ES2792181T3 - Sistema de posicionamiento de superficies de apriete - Google Patents
Sistema de posicionamiento de superficies de apriete Download PDFInfo
- Publication number
- ES2792181T3 ES2792181T3 ES13876271T ES13876271T ES2792181T3 ES 2792181 T3 ES2792181 T3 ES 2792181T3 ES 13876271 T ES13876271 T ES 13876271T ES 13876271 T ES13876271 T ES 13876271T ES 2792181 T3 ES2792181 T3 ES 2792181T3
- Authority
- ES
- Spain
- Prior art keywords
- load
- jaw
- control system
- clamping surfaces
- engagement position
- 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.)
- Active
Links
- 238000013459 approach Methods 0.000 claims abstract description 64
- 230000004044 response Effects 0.000 claims abstract description 15
- 238000010168 coupling process Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- 239000000123 paper Substances 0.000 description 38
- 239000012530 fluid Substances 0.000 description 10
- 230000005484 gravity Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000003247 decreasing effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 230000000750 progressive effect Effects 0.000 description 3
- 230000003466 anti-cipated effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004424 eye movement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/183—Coplanar side clamps
-
- 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
- B66F9/184—Roll clamps
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Replacement Of Web Rolls (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/777,925 US9114963B2 (en) | 2013-02-26 | 2013-02-26 | Clamping surface positioning system for mobile load-handling clamps |
| PCT/US2013/052746 WO2014133579A1 (en) | 2013-02-26 | 2013-07-30 | Clamping surface positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2792181T3 true ES2792181T3 (es) | 2020-11-10 |
Family
ID=51387567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES13876271T Active ES2792181T3 (es) | 2013-02-26 | 2013-07-30 | Sistema de posicionamiento de superficies de apriete |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US9114963B2 (enExample) |
| EP (1) | EP2909125B1 (enExample) |
| JP (1) | JP6425667B2 (enExample) |
| CN (1) | CN104822617B (enExample) |
| AU (1) | AU2013379784B2 (enExample) |
| BR (1) | BR112015012902B1 (enExample) |
| CA (1) | CA2888598C (enExample) |
| ES (1) | ES2792181T3 (enExample) |
| WO (1) | WO2014133579A1 (enExample) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2584324B1 (es) | 2014-12-22 | 2017-10-04 | Bsh Electrodomésticos España, S.A. | Módulo de embalaje para campos de cocción. |
| JP6599810B2 (ja) * | 2016-03-29 | 2019-10-30 | 住友ナコ フォ−クリフト株式会社 | 荷役作業車 |
| CN106296981A (zh) * | 2016-07-29 | 2017-01-04 | 华南理工大学 | 一种搭载纸币整理机构的钱币分离装置 |
| US11136229B2 (en) | 2016-12-01 | 2021-10-05 | Cascade Corporation | Clamp force control system for lift truck attachment with secondary hydraulic force control circuit |
| FR3068345B1 (fr) | 2017-06-29 | 2019-08-23 | Compagnie Generale Des Etablissements Michelin | Systeme de commande d'un chariot elevateur a fourche a plusieurs modes de fonctionnement |
| FR3068344B1 (fr) * | 2017-06-29 | 2019-08-23 | Compagnie Generale Des Etablissements Michelin | Systeme de commande d'un chariot elevateur a fourche autonome, et procede de pilotage d'un tel chariot. |
| CN108584807A (zh) * | 2018-06-15 | 2018-09-28 | 王梦涛 | 叉车的机械手臂装置 |
| US11590997B1 (en) | 2018-08-07 | 2023-02-28 | Staples, Inc. | Autonomous shopping cart |
| US11630447B1 (en) * | 2018-08-10 | 2023-04-18 | Staples, Inc. | Automated guided vehicle for transporting objects |
| JP7135821B2 (ja) * | 2018-12-14 | 2022-09-13 | 株式会社豊田自動織機 | 荷役車両の重心推定装置 |
| WO2020132643A1 (en) * | 2018-12-21 | 2020-06-25 | Rightline Equipment, Inc. | Lift truck attachment with smart clamp |
| JP7188363B2 (ja) * | 2019-11-25 | 2022-12-13 | トヨタ自動車株式会社 | 搬送システム、搬送方法およびプログラム |
| JP7192748B2 (ja) | 2019-11-25 | 2022-12-20 | トヨタ自動車株式会社 | 搬送システム、学習済みモデル生成方法、学習済みモデル、制御方法およびプログラム |
| US20220107238A1 (en) * | 2020-10-01 | 2022-04-07 | Hyster-Yale Group, Inc. | Dynamic load center-of-gravity detection |
| US12304790B1 (en) | 2021-07-20 | 2025-05-20 | Shaw Industries Group, Inc. | Clamp adapter for lift vehicle to facilitate lifting of malleable objects |
| CN113321158B (zh) * | 2021-08-03 | 2021-10-12 | 沛县汉方机械制造股份有限公司 | 一种用于搬运球状货物的免捆绑叉车及其使用方法 |
| AU2023213964A1 (en) * | 2022-01-27 | 2024-08-01 | Cascade Corporation | Variable load geometry clamp pressure control |
| CN119968335A (zh) * | 2022-10-04 | 2025-05-09 | 卡斯卡特公司 | 深度检测器系统 |
Family Cites Families (60)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2596477A (en) | 1949-01-21 | 1952-05-13 | Towmotor Corp | Lift truck grab arm mechanism for cylindrical bodies |
| US4279564A (en) * | 1980-01-14 | 1981-07-21 | Cascade Corporation | Parallel arm clamp having improved attaching assembly for narrow clamp arms |
| US4411577A (en) * | 1980-03-07 | 1983-10-25 | Rapistan Division, Lear Siegler, Inc. | Vehicle sensor monitoring system |
| JPS59353B2 (ja) * | 1980-07-24 | 1984-01-06 | ファナック株式会社 | 把持装置 |
| JPS6318885Y2 (enExample) * | 1981-04-23 | 1988-05-27 | ||
| US4435117A (en) * | 1982-02-01 | 1984-03-06 | Cascade Corporation | Lift truck paper roll clamp having automatically adjustable roll of different diameters |
| US4618306A (en) | 1983-03-31 | 1986-10-21 | Liftomatic Material Handling Co., Inc. | Self contained drum dumper for fork trucks |
| JPS60238283A (ja) * | 1984-05-11 | 1985-11-27 | 三菱電機株式会社 | 円筒物の運搬自走車 |
| US4605354A (en) * | 1984-07-30 | 1986-08-12 | International Business Machines Corporation | Slip sensitive robot gripper system |
| JPS6171302A (ja) * | 1984-09-14 | 1986-04-12 | Toshiba Corp | ロボットハンド用近接センサ装置 |
| US5374830A (en) | 1984-10-12 | 1994-12-20 | Sensor Adaptive Machines, Inc. | Target based determination of robot and sensor alignment |
| US4726729A (en) * | 1986-05-02 | 1988-02-23 | Cascade Corporation | Electric motor-actuated load clamp with clamping force control |
| US4714399A (en) * | 1986-05-02 | 1987-12-22 | Cascade Corporation | Automatically-guided vehicle having load clamp |
| US4742468A (en) * | 1986-06-16 | 1988-05-03 | Yamate Industrial Co., Ltd. | Lift truck control system |
| US4832341A (en) | 1986-08-21 | 1989-05-23 | Upc Games, Inc. | High security instant lottery using bar codes |
| US4682931A (en) * | 1986-09-22 | 1987-07-28 | Cascade Corporation | Lift truck clamp for handling stacked loads of different sizes |
| DE3801133C2 (de) | 1988-01-16 | 1995-03-23 | Kaup Gmbh & Co Kg | Anbaugerät für einen Hublader |
| US4861223A (en) | 1988-02-09 | 1989-08-29 | Cascade Corporation | Automatic load push-pull slipsheet handler |
| US5009565A (en) | 1989-11-20 | 1991-04-23 | Liberty Diversified Industries, Inc. | Fork lift attachment |
| US5052882A (en) * | 1989-12-04 | 1991-10-01 | Caterpillar Industrial Inc. | Apparatus and method for controllably positioning forks of a material handling vehicle |
| US5292219A (en) * | 1990-02-23 | 1994-03-08 | Auramo Cargo Systems Oy | Procedure and apparatus for the handling of loads |
| FI85260C (fi) | 1990-07-11 | 1992-03-25 | Vesa Kaehoenen | Foerfarande och system foer att instaella hydraultrycket som verkar pao ett hydrauliskt griporgan. |
| JP3135155B2 (ja) | 1992-01-30 | 2001-02-13 | 豊田工機株式会社 | ワークの押付装置 |
| JPH0616398U (ja) * | 1992-07-31 | 1994-03-01 | 小松フォークリフト株式会社 | 荷役車両のサイドクランプ装置のずれ検出装置および是正装置 |
| US5516255A (en) * | 1994-04-25 | 1996-05-14 | Tygard Machine & Manufacturing Co. | Clamping apparatus |
| US5604715A (en) | 1994-06-21 | 1997-02-18 | Aman; James A. | Automated lumber unit trucking system |
| DE4433050B4 (de) | 1994-09-16 | 2004-01-29 | Kaup GmbH & Co KG Gesellschaft für Maschinenbau | Anbaugerät für Hublader mit an aufzunehmenden Nutzlasteinheiten anpreßbaren Klammerarmen |
| DE19613386A1 (de) * | 1996-04-03 | 1997-10-09 | Fiat Om Carrelli Elevatori | Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist |
| SE505210C2 (sv) | 1996-04-26 | 1997-07-14 | Nymek Ab | Styrning för en lasthanteringsanordning |
| CA2209980C (en) * | 1996-07-11 | 2008-01-08 | Tygard Machine And Manufacturing Company | Clamping apparatus |
| US5984617A (en) * | 1998-05-11 | 1999-11-16 | Cascade Corporation | Clamp for handling stacked loads of different sizes at different maximum clamping forces |
| JP3899679B2 (ja) * | 1998-05-28 | 2007-03-28 | 株式会社豊田自動織機 | ロールクランプ装置 |
| JPH11343099A (ja) * | 1998-06-02 | 1999-12-14 | Toyota Autom Loom Works Ltd | ロールクランプ装置 |
| US6332098B2 (en) | 1998-08-07 | 2001-12-18 | Fedex Corporation | Methods for shipping freight |
| US6843636B2 (en) * | 1998-10-07 | 2005-01-18 | Cascade Corporation | Adaptive load-clamping system |
| CA2282198C (en) * | 1998-10-07 | 2003-06-10 | Cascade Corporation | Adaptive load-clamping system |
| US6431816B1 (en) * | 1998-10-07 | 2002-08-13 | Cascade Corporation | Adaptive load-clamping system |
| JP2000229793A (ja) * | 1999-02-10 | 2000-08-22 | Toyota Autom Loom Works Ltd | ロールクランプ装置 |
| DE19964034C2 (de) | 1999-12-30 | 2002-01-31 | Meyer Hans H Gmbh | Greifervorrichtung für einen Hublader |
| DE10005220C2 (de) | 2000-02-05 | 2002-01-24 | Kaup Gmbh & Co Kg | Transporteinrichtung mit Klammerarmen und einer Einrichtung zum Steuern oder Regeln der Klemmkraft |
| DE10012391C2 (de) | 2000-03-15 | 2002-06-27 | Meyer Hans H Gmbh | Vorrichtung und Verfahren zur Steuerung der Backenklemmkraft bei Hubladern |
| JP2001261297A (ja) * | 2000-03-22 | 2001-09-26 | Toyota Autom Loom Works Ltd | 産業車両の前後方向の荷重モーメント測定装置 |
| JP2003238071A (ja) | 2002-02-18 | 2003-08-27 | Mitsubishi Heavy Ind Ltd | コンテナ位置検出装置 |
| ITVR20020065A1 (it) | 2002-06-12 | 2003-12-12 | Roncari S R L | Dispositivo di controllo e comando delle forze per il serraggio di carichi da trasportare mediante carrelli elevatori o simili. |
| US20060058913A1 (en) * | 2002-11-26 | 2006-03-16 | Andersen Scott P | Inventory tracking |
| US7151979B2 (en) | 2002-11-26 | 2006-12-19 | International Paper Company | System and method for tracking inventory |
| US20040102870A1 (en) | 2002-11-26 | 2004-05-27 | Andersen Scott Paul | RFID enabled paper rolls and system and method for tracking inventory |
| JP4158508B2 (ja) * | 2002-12-09 | 2008-10-01 | 株式会社豊田自動織機 | 無人荷役車両 |
| US7121457B2 (en) | 2004-04-30 | 2006-10-17 | Kimberly-Clark Worldwide, Inc. | Automatically adjusting parameters of a lifting device by identifying objects to be lifted |
| US7412919B2 (en) * | 2004-08-04 | 2008-08-19 | Loron, Inc. | Hydraulic force control system for clamping assembly |
| US8403618B2 (en) | 2004-11-30 | 2013-03-26 | Cascade Corporation | Lift truck load handler |
| FI117864B (fi) * | 2005-09-06 | 2007-03-30 | Auramo Oy | Kuormankäsittelylaitteisto ja kuormankäsittelylaitteiston ohjausjärjestelmän menetelmä |
| US7699141B2 (en) * | 2006-03-20 | 2010-04-20 | Fossier David A | Pallet distance ranging device for forklift |
| FI20065637A0 (fi) | 2006-10-04 | 2006-10-04 | Jyri Vaherto | Menetelmä trukin tartuntaelimen ohjaamiseksi sekä vastaava järjestelmä ja säätölaitteisto |
| US8078315B2 (en) * | 2008-05-08 | 2011-12-13 | Cascade Corporation | Control system for a load handling clamp |
| US9964428B2 (en) * | 2008-10-09 | 2018-05-08 | Cascade Corporation | Equalized hydraulic clamp force control |
| JP5535499B2 (ja) | 2009-03-11 | 2014-07-02 | 日新工機株式会社 | ロールリフター |
| US9630821B2 (en) * | 2011-09-06 | 2017-04-25 | Loron, Inc. | Clamping assembly for load-carrying vehicle |
| JP2013112425A (ja) * | 2011-11-25 | 2013-06-10 | Toyota Industries Corp | ロールクランプ装置 |
| US8755929B2 (en) * | 2012-10-29 | 2014-06-17 | Cascade Corporation | Interactive clamp force control system for load handling clamps |
-
2013
- 2013-02-26 US US13/777,925 patent/US9114963B2/en active Active
- 2013-07-30 CA CA2888598A patent/CA2888598C/en active Active
- 2013-07-30 WO PCT/US2013/052746 patent/WO2014133579A1/en not_active Ceased
- 2013-07-30 JP JP2015560163A patent/JP6425667B2/ja active Active
- 2013-07-30 AU AU2013379784A patent/AU2013379784B2/en active Active
- 2013-07-30 ES ES13876271T patent/ES2792181T3/es active Active
- 2013-07-30 EP EP13876271.1A patent/EP2909125B1/en active Active
- 2013-07-30 CN CN201380063198.1A patent/CN104822617B/zh active Active
- 2013-07-30 BR BR112015012902-1A patent/BR112015012902B1/pt active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| EP2909125B1 (en) | 2020-03-25 |
| CA2888598A1 (en) | 2014-09-04 |
| AU2013379784B2 (en) | 2016-04-14 |
| BR112015012902A2 (pt) | 2017-07-11 |
| EP2909125A4 (en) | 2016-07-27 |
| AU2013379784A1 (en) | 2015-05-07 |
| EP2909125A1 (en) | 2015-08-26 |
| CN104822617B (zh) | 2017-02-22 |
| US9114963B2 (en) | 2015-08-25 |
| JP6425667B2 (ja) | 2018-11-21 |
| CA2888598C (en) | 2016-11-29 |
| CN104822617A (zh) | 2015-08-05 |
| WO2014133579A1 (en) | 2014-09-04 |
| US20140240117A1 (en) | 2014-08-28 |
| BR112015012902B1 (pt) | 2022-02-15 |
| JP2016508475A (ja) | 2016-03-22 |
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