-08-25 2008-01-03 Kinshofer Gmbh Hydraulischer Schwenkantrieb für einen Greifer
EP2327840B2 (fr) * 2009-11-25 2019-06-26 Dean R. Weyer Ensemble d'outils inclinable pour un véhicule
EP3153629B1 (fr) 2015-10-06 2018-07-25 Kinshofer GmbH Entraînement pivotant hydraulique et dispositif de préhension comprenant un tel entraînement pivotant
EP3656928A1 (fr) 2018-11-23 2020-05-27 Rafko Voje Grappin hydraulique multifonctionel avec opération synchronisé et non-synchronisé

Also Published As

Publication number Publication date
DE202021103928U1 (de) 2022-10-25
EP4134346B1 (fr) 2024-05-01

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