EP4134489A1 - Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur - Google Patents
Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur Download PDFInfo
- Publication number
- EP4134489A1 EP4134489A1 EP21191049.2A EP21191049A EP4134489A1 EP 4134489 A1 EP4134489 A1 EP 4134489A1 EP 21191049 A EP21191049 A EP 21191049A EP 4134489 A1 EP4134489 A1 EP 4134489A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cable
- gripper
- actuating
- winch
- force
- 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.)
- Pending
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Classifications
-
- 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
- E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
- E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D17/00—Excavations; Bordering of excavations; Making embankments
- E02D17/13—Foundation slots or slits; Implements for making these slots or slits
Definitions
- the invention relates to a gripper device with a carrier device and a cable gripper arranged thereon, which has a gripper frame which is held on the carrier device via a retaining cable, at least two gripper shovels which are pivotably mounted at a lower end of the gripper frame between a closed position and an open position, and has an actuating device with an actuating cable for pivoting the grab buckets, the actuating cable being guided from the carrier device to the actuating device, and the carrier device having a driven first cable winch for the retaining cable and a driven second cable winch for the actuating cable, according to the preamble of claim 1.
- the invention also relates to a method for operating a gripper device according to the preamble of claim 13.
- a so-called hydraulic gripper is, for example, from the EP 3 798 367 A1 known.
- the movement for opening and closing the grab buckets is generated by a hydraulic cylinder which is arranged on the grab frame.
- Such hydraulic grippers can be operated and controlled relatively easily by the hydraulic system.
- appropriate hydraulic lines are required for supplying and removing hydraulic fluid, which run parallel to the tether.
- Appropriate cable drums for the hydraulic lines with appropriate winch drives and an appropriately designed hydraulic system are to be provided on the carrier device.
- the gripper device is correspondingly enlarged and also more expensive.
- the hydraulic system also requires additional maintenance.
- rope grabs offer a significantly simplified structure.
- a rope gripper is, for example, from GB 2 126 981 A known.
- the actuating cable runs essentially parallel to the retaining cable from the actuating device of the grab shovels to the carrier device.
- the gripper scoops can be opened or closed by unwinding or winding the actuating cable onto the winch.
- a rotational position of the cable gripper about its longitudinal axis can be brought about by a machine operator by applying specific tensile forces to the retaining cable and the actuating cable. This requires a relatively sensitive operation of the corresponding cable winches. This requires a certain amount of experience from the machine operator and also a high level of concentration when carrying out the process. In addition, cable winches are often operated using foot pedals, so that sensitive operation of the cable winches over several hours is also very tiring for a machine operator.
- the gripper device is characterized in that a first detection device is provided for detecting a first cable force on the retaining cable and a second detection device is provided for detecting a second cable force on the actuating cable and that a control device is provided which is connected to the first detection device, the second detection device, the first cable winch and the second cable winch is connected and is designed depending on the detected first cable force on the tether and the detected second cable force to control the first cable winch and/or the second cable winch on the actuating cable in accordance with a control program specification.
- the invention is based on the knowledge that a torque on a cable gripper about its longitudinal axis depends on the cable forces in the retaining cable and the actuating cable.
- detection devices are therefore provided with which a cable force on the retaining cable and a cable force on the actuating cable are detected.
- the force values recorded in each case can be fed to a control device, which controls a first cable winch for the retaining cable and a second cable winch for the actuating cable in accordance with inputs and specifications from the machine operator.
- the forces in the retaining cable and in the actuating cable can be matched to one another by means of a corresponding control of the respective cable winch (cable winding/unwinding), so that with a given or desired rotational position of the cable gripper, no torque about the longitudinal axis can be applied to it the tether and the actuating cable are generated.
- the control device can also be used to generate a defined (variable) torque for a desired rotation by influencing the respective cable forces accordingly.
- a torque balance, a left-hand rotation or a right-hand rotation torque can be generated on the body with a corresponding tensile force distribution.
- the tether can preferably at one attached to the top or bottom of the gripper frame or actuator.
- a preferred embodiment of the invention consists in that a defined ratio between the first cable force in the retaining cable and the second cable force in the actuating cable can be specified and adjusted by the control program specification of the control device.
- the same or different configurations of retaining cable and actuating cable can be taken into account in the control program specification.
- a torque compensation can be achieved by setting largely the same tensile forces in the cables. If the cables are designed differently with regard to a different cable structure, this can be taken into account and preset accordingly in the control program specification.
- additional geometric conditions on the cable gripper for example with regard to different attachment points of the cables on the gripper frame, can also be preset and taken into account.
- a further preferred embodiment of the invention is that the control device is designed with a compensation mode in which the cable winches are controlled in such a way that the first cable force on the retaining cable and the second cable force on the actuating cable are matched to one another.
- the cable winches can be controlled in such a way that the torques in the actuating cable and the retaining cable compensate and cancel each other out. In this way, the rotational position of the cable gripper about its longitudinal axis can be stabilized. Undesirable rotation of the cable gripper about its longitudinal axis during operation can thus be largely avoided.
- control device is designed with a twisting mode in which the cable winches are controlled in such a way that a targeted twisting of the cable gripper about a vertical longitudinal axis can be generated.
- a machine operator can then activate the cable winches accordingly, preferably via an input device such as e.g. B. a thumbwheel on a joystick, a desired change in the rotational position can be effected.
- the control device can also be designed in such a way that a value or a measure for a desired Twisting is specified by the machine operator via an input device, the winches being actuated by the control device according to the program logic in such a way that the desired changed rotational position is set.
- At least one third detection device is provided for detecting a rotational position of the cable gripper and/or a change in the rotational position.
- This can be done by an optical detection device, a rotary encoder, a gyroscope on the cable gripper or in any other suitable way.
- feedback on the rotational position or the rotation of the gripper can take place when it is activated by the control device, so that the rotational position or the rotation can be regulated. This enables a particularly precise adjustment of the rotational position of the cable gripper.
- a further advantageous embodiment of the invention consists in that a control panel for a manual control for actuating the cable gripper and/or the cable winch is provided.
- the control panel as an input device is designed in particular in such a way that a machine operator enters a desired rotation or movement of the cable gripper, for example as a numerical value or angle, preferably using appropriate control elements such as a cursor, a rotary knob, switches or buttons, in particular in combination with a screen.
- the machine operator therefore no longer has to enter the winches and a rotation of the winches directly. Rather, according to the operator input for the position of the gripper via the control device with the program logic, the machine with the individual motors and actuators is controlled in such a way that the desired position is set largely without undesired twisting.
- a display screen is provided for the control device for operation.
- the display screen can in particular be designed as a touch screen, on which at least some of the operating elements for a machine operator are implemented.
- a position of the cable gripper can be displayed in different representations on the display screen in order to further facilitate operation for a machine operator.
- the invention further includes a method for operating a gripper device, wherein the gripper device according to the invention described above is used, wherein a first cable force on the retaining cable is detected by a first detection device and a second cable force on the actuating cable is detected by a second detection device, and that the first detection device , the second detection device, the first cable winch and the second cable winch are connected to a control device, through which, depending on the detected first cable force on the retaining cable and the detected second cable force on the actuating cable, the first cable winch and/or the second cable winch according to a control program specification be controlled.
- a gripper device 10 according to the invention 1 has a mobile carrier device 12 with a crawler chassis as an undercarriage 14 .
- An upper carriage 16 with an operator's cabin 17 is rotatably mounted on the undercarriage 14 about a vertical axis of rotation.
- a control device including an input device for a machine operator is located inside the operator's cab 17 .
- a cantilever arm 18 is articulated on the superstructure 16 so as to be pivotable about a horizontal axis.
- a tether 24 is guided on a head 20 of the cantilever arm 18 with deflection pulleys, at the end of which a cable gripper 30 with a gripper frame 32 and lower gripper blades 34 is attached.
- the tether 24 for raising and lowering the cable gripper 30 can be actuated via a first cable winch 21 on the carrier device 12 .
- a second cable winch 22 for an actuating cable 44, which is also guided over the head 20 to the cable gripper 30 for actuating the gripper scoops 34 at the lower end of the gripper frame 32.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Control And Safety Of Cranes (AREA)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP21191049.2A EP4134489A1 (fr) | 2021-08-12 | 2021-08-12 | Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur |
| PCT/EP2022/071951 WO2023016914A1 (fr) | 2021-08-12 | 2022-08-04 | Appareil de préhension et son procédé de fonctionnement |
| CN202280055396.2A CN117858990A (zh) | 2021-08-12 | 2022-08-04 | 抓斗装置和用于运行抓斗装置的方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP21191049.2A EP4134489A1 (fr) | 2021-08-12 | 2021-08-12 | Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP4134489A1 true EP4134489A1 (fr) | 2023-02-15 |
Family
ID=77316900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP21191049.2A Pending EP4134489A1 (fr) | 2021-08-12 | 2021-08-12 | Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP4134489A1 (fr) |
| CN (1) | CN117858990A (fr) |
| WO (1) | WO2023016914A1 (fr) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2126981A (en) | 1982-09-13 | 1984-04-04 | Frankignoul Pieux Armes | Improvements in or relating to grab bucket apparatus |
| JPH03241118A (ja) * | 1990-02-19 | 1991-10-28 | Fujita Corp | 地中連続壁用溝の自動掘削装置 |
| JPH09158254A (ja) * | 1995-12-05 | 1997-06-17 | Sumitomo Constr Mach Co Ltd | 掘削機の掘削制御装置 |
| DE19933771A1 (de) * | 1999-07-19 | 2001-01-25 | Liebherr Werk Nenzing | Kran |
| JP2001064993A (ja) * | 1999-08-25 | 2001-03-13 | Konoike Constr Ltd | 掘削揚土作業支援システム |
| EP3798367A1 (fr) | 2019-09-25 | 2021-03-31 | BAUER Maschinen GmbH | Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine |
-
2021
- 2021-08-12 EP EP21191049.2A patent/EP4134489A1/fr active Pending
-
2022
- 2022-08-04 WO PCT/EP2022/071951 patent/WO2023016914A1/fr active Application Filing
- 2022-08-04 CN CN202280055396.2A patent/CN117858990A/zh active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2126981A (en) | 1982-09-13 | 1984-04-04 | Frankignoul Pieux Armes | Improvements in or relating to grab bucket apparatus |
| JPH03241118A (ja) * | 1990-02-19 | 1991-10-28 | Fujita Corp | 地中連続壁用溝の自動掘削装置 |
| JPH09158254A (ja) * | 1995-12-05 | 1997-06-17 | Sumitomo Constr Mach Co Ltd | 掘削機の掘削制御装置 |
| DE19933771A1 (de) * | 1999-07-19 | 2001-01-25 | Liebherr Werk Nenzing | Kran |
| JP2001064993A (ja) * | 1999-08-25 | 2001-03-13 | Konoike Constr Ltd | 掘削揚土作業支援システム |
| EP3798367A1 (fr) | 2019-09-25 | 2021-03-31 | BAUER Maschinen GmbH | Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023016914A1 (fr) | 2023-02-16 |
| CN117858990A (zh) | 2024-04-09 |
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| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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| STAA | Information on the status of an ep patent application or granted ep patent |
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