EP3150543A1 - Agencement de mecanisme pas a pas, et dispositif de poignee - Google Patents

Agencement de mecanisme pas a pas, et dispositif de poignee Download PDF

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Publication number
EP3150543A1
EP3150543A1 EP15188012.7A EP15188012A EP3150543A1 EP 3150543 A1 EP3150543 A1 EP 3150543A1 EP 15188012 A EP15188012 A EP 15188012A EP 3150543 A1 EP3150543 A1 EP 3150543A1
Authority
EP
European Patent Office
Prior art keywords
gripper
pawl
locking
stepper
locking surface
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
EP15188012.7A
Other languages
German (de)
English (en)
Other versions
EP3150543B1 (fr
Inventor
Hans Eichinger
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.)
Florian Eichinger GmbH
Original Assignee
Florian Eichinger 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 Florian Eichinger GmbH filed Critical Florian Eichinger GmbH
Priority to EP15188012.7A priority Critical patent/EP3150543B1/fr
Publication of EP3150543A1 publication Critical patent/EP3150543A1/fr
Application granted granted Critical
Publication of EP3150543B1 publication Critical patent/EP3150543B1/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
    • 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
    • B66C1/10—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 mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/422—Gripping members engaging only the external or internal surfaces of the articles actuated by lifting force

Definitions

  • the present invention relates to a stepper mechanism for controlling the opening and closing movements of gripper means detachably attachable to construction machines such as cranes.
  • the present invention also relates to a gripper device for gripping gripping goods with such a stepper mechanism arrangement.
  • Such gripper devices can in particular as known per se scissor gripper for pallet-free transport of example BaustoffVolen, curb laying tongs for transporting precast concrete, precast tongs for safe and reliable transport and moving precast concrete, curbs and the like, angle element tongs for transporting example L-shaped stones or generally as a transport gripper or universal pliers may be formed.
  • Gripper devices can be releasably attached to various construction machines such as cranes, excavators, forklifts, etc. and are designed to grip gripping goods such as hay bales, barrels, coils, loaded pallets, pipes and the like.
  • gripper devices it is customary to control the opening and closing movements by means of a stepping mechanism mechanically, so that additional units such as hydraulic or pneumatic components can be omitted.
  • additional units such as hydraulic or pneumatic components can be omitted.
  • the z. B. come from a mounted on the construction machine boom while driving over rough terrain, unintentionally closes.
  • a gripper device with gripping elements which can be opened and closed for gripping a gripping product is known.
  • the gripper device is fastened by means of a fastening device on a cantilever arm of a driving device.
  • a stepper is provided for controlling the opening and closing movements of the gripper elements between an open state and a closed state.
  • the stepper detects the relative movements between parts of the gripper device.
  • a locking element of the indexer is movable between a release position in which the gripper elements perform a closing movement, and a locking position in which the gripper elements are held in the open position.
  • a damping device of the stepping mechanism that slows down the movement of the locking element can prevent the locking element from reaching the release position.
  • this damping device is at a vibration of the gripper device by means of a torsion spring slows the pivotal movement of the pawl from the locking position to the release position, so that the stop element with the pawl in the subsequent vibration can lock again with the pawl before the pawl is pivoted into the release position ,
  • the damping device requires no insignificant space, which is only slightly available in the already compact stepper.
  • a technical problem underlying the invention is to provide a stepper mechanism, with the unwanted closing of the located in the open position gripper device can be prevented even with large fluctuations or vibrations without separate additional devices such For example, a costly damping device are necessary.
  • a stepper mechanism for controlling the opening and closing movements of a gripper device releasably attachable to a construction machine, which gripper can be opened and closed to grasp a gripping product.
  • the stepper mechanism according to the invention comprises a releasable on the gripper device pawl which has a first locking surface and between a release position in which the gripper device can perform a closing movement, and a locking position in which the gripper device can be held in the open position, is movable.
  • the stepper mechanism according to the invention further comprises an attachable to the gripper device stop element, which has a second locking surface and is adapted to move during opening and closing movements of the gripper device relative to the pawl along a predetermined, in particular rectilinear trajectory.
  • the stopper member is further adapted, when the gripper means is to be held in the open position, to hold the pawl in the locking position by contacting the second locking surface with the first locking surface.
  • the second locking surface is inclined relative to the predetermined path of movement at an angle of less than 90 °. In particular, the angle of the second locking surface in a Range of about 0 ° to 80 or 85 ° to the predetermined trajectory of the stop element lie.
  • the first locking surface is formed in particular according to the second locking surface.
  • the advantage of the stepper mechanism according to the invention is that no such damping device must be provided, but by the unique design of the locking surfaces an unwanted disengagement of the locking pawl is prevented even with larger vibrations or jerky movements of the gripper device.
  • stepper mechanism can be avoided during transport of the open and hanging on a cantilever gripper device for large fluctuations or oscillations of the boom inadvertent closing of the gripper device that a movement of the pawl can be prevented in the release position by engagement with the stop element ,
  • additional devices for holding the pawl in the release position can be omitted.
  • the effect of the self-locking between the pawl and the stopper member can be increased by the inclined second locking surface.
  • the pawl can be blocked or released by the stop element in response to the movements of the gripper device when raising and lowering.
  • the stop element has a relation to its predetermined trajectory inclined second locking surface which comes into contact with the first locking surface of the pawl in the locking position thereof and thus can prevent further movement of the stop member relative to the pawl.
  • the second locking surface of the stop element is inclined so that it rises in the direction of the pawl and thereby preventable, that in case of fluctuations of the hanging and opened gripper device, the pawl from the locking position reaches the release position.
  • a self-locking effect can be achieved by the engaging locking surfaces is achieved, since the stop element urges the pawl in the locking position or biases.
  • the step-by-step arrangement has a housing attachable to the gripper device, in which the detent pawl is arranged, which is movable in raising the gripper device into the area of the stop element such that the first locking surface comes into contact with the second locking surface and the Gripper arms are kept in the open state.
  • the stepper arrangement further comprises a housing arranged in the pawl, which is mechanically coupled to the pawl and adapted to move the pawl between the locking position and the release position.
  • the adjusting pawl with the pawl for example, substantially as in the EP 2 065 330 B1 be described mechanically coupled.
  • the adjusting pawl in an exemplary embodiment, is further adapted to be projected from the housing by the abutment element and into the housing.
  • the pawl from the release position can be brought back into the locking position upon actuation of the adjusting pawl by the stop element, d. H. that the pawl protrudes from the housing.
  • the stop element is substantially C-shaped and has a lower stop area, an upper stop area spaced from the lower stop area and a connecting area connecting the lower stop area with the upper stop area.
  • the lower stop area is substantially plate-shaped and extends substantially horizontally and when the upper abutment region is substantially plate-shaped and extends substantially horizontally.
  • Such a configuration can be provided between the lower stop area and the upper stop area, a locking area in which engage the pawl in the locking position or can protrude.
  • the two abutment areas can be formed independently of each other, so that the stepper arrangement can be improved in terms of functionality and work satisfactorily.
  • first locking surface and / or the second locking surface are planar.
  • first locking surface and / or second locking surface may be curved or otherwise configured.
  • the locking surfaces should be inclined so that the pawl has to cover a larger stroke before it comes out of engagement with the stop element.
  • the stepper assembly further comprises a manual locking device having a locking hole and an insertable into the locking hole locking pin which is adapted to hold the pawl in the locking position regardless of the position of the stop element.
  • a gripper device for gripping a gripping product is disclosed.
  • the gripper device according to the invention which is releasably attachable to a Auslegearm a construction machine by means of a connecting device, has a first gripper arm and a relative to the first gripper arm movably arranged second gripper arm.
  • the first gripper arm and the second gripper arm are movable relative to each other for gripping a gripping product between a closed position and an open position.
  • the gripper device according to the invention also has an inventive A stepper assembly configured to control the opening and closing movements of the first gripper arm and the second gripper arm.
  • the stop element and the pawl are arranged on the gripper arms such that the stop element engages under the pawl in the open position of the gripper arms.
  • the pawl and the stopper element are compressed by the entire hanging hook device, which is in the open position, and further reduces the risk of unwanted loosening.
  • the first gripper arm and the second gripper arm form a scissor gripper, in which the gripper arms can be pivoted relative to each other about a first pivot point for opening and closing.
  • a connecting device which is designed for releasably connecting the gripper device with a construction machine, projecting portions of the gripper arms pivotally connected at second pivot points with connecting rods whose ends facing away from the second pivot points about a third pivot point relative to each other and in With respect to the connecting device are pivotable.
  • the gripper arms thus forms a scissor-like joint.
  • the stop element are arranged at a first location of the gripper device and the pawl at a second location of the gripper device. The first location and the second location are movable relative to each other when opening and closing the gripper arms.
  • the first location and the second location are both located on the same gripper arm, i. H. on the first gripper arm or on the second gripper arm.
  • the pawl and the adjusting pawl are arranged in the housing each movable between a first position in which it protrudes from the housing, and a second position in which it is moved back into the housing, preferably pivotable.
  • the gripper device is actuated, the pawl and the adjusting pawl are moved in such a way that the operations described below take place.
  • the stop element engages under the protruding from the housing pawl, wherein the gripper device is opened in this position of the stepper mechanism assembly.
  • the gripper device sits at least partially on the gripping material and it dissolves the contact between the first and second locking surface, so that the stop element releases the pawl and the pawl is released moved out of the area of the stop element and pivots into the housing.
  • the stop element moves past the pawl pivoted into the housing and actuates the adjusting pawl, which moves the pawl out of the housing again , In this position, the stop element has passed the pawl, so that close the gripper device and can grab the hay bale.
  • the stop element In the subsequent settling of the gripper device by the method to a predetermined location and when opening the gripper arms for Release of the hay bale, the stop element is moved past the pawl again in the opposite direction, wherein the pawl is moved by the lower stop portion of the stop member in the housing. After the lower stop area has passed the pawl, the pawl can again emerge from the housing and engage or protrude into the locking area between the lower stop area and the upper stop area.
  • the stop element engages under the subsequent lifting gripper device again the pawl and the two locking surface come into contact.
  • the cycle can start again. In this position, the gripper device is again in the open position and can be moved to grasp the next Greifguts.
  • the Fig. 1 shows a schematic representation of a located in the open position gripper device 10, which is exemplified in the form of a scissor gripper.
  • the gripper device may be in the form of a curb laying tongs, precast tongs or a transport gripper.
  • the gripper device 10 essentially consists of a first gripper arm 20 and a second gripper arm 30.
  • the first gripper arm 20 has two gripper arm elements 22, 24 which are spaced apart from one another in the transverse direction and are connected to one another via transverse parts 21a, 21b.
  • Each Greiferarmelement 22, 24 essentially comprises a first portion 23 and 25 and a second portion 26 and 28, preferably under a approximately at right angles to each other and are rounded at their respective transition.
  • At the lower free end portion of the first portions 23, 25 a transversely extending and the first portions 23, 25 connecting jaw 29 is arranged.
  • the trained in the corresponding manner gripper arm 30 has the transversely spaced gripper arm members 32 and 34, the cross members 31 a, 31 b and the jaw 39 on.
  • the Greiferarmelement 32 includes the preferably at approximately right angles to each other extending portions 33 and 36 and the Greiferarmelement 34 has the likewise preferably at an approximately right angle to each other extending portions 35 and 38.
  • the jaw 39 is attached to the lower free ends of the sections 33 and 35 extending transversely.
  • the partial regions 26 and 28 of the gripper arm elements 22 and 24 and the partial regions 36 and 38 of the gripper arm elements 32 and 34 are pivotably connected to one another about a rotational axis 40 extending in the transverse direction.
  • the axis of rotation 40 is located approximately in the middle of the portions 26, 28, 36, 38. In this way, the gripper arms 20 and 30 can be pivoted against each other.
  • pivotable connecting rods 43 and 44 are arranged around pivot points 41 and 42, the free end portions are pivotally connected in pivot points 46 and 47 with a transverse part 45.
  • the free end portions of the portions 36 and 38 of Greiferarmieri 32 and 34 are connected about pivot points 51 and 52 with connecting rods 53 and 54, the free end portions are pivotally connected to the transverse part 45 in the pivot points 46 and 47 respectively.
  • the gripper arms 20, 30 are thus provided in the form of scissor-type joints which are movably connected to each other at the fulcrum 40.
  • a connecting device 50 is mounted centrally, with which the gripper device 10 can be releasably connected, for example, to a boom arm of a construction machine, not shown.
  • the gripper arms 20, 30 are moved in the direction of the closed position.
  • the connecting rods 43, 44 are connected to each other by a cross member 48, while the connecting rods 53, 54 are interconnected by a cross member 58. Furthermore, the subregions 26, 28 are connected to one another by a transverse part 49.
  • a stepper assembly 100 is arranged, which in the following in connection with Fig. 2 is explained. It should be understood, however, that the stepper assembly 40 may be disposed in a different manner between locations that move relative to one another as the gripper arms 10, 20 are opened and closed.
  • the stepper mechanism arrangement 100 has a stop element 110 arranged on the first gripper arm 20, in particular on the transverse part 48, of the gripper device 100.
  • the stop element 110 is designed approximately C-shaped and has a lower stop portion 112 and a spaced from the lower stop portion 112 upper stop portion 114, which are interconnected by means of a connecting portion 116. Between the lower stopper portion 112 and the upper stopper portion 114, a lock portion 115 is disposed.
  • the lower abutment region 112 and the upper abutment region 114 are aligned substantially horizontally, with the connection region 116 and a stiffening region 118, which is between the lower abutment region 112, upper Stopping area 114 and connecting portion 116 is connected, are substantially vertically aligned.
  • a housing 120 is attachable, preferably weldable, on one side of the stop member 110 slides along when the gripper device 10 comes into the region of its open position.
  • the stop element 110 is movable along a predetermined trajectory B relative to the housing 120.
  • the trajectory B of the stop element 110 is part of a circle around the pivot points 41, 42 (see Fig. 1 ). In side view on the circular arc portion of the trajectory B appears, as from Fig. 3B however, the trajectory B is rectilinear.
  • a pawl 122 and a pawl 124 are arranged in the manner already explained above, the function of which in detail in connection with the schematic representations of Fig. 3 to 7 be explained.
  • Fig. 3 to 7 are the ones from the Fig. 1 and 2 known elements with the same reference numerals.
  • the pawl 122 includes a plate-like first pawl member 122a and a plate-like second pawl member 122b spaced therefrom, which are rigidly connected together by a non-visible web.
  • the two pawl elements 122a, 122b have a substantially identical shape and are congruently shaped in side view.
  • Each of the two pawl elements 122a, 122b has a first slot 121a, 121b (in the Fig. 2 only the slot 121a of the first pawl member 122a visible), through which a first bearing pin 126 attached to the housing 120 extends.
  • the two pawl elements 122a, 122b are each mounted on the bearing pin 126 such that they can rotate freely about the bearing pin or pivot.
  • the plate-like adjusting pawl 124 is arranged freely movable between the spaced pawl elements 122a, 122b and has a second slot 127 (see Fig. 3 to Fig. 7 ), through which a second bearing pin 129 attached to the housing 120 extends.
  • the second bearing pin 129 extends beyond the slot 127 and can come into contact with peripheral surfaces of the pawl members 122a, 122b.
  • the second bearing pin 129 is disposed above the first bearing pin 126.
  • the pawl members 122a, 122b and the pawl 124 are interconnected by a connecting pin 128 such that the two pawl members 122a, 122b and the pawl 124 are each rotatable about the connecting pin 128.
  • the bearing pins 126, 129 and the connecting pin 128, the pawl 122 and the adjusting pawl 124 are mechanically coupled to each other.
  • the region of the abutment region 112 facing the housing 120 is inclined and has a locking surface 113 which, in the locking position of the detent pawl 122, is in contact with a locking surface 123 of the detent pawl 122.
  • FIGS. 3A and 3B show a side view of the gripper device 10 and the stepper assembly 100 in a position in which the gripper device 10 is raised to the boom and the gripper arms 20, 30 are opened (see Fig. 1 ).
  • the gripper device 10 engages the protruding from the housing 120 pawl 122 lockingly on the stop element 110 at.
  • the lower stop portion 112 engages lockingly on the pawl 122 so that the locking surface 113 of the lower stop portion 112 is in contact with the locking surface 123.
  • a locking occurs between the transverse part 49 of the Greiferarmmaschine 22, 23 and the cross member 48 between the connecting rods 43, 44 a.
  • the gripper device 10 is held in the open position and according to the Fig. 3A to be positioned to be gripped gripping 90.
  • the stepper assembly 100 may optionally include a latch 130 for holding the pawl 122 in its locked position.
  • the locking device 130 has a locking hole 132 which in the housing 120 at a position below the bearing pin 126 on. Furthermore, the locking device 130 has a locking pin 134 which can be inserted manually into the locking hole 132. When the lock pin 134 is inserted into the lock hole 132 while the lock pawl 122 is in the lock position, movement of the lock pawl 122 to the release position is prevented regardless of the position of the stopper member 110.
  • the pawl 122 is mounted in this position on the bearing pin 126 that this from the protruding from the housing 120 locking position without locking with the stop member 110 tends to pivot into the housing 120. This is accomplished by the mobility of the pawl 122 relative to the bearing pin 126 through the slot 121.
  • the bearing pin 126 According to the Fig. 4B is the bearing pin 126 with the upper portion the slot 121 in contact, whereas the bearing pin 126 according to the Fig. 3B with the upper portion of the slot 121 is in contact.
  • the gripper device 10 with the gripping material 90 clamped therein is set down on the ground, with the stop element 110 moving downwards and the lower stop area 112 pushing the detent pawl 122 into the housing 120.
  • the adjusting latch 124 is again moved out of the housing 120 by the mechanical coupling between the pawl 122 and the adjusting pawl 124.
  • the gripper arms 20, 30 are opened and the gripping material 90 is free.
  • the Fig. 8 shows an enlarged section of the Shaschalttechnikan Aunt 100, which in the position according to the Fig. 3B located. From the Fig. 8 shows that the lower stop portion 112 consists of a bent plate member, wherein the front, the pawl 122 facing and bent portion is inclined by an angle ⁇ relative to the linear trajectory B of the stop member 110. In the Fig. 8 It should be noted that this one opposite to the Fig. 1 a side view of the Schwarzschalttechnikan effet myself 100 shows, so that the trajectory B, which in the Fig. 1 is circular arc, in the Fig. 8 runs straight. The angle ⁇ is thus defined between the linear trajectory B and the inclined locking surface 113.
  • the necessary lifting height H describes the height by which the stop element 110 has to be moved downwards relative to the pawl 122 so that the pawl 122 can move out of the locking position (see FIG Fig. 3A ) in the release position (see Fig. 4B ) can swing freely.
  • the engagement length E is preferably in the range of about 10 mm to about 150 mm, more preferably between about 30 mm and about 80 mm.
  • the necessary lifting height H is preferably in the range of about 5 mm to about 50 mm, in particular between about 10 mm and 30 mm.
  • Fig. 8 is the value for the angle ⁇ at about 70 °, which according to the invention, the value for the angle ⁇ in a range between about 0 ° and about 80 °, possibly even 85 °, in particular between 50 ° and 80 °.
  • Fig. 9 a further embodiment of the stepper mechanism 100 according to the invention, in which the angle ⁇ is 0 °, that is, that the locking surface 113 is substantially parallel to the movement path B of the stop element 110.
  • the pawl 122 and the locking surface 123 are adapted corresponding to the lower stop portion 112 so that the stopper member 110 can hold the pawl 122 in the locking position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)
EP15188012.7A 2015-10-01 2015-10-01 Agencement de mecanisme pas a pas, et dispositif de poignee Active EP3150543B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15188012.7A EP3150543B1 (fr) 2015-10-01 2015-10-01 Agencement de mecanisme pas a pas, et dispositif de poignee

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15188012.7A EP3150543B1 (fr) 2015-10-01 2015-10-01 Agencement de mecanisme pas a pas, et dispositif de poignee

Publications (2)

Publication Number Publication Date
EP3150543A1 true EP3150543A1 (fr) 2017-04-05
EP3150543B1 EP3150543B1 (fr) 2020-02-26

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112497246A (zh) * 2020-12-09 2021-03-16 中交一公局西北工程有限公司 预制件铺装用夹紧装置
CN118183465A (zh) * 2024-04-19 2024-06-14 济南华云精密机械有限公司 一种大理石工件吊装设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1255888B (de) * 1965-03-19 1967-12-07 Karl Rekers Dipl Ing Vorrichtung zum Ver- und Entriegeln von Lasthubmitteln
US3768853A (en) * 1967-03-31 1973-10-30 Skagit Corp Single line log grapple
DE2727919A1 (de) * 1977-05-17 1978-11-30 Hans Kueng Transportgreifer
EP0857685A2 (fr) * 1997-01-27 1998-08-12 Notsu Unso Kabushiki Kaisha Appareil de serrage et de levage d'une charge
EP2065330B1 (fr) 2007-11-27 2011-06-08 Probst Greiftechnik Verlegesysteme GmbH Dispositif de préhension pourvu d'un commutateur pas à pas, dispositif notamment du type ciseaux

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1255888B (de) * 1965-03-19 1967-12-07 Karl Rekers Dipl Ing Vorrichtung zum Ver- und Entriegeln von Lasthubmitteln
US3768853A (en) * 1967-03-31 1973-10-30 Skagit Corp Single line log grapple
DE2727919A1 (de) * 1977-05-17 1978-11-30 Hans Kueng Transportgreifer
EP0857685A2 (fr) * 1997-01-27 1998-08-12 Notsu Unso Kabushiki Kaisha Appareil de serrage et de levage d'une charge
EP2065330B1 (fr) 2007-11-27 2011-06-08 Probst Greiftechnik Verlegesysteme GmbH Dispositif de préhension pourvu d'un commutateur pas à pas, dispositif notamment du type ciseaux

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112497246A (zh) * 2020-12-09 2021-03-16 中交一公局西北工程有限公司 预制件铺装用夹紧装置
CN118183465A (zh) * 2024-04-19 2024-06-14 济南华云精密机械有限公司 一种大理石工件吊装设备
CN118183465B (zh) * 2024-04-19 2024-08-16 济南华云精密机械有限公司 一种大理石工件吊装设备

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