WO2017092979A1 - Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit - Google Patents

Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit Download PDF

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Publication number
WO2017092979A1
WO2017092979A1 PCT/EP2016/076980 EP2016076980W WO2017092979A1 WO 2017092979 A1 WO2017092979 A1 WO 2017092979A1 EP 2016076980 W EP2016076980 W EP 2016076980W WO 2017092979 A1 WO2017092979 A1 WO 2017092979A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting
lifting device
goods
good
suction
Prior art date
Application number
PCT/EP2016/076980
Other languages
German (de)
English (en)
Inventor
Peter Enenkel
Dolores Gerstmayr
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2017092979A1 publication Critical patent/WO2017092979A1/fr

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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
    • 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
    • B66C1/0225—Hand held
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis

Definitions

  • the present invention relates to a lifting device and a method provided for power assistance in moving a good.
  • the manual loading and unloading is a high physical burden due to the weight ⁇ force of goods, in particular ⁇ special for heavy goods such as luggage or mail. Each operator moves a cumulative number of tons per day, resulting in increased inconvenience due to physical wear and tear.
  • a special feature in the loading of containers with goods is that they are advantageously stacked in the highest possible density and stability. To avoid damage, it makes sense to place heavy goods near the ground and lighter ones in the upper area of the container.
  • Manual loading and unloading is a very complex sequence of movements, which makes automation more difficult. State of the art to relieve the operator are telescopic conveyors whose operation is done manually via a control unit.
  • WO2005110907A1 presents a suction hose lifting device and a method for moving a load with a suction hose lifter.
  • WO2006128405A1 discloses a lifting device which, in the case of a manual displacement of objects, supports at least one hand gripping the object.
  • the existing telescopic conveyors usually have a low adjustment speed, also must be taken by the manual operation of the control unit a good always several times in the hand, whereby loading and unloading are slowed down.
  • the use of the Saugschlauchhebevoriques assumes that the material to be moved can be connected by exerting a negative pressure with the Saugschlauchhebevor Nobel. If this is not possible, for example, due to the surface condition of the goods, the goods without any sub ⁇ support must be moved manually by the Saugschlauchhebevortechnisch. In the event of a fault, the goods may fall down during the movement, causing both the goods and the operator can be harmed. Also, the suction hose lifting device must be manually held by the operator during movement of the goods.
  • the lifting device disclosed in WO2006128405A1 comprises a lifting element configured to receive an arm, whereby the movement of the hand of this arm is assisted. Although the weight of the goods is received by the Hubvor ⁇ direction, but still charged first the arm and / or the hand of the operator, especially when a recording of the goods.
  • the present invention is therefore an object of the invention to provide an improved lifting device with a wide range of application and ease of use.
  • the solution according to the invention provides a lifting device which is suitable for power assistance when moving a good, comprising at least one lifting aid and at least one suction gripping element, wherein the lifting aid is used to Hubkraftunter ⁇ support of the goods and with the Sauggreifelement a holding force on the good is exercisable by means of which the good is tangible.
  • the suction gripping element comprises a fastening ⁇ device, which is suitable for attachment to at least one body part, in particular a part of an arm and / or a hand.
  • the lifting force assistance of the lifting aid can be applied directly on the
  • the fastening device can be configured as a loop for receiving the body part.
  • the lifting device may comprise at least two Sauggreifiga. This enables an intuitive, since a physiological BEWE ⁇ supply running modeled handling of the lifting device.
  • the force can be assisted when moving from a good redundant. In case of malfunction of one of the two suction grabbing still stands the other Sauggrei ⁇ felement available.
  • the suction gripping element can be configured, the Good side and / or grab from above and / or from below.
  • Suction gripping element can thus be almost as flexible as a human operator grabbing a good.
  • At least one operating element can be provided.
  • the power assistance can be easily activated and / or deactivated with the operating element. This makes it possible, which can be exercised with the lifting aid Hubkraftunterstützung and / or with the Sauggreifelement exercisable holding force only if the operator deems it necessary.
  • the control is particularly easy to use and the operation of the control causes no strong Beeintrambati ⁇ tion of the movement when using the lifting device
  • the at least one control element can be arranged directly on Sauggreifelement and / or the fastening device.
  • the at least one operating element can also be operated without major circumstances even when the suction gripping element is fastened to the at least one body part.
  • the lifting aid can be configured horizontally and / or vertically movable.
  • a lifting device which comprises at least one suction gripping element.
  • the method comprises the following method steps:
  • the Hubkraftunterstützung the lifting aid can attack directly on Sauggreifelement.
  • the lifting device can comprise at least two suction grabbing.
  • the holding force can be re ⁇ dundant exercised, which increases reliability.
  • a physiological gripping and lifting process can take place when moving the goods. The physiological gripping and lifting process secures the material redundantly, which greatly minimizes the risk of the goods falling down, which can lead to damage to the goods and / or the operator.
  • FIG. 2 shows a suction gripping element fastened to one hand; 3 shows a good, which of two analogous as in Figure 2
  • Figure 4 is a schematic diagram of the lifting device.
  • FIG. 1 shows schematically a lifting device 2 which is designed for power assistance in moving a Good 4 according to a preferred embodiment of the invention.
  • the lifting device 2 comprises two mirror-image configured Sauggreifimplantation 61, 6r and a lifting aid 8.
  • the two Sauggreifimplantation 6 and consequently their Be ⁇ fastening devices 18 are designed mirror images of each other.
  • the left suction gripping element 61 is optimized for receiving left arm and / or left hand 28; the right Sauggreifelement 6r is optimized for receiving the right arm and / or right hand 28.
  • the lifting device 2 is optimized for a loose loading and unloading of storage containers, which are particularly suitable for receiving parcels, parcels, mail items. 0
  • the lifting aid 8 provides a continuous Hubkraftunter ⁇ support 10 by the entire or at least a portion of the weight of the goods 12 4 and / or the Sauggreifele- elements 6 and / or the lifting aid 8 via a pull rope 14 ⁇ takes.
  • the traction cable 14 is wound up or down during lifting and lowering.
  • a holding force 20 can be exercised on the good 4.
  • a control element 22 is arranged, with which the holding force 20 of the Sauggreifele ⁇ ment 6 and the Hubkraftunterstützung 10 of the lifting aid 8 un ⁇ complicated without large additional movements and thus without major disturbances in the movement, such as more - Easy grip, on and can be switched off.
  • the Be ⁇ serving element 22 includes one or more switches for this purpose, with which Hubkraftunterst Reifenung 10 and holding force 20 are individually activated by pressing and disabled.
  • the exact configuration of the suction cup 16 is optimized for the specific application area of the lifting device 2, in particular with regard to the goods to be moved 4. Especially heavy goods 4, especially if they additionally have irregular surfaces, require a particularly powerful suction cup 16.
  • the holding force 20 is exercised by means of negative pressure.
  • the suction cups 16 are connected via pneumatic lines 24r, 241, 24 to a vacuum source, for example to a vacuum source. _
  • the pneumatic lines 24r, 241, which run in a spiral around the traction cables 14, are supplied by a common supply line 24.
  • Vacuum can also be generated with an ej ektormodul comprising a compressed air nozzle.
  • the ejector module is configured to disable the holding force exerted by the suction cup 16 20 by dissolving the Un ⁇ ter Kunststoffs by a short burst of compressed air is directed into the suction cup 16 in order to prevent sticking of the suction cup ⁇ sixteenth
  • the Hubkraftunterstützung 10 engages directly on the Sauggrei ⁇ felementen 6.
  • One task of the suction gripping elements 6 is to transfer the weight of the goods 4 to the traction cable 14. 6 also provide the suction grabbing a Sacheschnitt- point. Since the weight 12 is accommodated not only on the Kör ⁇ perteil and forwarded to the lifting aid 8, an operator 32 is only slightly stressed during the displacement of the material 4.
  • the lifting aid 8 is attached to a suspension 26, which is configured horizontally and verti ⁇ cal movable.
  • the lifting ⁇ device 2 is designed to follow movements of the operator automatic ⁇ tarra.
  • the retaining force ⁇ 20 can be exercised on the one hand with the suction cup 16, on the other hand with the hand 28 of the operator 32nd
  • the fastening device 18 is arranged so that the good 4 with both the suction cup 16, and with the hands 28 is tangible, even if a part of an arm and / or a hand 28 with the fastening device 18 is connected.
  • the hands 28 of the operator 32 can thus continue to perform normal gripping movements. If the sucker 16 does not grip properly or lose contact - because the surface procurement of the item 4 does not allow gripping with the sucker 16 or due to a malfunction, such as a power failure - the item 4 can be collected and held by the hands 28.
  • the design of the fastening device also still supports the operator when lifting force and / or holding force are exerted by the operator.
  • the fastening device 18 is particularly adapted to assist manual gripping, which makes the use of the lifting device 2 highly intuitive.
  • grasping manually a large part of the weight ⁇ force 12 on the fastening device 18 and the
  • Suction gripping element 6 is received by the lifting aid 8, so that the hand 28 and fingers are loaded as little as possible.
  • a transfer of the lifting force of the hands 28 on the Fixed To ⁇ constriction device 18 and thus the lifting aid 8 is thus opti mized ⁇ .
  • the Sauggreifelement support the movement of the goods 4.
  • the load on the hands 28 and individual fingers is very high in a gripping without any power assistance in a heavy good 4.
  • An inte ⁇ grated into the fixing device 18 gripping support is used for this purpose to avoid or reduce adverse loads on individual areas of the hands 28.
  • the gripping support can be loop-like configuration, such as is used in turn or training gloves are used.
  • a configured as a complete glove fastening device 18 also fulfills this purpose.
  • suction grabbing 6r, 61 In order to move the material 4, are first preferably both suction grabbing 6r, 61, but at least one at least Minim ⁇ a body part, particularly a part of an arm and / or a hand 28 is attached. Subsequently, a holding force 20 is exerted on the good 4 and the good 4 is ⁇ moves. The holding force 20 is exercised with the Sauggreifimplantationn 6r, 61 and additionally redundant secured with the hands 28 on the estate. In case of failure of one or both
  • FIG. 2 shows a suction gripping element 6 with a fastening device 18 embodied as a loop.
  • the loop and thus the entire suction gripping element 6 are fastened to the right hand 28 of an operator 32.
  • the loop surrounds the hand 28 below the thumb such that both thumb and fingers are freely movable.
  • the design of the fastening device 18 as a loop allows both a quick and uncomplicated recording of the hand 28, as well as a use of the hand 28 of the operator 32 as gripping tool and also serves as a gripping support.
  • a switch operable with the thumb is mounted as a control element 22, with which both the exercisable by the suction cup 16 holding force 20, and the Hubkraftunterstützung 10 can be activated and deactivated.
  • a under the thumb extending over the heel of the hand connector 30 of the suction cup 16 is connected to its mountings ⁇ constriction device 18th Since the pull cable 14 of the lifting aid 8 acts directly on the suction cup 16, as already shown in FIG. 1, when the suction cup 16 applies a holding force 20 to a product 4, the entire or at least part of the weight 12 is lifted by the lifting aid 8 taken without burdening the hand 28.
  • the pneumatic line 24 extends around the pull cable 14 of the lifting aid 8.
  • the suction cup 16 is freely rotatably attached to the connecting piece 30. This and the staggered arrangement via the connecting piece 30 allows a complete freedom of movement of the hand 28.
  • the good 4 can be gripped and aligned with the hand 28.
  • the weight 12 is transferred from Handrü ⁇ bridges on the loop and finally on the connection ⁇ piece 30 on the traction cable 14 of the lifting aid 8, which receives the weight 12 and thus provides 10 Hubkraftunterstützung.
  • FIG. 3 shows a product 4, which according to a preferred embodiment of the invention is held by two suction gripping elements 6 of the lifting device 2 and additionally redundantly manually by two hands 28.
  • the manual gripping and lifting of the goods 4 is done by exercising a physiological
  • the Sauggreifelement 6 shown in the drawing on the left is optimized for shooting the right hand 28, shown at right Sauggrei ⁇ felement 6 is optimized for shooting left hand 28th
  • the lifting force is on the traction cables 14, to which pneumatic lines ⁇ 24 lead taken.
  • the material 4 is held laterally mainly by the holding force 20 exercising suction cups 16.
  • FIG. 4 shows a schematic diagram of the lifting device 2 according to a preferred embodiment of the invention.
  • An operator 32 is located in a container 34, which serves as a storage container, and builds up a stack of goods 36, wherein the goods 4 are transported by a telescopic conveyor 38 in the container 34.
  • the suction grabbing 6 When the lifting device 2 is not in use, are the suction grabbing 6 either kop makeupers at the edge of telescoping 38, or they hang at a level in which they were stored and reapplied easily Kgs ⁇ NEN, to the hoisting ropes fourteenth
  • the suction gripping elements are held by means of a weight detection at this height.
  • the operator 32 simply slips into the loops with the hands 28, grips a good 4 and activates the force assistance with the operating elements 22. In the case of a good 4 with a low weight, the traffic light indicator 40a glows green, and a use of the lifting device 2 is not necessary.
  • a lifting device 2 is used This can limit the ergonomics of the operator 32, which can lead to one-sided loads and premature fatigue.
  • the traffic light indicator 40a lights up red and use of the lifting device 2 is obligatory in order to avoid physical load damage.
  • the traffic light indicator 40a glows yellow and the operator 32 can decide based on his individual exercise capacity himself, whether he wants to use the lifting device 2 or not.
  • the display 40 allows for an individual handling of the lifting device 2, depending on the physical requirements of the respective operator 32, without personal adjustments are required. Due to high personnel changes, this would be unfavorable.
  • the lift cords 14 of the lifting aid grip 8 as shown directly to the Sauggreifettin 6 in the Figu ⁇ ren 1 to 3, to accommodate the weight force of the goods 12. 4
  • the operator 32 has both hands 28 plugged into the loops keptstal ⁇ tete fastening device 18 and additionally engages even redundant manually Gut 4, which was conveyed with a Te ⁇ read head conveyor 38 into the container 34.
  • the lift cords 14 at an Nachvorneneigen operator 32 which is particularly useful when picking up and placing a commodity 4 is a typical movement, constitute an obstacle in its Ge ⁇ field of view, the lift cords 14 are not performed centrally convergent, but to two at a rope spreader 42 guided approximately at shoulder width spacing arranged suspension points.
  • the suspension 26 comprises the cable spreader 42 and a lightweight construction casual, which is attached to a mounted on the telescopic conveyor 38 beam portal 46.
  • the beam portal 46 is height ⁇ adjustable and with a distance detection automatically adaptable to the container height.
  • the suspension 26 is arranged directly below the container ceiling, whereby a maximum freedom of movement of the operator 32 is made possible.
  • the lightweight boom 44 has very smooth joints and can be moved without noticeable resistance in all vertical directions.
  • the operator 32 receives the goods 4 from the end of Teleskopförde ⁇ rers 38 and forms the stack of goods 36 before, the goods 4 are nested on the container wall as closely as possible to each other in order to achieve the highest possible packing density. Since the upper body is usually rotated by 180 degrees, the lightweight boom 44 is designed to ensure at least this freedom of movement. Ideally, however, the operator 32 may rotate multiple times about its own axis with fastener 18 attached to the hands 28. The operator 32 uses a step stool 48 to stack the goods 4 even higher than his height actually allows.
  • the operator can estimate even before recording the weight of a good 4, whether his hands 28 grab the property 4 only safeguarding manually, or else have to exercise the entire holding force 20.
  • the fastening device 18 instead of activating and deactivating the power assistance with a control element 22, it is also possible, according to a preferred embodiment, for the fastening device 18 to comprise a sensor which activates the force support when fastening the suction gripping element 6 to a body part or when releasing the suction gripping element 6 Body ⁇ part deactivated. As soon as a good 4 is raised, a weight recognition comes into force.
  • This solution has the advantage that an active actuation of a control element 22 is not he ⁇ required, which simplifies handling even more. However, the operator must first make considerable lifting power himself before the lifting aid 8 is activated. In this embodiment, the lifting aid 8 takes over only part of the weight 12 of the goods 12, a control he ⁇ follows by lifting and lowering the residual weight.
  • the lifting force ⁇ support is aborted immediately as soon as the weight recognition is interrupted.
  • a brake is activated, which forces a very slow deflation of the goods 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de levage (2) qui est approprié pour l'amplification de force lors du déplacement d'un produit (4), comportant au moins un système d'aide au levage (8) et au moins un élément de préhension par aspiration (6). Le système d'aide au levage (8) sert à l'amplification de la force de levage (10) du produit (4). Grâce à l'élément de préhension par aspiration (6), une force de retenue (20) peut être exercée sur le produit (4), au moyen de laquelle le produit (4) peut être saisi. L'élément de préhension par aspiration (6) comporte un dispositif de fixation (18) qui est approprié pour la fixation à au moins une partie du corps, en particulier à une partie d'un bras et/ou d'une main (28). La présente invention concerne un procédé de déplacement d'un produit (4) en utilisant un dispositif de levage (2), lequel comporte au moins un élément de préhension par aspiration (6). L'élément de préhension par aspiration (6) est fixé à une partie du corps et une force de retenue (20) est exercée sur le produit (4) à l'aide de l'élément de préhension par aspiration (6). Grâce à la présente invention, l'amplification de force peut être exercée lors du déplacement d'un produit (4), le dispositif de levage (2) pouvant non seulement être commandé de manière particulièrement simple mais ayant également un large domaine d'application et permettant d'exercer de manière redondante l'amplification de force.
PCT/EP2016/076980 2015-12-04 2016-11-08 Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit WO2017092979A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15197916.8A EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise
EP15197916.8 2015-12-04

Publications (1)

Publication Number Publication Date
WO2017092979A1 true WO2017092979A1 (fr) 2017-06-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/076980 WO2017092979A1 (fr) 2015-12-04 2016-11-08 Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit

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Country Link
EP (1) EP3176123B1 (fr)
WO (1) WO2017092979A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3453641B1 (fr) * 2017-09-08 2020-03-11 Siemens Aktiengesellschaft Dispositif de support, dispositif de fret, procédé pour charger un conteneur
DE202019004693U1 (de) 2019-11-15 2019-12-13 Dominik Heinzelmann Antriebsmodul mit Überlastungssicherung
DE202020106660U1 (de) 2020-11-19 2020-12-04 Dominik Heinzelmann Hebehilfe

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
WO1999012840A1 (fr) * 1997-09-08 1999-03-18 P-Frame Pty. Ltd. Dispositif de levage d'un materiau en feuille
US6386513B1 (en) * 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0401312L (sv) 2004-05-18 2005-05-24 Vaculex Ab En vakuumtublyftanordning och ett förfarande för förflyttning av en last medelst en vacuumtublyftanordning
DE202005008760U1 (de) 2005-06-02 2005-10-27 Gebhardt Transport- Und Lagersysteme Gmbh Hubvorrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
WO1999012840A1 (fr) * 1997-09-08 1999-03-18 P-Frame Pty. Ltd. Dispositif de levage d'un materiau en feuille
US6386513B1 (en) * 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

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Publication number Publication date
EP3176123B1 (fr) 2021-01-27
EP3176123A1 (fr) 2017-06-07

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