WO1998043909A1 - Procede de levage d'une charge a l'aide d'un appareil de prehension a vide - Google Patents

Procede de levage d'une charge a l'aide d'un appareil de prehension a vide Download PDF

Info

Publication number
WO1998043909A1
WO1998043909A1 PCT/FI1998/000293 FI9800293W WO9843909A1 WO 1998043909 A1 WO1998043909 A1 WO 1998043909A1 FI 9800293 W FI9800293 W FI 9800293W WO 9843909 A1 WO9843909 A1 WO 9843909A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure difference
gripping apparatus
vacuum
lifting
vacuum gripping
Prior art date
Application number
PCT/FI1998/000293
Other languages
English (en)
Finnish (fi)
Inventor
Simo Hakkarainen
Timo Sorsa
Teppo Lindberg
Original Assignee
Kci Konecranes International Plc
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 Kci Konecranes International Plc filed Critical Kci Konecranes International Plc
Priority to EP98912535A priority Critical patent/EP1025033A1/fr
Publication of WO1998043909A1 publication Critical patent/WO1998043909A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256—Operating and control devices

Definitions

  • the invention relates to a method for lifting a load, such as a paper roll, with a vacuum gripping apparatus, whereby a pressure lower than the at- mospheric pressure is sucked into a suction space arrangement between the upper surface of the load and the vacuum gripping apparatus, and whereby the lifting capacity of the vacuum gripping apparatus is proportional to the pressure difference thus produced.
  • the pressure difference achieved by the pump of the vacuum grip- ping apparatus is also proportional to the displaced volume flow.
  • air still leaks through the roll, whereby the pressure difference remains inferior to a leakless ideal case.
  • the pressure difference achieved varies considerably.
  • the roll when the roll is being gripped it occurs that upon the suction command the pressures in a vacuum chamber and the suction space arrangement stabilize. Thereafter the pump is capable of raising the pressure difference. After a while the pressure difference reading stabilizes at a level determined by the leakage in the roll, the level being lower than the original pressure difference of the chamber.
  • an impeller pump is used for producing vacuum, the impeller pump being able to produce a great pressure difference for lifting rolls as heavy as possible.
  • the gripping apparatus is provided with a pressure switch that is adjusted to permit the lifting of the roll if the pressure difference is sufficient for lifting a roll used as a design load. This roll is naturally the heaviest of the rolls to be lifted in view of the suction surface.
  • the object of the present invention is to avoid the above-described drawbacks. This is achieved with the method of the invention, which is mainly characterized in that the required pressure difference limit is determined load- specifically on the basis of load information available in advance.
  • a plurality of different load types can be lifted safely with the same vacuum gripping apparatus, whereby, for instance, in the above- described warehouse of two paper types a lower pressure difference is used for obtaining a lifting permission for a loose, light roll, and a higher pressure difference for a tight, heavy roll.
  • a load-specific lifting permission limit for instance, in a warehouse where the paper rolls are stocked in vertical position, since the paper quality and roll measurements of each roll entering the warehouse are known, which values are entered into a stock computer. On the ba- sis of the paper quality and roll measurements the lowest safe pressure difference can be calculated for lifting the roll concerned.
  • the stock computer informs PLC, controlling the operation of the vacuum gripping apparatus, of this pressure difference (or its code), the PLC granting a lifting permission to a lifting machinery of the vacuum gripping apparatus, when the informed pres- sure difference is realized.
  • this system is used, for instance, in a warehouse where usually tight rolls, and occasionally loose rolls, are stocked.
  • a plurality of pressure difference limits are set in the system, whereby apart from a paper type, different values are used for rolls of different dimen- sions. For instance, it is thus possible to lift heavier rolls than before by setting the required pressure difference permission to the extreme limits of the equipment, when a heavy roll awaits longer the rise in pressure difference, which does not, however, substantially delay the handling of other rolls in the warehouse.
  • security and state of the system it is most advantageous that the developing of vacuum and the maintaining of the pressure difference achieved is controlled after the suction command.
  • Figure 1 is a simplified schematic view of the method of the inven- tion and of a vacuum gripping apparatus to be used in the method
  • Figure 2 illustrates stabilization of pressure difference in the system in proportion to time.
  • Figure 1 the method of the invention is described by means of a simplified schematic view in connection with a paper roll warehouse, where paper rolls 1 to be lifted are stocked in vertical position.
  • a vacuum gripping apparatus 2 used in the method comprises in the lowest position a vacuum chamber 3 whose lower surface acts as a suction plate. Concentric circles of sealing tape 4 are provided onto said lower surface, which circles together with the end of the roll 1 form circular suction spaces 5 constituting a suction space arrangement. The number of suction spaces 5 formed naturally depends on the diameter of the roll 1. In the centre of the sealing tape circles 4 there is a downward centering cone 6, which is intended to cooperate with the centre hole 7 of the paper roll 1 for centering the vacuum gripping apparatus 2 in the midpoint of the end of the roll 1. On top of the vacuum chamber 3 there is a vacuum equipment 8, communicating with said vacuum chamber, the equipment comprising a vacuum pump and necessary accessories (not shown in the drawings).
  • a control system 9 for controlling the operations of the vacuum equipment 8 and the vacuum cham- ber 3, and for measuring the pressures in the vacuum chambers 3 and suction spaces 5 are arranged on top of the vacuum equipment 8.
  • Pressure measuring means comprise low pressure transmitters which measure pressure difference between the pressure to be produced and the ambient (atmospheric) pressure.
  • a reference numeral 10 indicates a framework of the vacuum grip- ping apparatus 2. This framework 10 comprises, among other things, guiding columns 11 for positioning into a swing preventing clamp.
  • the vacuum gripping apparatus 2 When lifting the roll 1 , the vacuum gripping apparatus 2 is placed by means of lifting ropes13 of its lifting machinery 12 onto the end surface of the roll 1 guided by the centering cone 6, and when the lifting ropes13 are found slack, the PLC 14 of the lifting machinery gives the PLC 15 of the vacuum gripping apparatus a lifting command. Consequently, vacuum is sucked by means of the vacuum chamber 3 and the vacuum equipment 9 into the suction spaces 5 that are formed with the end surfaces of the roll 1. The produced vacuum compared with the ambient pressure is measured with vacuum trans- mitters (not shown in the drawings) in the suction spaces 5 and the vacuum chamber 3, which communicates with the suction spaces 5 in suction phase.
  • Necessary information for determining the required roll-specific pressure difference is received from a stock computer 16 whereby the required pressure difference limit is calculated in the stock computer 16 itself or possibly in the PLC 15.
  • the PLC 15 gives the lifting machinery 12 of the vacuum gripping apparatus 2 a lifting command. If the waiting time exceeds the set limits, the roll 1 is released and an error is reported.
  • the suction command the pressures in the vacuum chamber 3 and in the suction space arrangement 5 stabilize. Thereafter the vacuum equipment 8 is able to increase the pressure difference.
  • the pressure difference reading stabilizes at the level determined by the leakage of the roll 1 , the level being lower than the initial pressure of the chamber 3.
  • the pressure difference curve of a loose roll shows a gently declining part before the graph becomes even and turns upwards. Normally, the declining part indicates a phase in which the suction penetrates the roll.
  • the roll is a typical loose roll, or whether the roll or the sealings (e.g. sealing tapes 4) of the vacuum gripping apparatus 2 have a defect causing leakage.
  • the development of vacuum is preferably monitored after the suction command.
  • the pressure differ- ence is then measured both in the suction spaces 5 and the vacuum chamber 3.
  • the PLC 15 software monitors the stabilization of the pressure on the basis of measurement results.
  • the roll 1 can be lifted if the pressure difference value is sufficient. If the pressure does not stabilize within a certain period of time, the roll is found defective and it is rejected. It is advisable to monitor and measure the pressure difference all the time when the roll 1 is exposed to the suction effect of the vacuum gripping apparatus. If the pressure difference starts falling later on, the control notices that. It is important that this occurs before the actual lifting permission limit is broken, so that there is more time to lower the roll 1 back to the ground.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

L'invention porte sur un procédé de levage d'une charge telle qu'un rouleau de papier (1) au moyen d'un appareil de préhension à vide (2). Une pression inférieure à la pression ambiante est aspirée dans un espace (5) se trouvant entre la surface supérieure de la charge et l'appareil de préhension à vide, la capacité de levage de cet appareil étant proportionnelle à la différence de pression ainsi obtenue. Selon cette invention, la limite de la différence de pression exigée est déterminée spécifiquement sur la base des informations disponibles concernant cette charge.
PCT/FI1998/000293 1997-04-03 1998-04-01 Procede de levage d'une charge a l'aide d'un appareil de prehension a vide WO1998043909A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP98912535A EP1025033A1 (fr) 1997-04-03 1998-04-01 Procede de levage d'une charge a l'aide d'un appareil de prehension a vide

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI971382A FI971382L (fi) 1997-04-03 1997-04-03 Menetelmä taakan nostamiseksi alipainetarraimella
FI971382 1997-04-03

Publications (1)

Publication Number Publication Date
WO1998043909A1 true WO1998043909A1 (fr) 1998-10-08

Family

ID=8548530

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI1998/000293 WO1998043909A1 (fr) 1997-04-03 1998-04-01 Procede de levage d'une charge a l'aide d'un appareil de prehension a vide

Country Status (3)

Country Link
EP (1) EP1025033A1 (fr)
FI (1) FI971382L (fr)
WO (1) WO1998043909A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000024665A1 (fr) * 1998-10-23 2000-05-04 Kci Konecranes International Plc Appareil de prehension par aspiration
WO2012059628A1 (fr) * 2010-11-04 2012-05-10 Fastems Oy Ab Dispositif et système pour manipuler des pièces de fabrication

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI20100081A0 (fi) 2010-02-24 2010-02-24 Raumaster Paper Oy Laitteisto tarttujan vaihtoon sekä rullavarasto
FI9205U1 (fi) 2010-09-21 2011-05-12 Raumaster Paper Oy Nostolaitteisto, pihtitarttuja sekä pystyrullavarasto
DE202013002611U1 (de) 2013-03-18 2013-03-27 Raumaster Paper Oy Feuerlöschvorrichtung zum Löschen von Feuer in einem vertikalen Rollenlager
DE202014003113U1 (de) 2014-04-10 2014-04-24 Raumaster Paper Oy Meldeanlage und Vertikalrollenlager

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4557659A (en) * 1982-09-14 1985-12-10 M. Scaglia S.P.A. Device for supporting and handling loads by means of vacuum operated suction pads
DE4106916C1 (en) * 1991-03-05 1992-06-25 Bartholomy & Co, 516O Dueren, De Lifting and stacking loads of porous material e.g. paper rolls - b applying vacuum force only slightly over wt. to be lifted until bottom of load is ventilated then increasing to at least 1.5 times higher

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4557659A (en) * 1982-09-14 1985-12-10 M. Scaglia S.P.A. Device for supporting and handling loads by means of vacuum operated suction pads
DE4106916C1 (en) * 1991-03-05 1992-06-25 Bartholomy & Co, 516O Dueren, De Lifting and stacking loads of porous material e.g. paper rolls - b applying vacuum force only slightly over wt. to be lifted until bottom of load is ventilated then increasing to at least 1.5 times higher

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000024665A1 (fr) * 1998-10-23 2000-05-04 Kci Konecranes International Plc Appareil de prehension par aspiration
US6375240B1 (en) 1998-10-23 2002-04-23 Kci Konecranes International Plc Vacuum gripping apparatus
WO2012059628A1 (fr) * 2010-11-04 2012-05-10 Fastems Oy Ab Dispositif et système pour manipuler des pièces de fabrication

Also Published As

Publication number Publication date
EP1025033A1 (fr) 2000-08-09
FI971382A0 (fi) 1997-04-03
FI971382A7 (fi) 1998-10-04
FI971382L (fi) 1998-10-04

Similar Documents

Publication Publication Date Title
WO1998043909A1 (fr) Procede de levage d'une charge a l'aide d'un appareil de prehension a vide
JP4799856B2 (ja) 構造物の浮上制御装置および浮上制御方法
KR100964004B1 (ko) 대형 구조물 양중을 위한 통합 자동화 시스템
US7378950B2 (en) Overload warning means for excavators
CN111599728A (zh) 一种晶圆载台及半导体制造设备
US5284416A (en) Vacuum lifter
KR102333634B1 (ko) 정밀성을 높인 웨이퍼 리프팅 장치
KR20020064013A (ko) 베이크 장치
KR101799495B1 (ko) 화학 기계적 연마 시스템의 기판 로딩 장치 및 그 제어방법
KR100231491B1 (ko) 슬링로드 하중분포 측정장치 및 그 제어방법
CN2219493Y (zh) 可卸荷式钢丝绳张力检测仪
CN115838122A (zh) 爬架水平高差控制方法和水平检测器
KR102192118B1 (ko) 권선 수 자동 탐지 구조의 크레인용 하중 탐지 장치
US5858088A (en) Device for lifting crystal bodies
CN118908029B (zh) 一种起重机吊装用激光定位装置
JP2002107257A (ja) シヤシダイナモメータの検量装置とその方法
CN110435206A (zh) 用于压制工具的运输起重机的工具夹钳
JPH0624528A (ja) 荷供給装置
JP3680033B2 (ja) エアパレット
KR100215844B1 (ko) 반도체 장비의 웨이퍼 로딩 장치
JP6958487B2 (ja) エレベーター装置
CN120072741A (zh) 晶圆夹持装置及卡盘设备
JP2006315066A (ja) プレス装置および該プレス装置に用いる圧入法、ならびに圧入プログラム
KR20210010071A (ko) 선박 블록 지지용 핀 지그 장치 및 이를 이용한 선박 블록 지지방법
JPH0321885Y2 (fr)

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CH JP NO US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 1998912535

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: JP

Ref document number: 1998541200

Format of ref document f/p: F

WWP Wipo information: published in national office

Ref document number: 1998912535

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1998912535

Country of ref document: EP