JP6425667B2 - クランプ面位置決めシステム - Google Patents
クランプ面位置決めシステム Download PDFInfo
- Publication number
- JP6425667B2 JP6425667B2 JP2015560163A JP2015560163A JP6425667B2 JP 6425667 B2 JP6425667 B2 JP 6425667B2 JP 2015560163 A JP2015560163 A JP 2015560163A JP 2015560163 A JP2015560163 A JP 2015560163A JP 6425667 B2 JP6425667 B2 JP 6425667B2
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- Prior art keywords
- load
- clamp
- clamping
- control system
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- 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.)
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- 238000013459 approach Methods 0.000 claims description 57
- 230000004044 response Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 7
- 230000002787 reinforcement Effects 0.000 claims description 3
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- 238000000034 method Methods 0.000 description 12
- 239000012530 fluid Substances 0.000 description 10
- 230000002452 interceptive effect Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
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- 230000003247 decreasing effect Effects 0.000 description 3
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- 230000001276 controlling effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- 230000001133 acceleration Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
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- 230000036962 time dependent Effects 0.000 description 1
Images
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)
Description
すなわち、Pmip=Prf+L−Mである。
この式において、Lはアプローチ方向に沿った中心50と積荷裏面16‘の間の距離であり、MはレンジファインダーDとクランプ面ピン34と36若しくはクランプ面12と14のそれぞれの中心領域56と58の中心の間のアプローチ方向に沿った機械的な距離である。
Claims (7)
- クランプ力で積荷の両側面を実質的にクランプすることができる一対の対向する積荷係合クランプ面を有する車載積荷搬送クランプの制御システムであって、車両の前記積荷に対するアプローチの方向に交差する方向に沿って前記一対の積荷係合クランプ面が互いに移動して閉じるようにクランプが車両に搭載可能であり、前記制御システムは、そこから前記クランプ面が前記積荷をクランプすることができる所望の前係合位置を示す可変信号を発生することが可能であり、
前記前係合位置が、
(a)前記積荷の重心か、又は
(b)前記積荷の補強部分
のうちの何れかを含む前記積荷の予め決められた内部特徴の位置を示す情報に応じて、
前記一対のクランプ面のそれぞれを位置決めすることができる積荷搬送クランプの制御システム。 - 前記制御システムは、更に、前記情報の少なくともいくつかに応じて、前記クランプ面が前記積荷をクランプすることができる所望のクランプ力を示す可変信号を発生することができることを特徴とする前記請求項1に記載の制御システム。
- 前記可変信号が操作者を案内して前記クランプの前記所望の前係合位置を達成することのできる人間が認識できる信号であることを特徴とする前記請求項1に記載の制御システム。
- 前記可変信号が電気コントローラに対する信号であって、前記コントローラが自動的に前記所望の前係合位置を達成することのできる信号であることを特徴とする前記請求項1に記載の制御システム。
- 前記可変信号が前記車両のアプローチ方向に実質的に沿った前記所望の前係合位置を示していることを特徴とする前記請求項1に記載の制御システム。
- 前記可変信号が実質的に垂直方向における前記所望の前係合位置を示していることを特徴とする前記請求項1に記載の制御システム。
- 前記可変信号が前記アプローチ方向と交差して延出する方向に実質的に沿った前記所望の前係合位置を示していることを特徴とする前記請求項1に記載の制御システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/777,925 | 2013-02-26 | ||
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 (3)
Publication Number | Publication Date |
---|---|
JP2016508475A JP2016508475A (ja) | 2016-03-22 |
JP2016508475A5 JP2016508475A5 (ja) | 2016-08-12 |
JP6425667B2 true JP6425667B2 (ja) | 2018-11-21 |
Family
ID=51387567
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015560163A Active JP6425667B2 (ja) | 2013-02-26 | 2013-07-30 | クランプ面位置決めシステム |
Country Status (9)
Country | Link |
---|---|
US (1) | US9114963B2 (ja) |
EP (1) | EP2909125B1 (ja) |
JP (1) | JP6425667B2 (ja) |
CN (1) | CN104822617B (ja) |
AU (1) | AU2013379784B2 (ja) |
BR (1) | BR112015012902B1 (ja) |
CA (1) | CA2888598C (ja) |
ES (1) | ES2792181T3 (ja) |
WO (1) | WO2014133579A1 (ja) |
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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 |
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. |
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 |
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 |
DE112019006356T5 (de) * | 2018-12-21 | 2021-09-02 | Rightline Equipment, Inc. | Stapler-anbaugerät mit smart-klammer |
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 |
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 |
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-
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 AU AU2013379784A patent/AU2013379784B2/en active Active
- 2013-07-30 WO PCT/US2013/052746 patent/WO2014133579A1/en active Application Filing
- 2013-07-30 ES ES13876271T patent/ES2792181T3/es 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
- 2013-07-30 EP EP13876271.1A patent/EP2909125B1/en active Active
- 2013-07-30 JP JP2015560163A patent/JP6425667B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP2909125B1 (en) | 2020-03-25 |
CN104822617A (zh) | 2015-08-05 |
CA2888598A1 (en) | 2014-09-04 |
WO2014133579A1 (en) | 2014-09-04 |
AU2013379784A1 (en) | 2015-05-07 |
US20140240117A1 (en) | 2014-08-28 |
CA2888598C (en) | 2016-11-29 |
US9114963B2 (en) | 2015-08-25 |
BR112015012902A2 (pt) | 2017-07-11 |
EP2909125A4 (en) | 2016-07-27 |
ES2792181T3 (es) | 2020-11-10 |
EP2909125A1 (en) | 2015-08-26 |
BR112015012902B1 (pt) | 2022-02-15 |
AU2013379784B2 (en) | 2016-04-14 |
JP2016508475A (ja) | 2016-03-22 |
CN104822617B (zh) | 2017-02-22 |
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