EP1122208A2 - Méthode et dispositif de contrôle de la force de serrage des bras de préhension d'un dispositif de transport - Google Patents

Méthode et dispositif de contrôle de la force de serrage des bras de préhension d'un dispositif de transport Download PDF

Info

Publication number
EP1122208A2
EP1122208A2 EP01100199A EP01100199A EP1122208A2 EP 1122208 A2 EP1122208 A2 EP 1122208A2 EP 01100199 A EP01100199 A EP 01100199A EP 01100199 A EP01100199 A EP 01100199A EP 1122208 A2 EP1122208 A2 EP 1122208A2
Authority
EP
European Patent Office
Prior art keywords
goods
characteristic data
transported
transport device
clamping 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.)
Withdrawn
Application number
EP01100199A
Other languages
German (de)
English (en)
Other versions
EP1122208A3 (fr
Inventor
Otmar Kaup
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.)
Kaup & Co KG Gesellschaft fur Maschinenbau GmbH
Kaup GmbH and Co KG
Original Assignee
Kaup & Co KG Gesellschaft fur Maschinenbau GmbH
Kaup GmbH and Co KG
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 Kaup & Co KG Gesellschaft fur Maschinenbau GmbH, Kaup GmbH and Co KG filed Critical Kaup & Co KG Gesellschaft fur Maschinenbau GmbH
Publication of EP1122208A2 publication Critical patent/EP1122208A2/fr
Publication of EP1122208A3 publication Critical patent/EP1122208A3/fr
Withdrawn legal-status Critical Current

Links

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
    • B66F9/12—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

Definitions

  • the invention relates to a method for controlling or regulating the clamping force of clamp arms moved against each other by a drive a transport device for individual or a group of like Transport goods taking into account the strength of the transport goods.
  • DE 908 471 C is a forklift with gripper or clamp arms known in which the clamping force depends on the weight alone sets. This is done by a mirror-symmetrical arrangement of angle levers, on one lever arm of which the lifting force acts and whose other lever arms act on jaws that are in their centers are articulated and on the goods in the form of stacks of boxes act.
  • Existing tension springs are not used to limit the Clamping force, but for pushing back the clamp arms that only on the bottom boxes act. This leads to the fact that with a Increasing the stack weight or the stack height increases the clamping force automatically increases without taking into account the strength of the lower boxes is taken.
  • EP 0 443 998 A1 and EP 0 664 272 A2 are transport devices known with bracket arms, in which a test stroke was first carried out needs to be checked to see if the cargo, preferably Paper rolls for printers, slip in the clamp arms. This sliding process is detected by a feeler roller, which in one of the Bracket arms is arranged and the angle of rotation of the hydraulic drive controls in such a way that the clamping force when slipping is increased until the slipping no longer occurs.
  • EP 0 664 272 A2 describes the slip detection by an additional device-side recording of the weight of the transported goods supplemented by a Limitation of the clamping force according to weight and any Cause the goods to slide.
  • a “transponder” (an artificial word from “transmit” and “respond”) is part a combination of a reader and the transponder, between which data is exchanged inductively via an "air” interface become.
  • the English name is “RFID”, the abbreviation for "Radio Frequency Identification”.
  • RFID Radio Frequency Identification
  • the invention has for its object measures and to specify means with which a Coordination of the essential mechanical characteristics of the transported goods and / or its packaging with the control of the clamping force the drive of a transport device is made possible.
  • the task is solved in full, i.e. measures and means are specified with which on the basis of a wireless dialogue a coordination of the essential mechanical Characteristics of the goods to be transported and / or their packaging the control of the clamping force of the drive of a transport device is enabled and optimized.
  • the invention also relates to a transport device with one another Clamp arms that can be moved by a drive for individual transport goods or a group of similar goods and with one Drive and a device for controlling or regulating the clamping force of the clamp arms taking into account the strength of the goods to be transported.
  • FIG. 1 shows a vehicle 1 designed as a forklift truck with a telescopic mast 2 and a lifting carriage 3 shown on the a transport device 4 is attached with two bracket arms 5, the arranged mirror-symmetrically to a central longitudinal axis of the forklift are.
  • Transport goods 6 are arranged in front of the forklift (thick edged), which also consists of four individual goods 6a, 6b, 6c and 6d can exist, which are arranged in two rows.
  • Such an arrangement is described in DE 38 01 133 C2, which is expressly in the Disclosure content of this property right is included.
  • This font also discloses the hydraulic drive in the transport device 4 is integrated and is therefore no longer described in detail here.
  • the entry depth "T” does not exceed or fall below a minimum.
  • the front row with the goods 6c and 6d would indeed reliably clamped, but not the back row with the goods to be transported 6a and 6b which, when lifting the load from the clamp arms 5 could slip out or tip out.
  • Analogous considerations apply also for a single large cargo 6. significant, that the edges of a package by their angular position have greater resistance to deformation than the walls of the Packaging.
  • a receiver on the lifting carriage or on the transport device 8 attached the optical axis of which is either at an angle " ⁇ " is pivotable or has a corresponding perspective and through the front of the cargo 6 or the cargo 6c and 6d can be scanned, on which code devices 9 are attached.
  • code devices 9 can either be from a printed or glued on strip code (bar code) or plain text or from a transponder that has at least characteristics over the minimum and the maximum permissible clamping force on the special transport goods 6, 6a, 6b, 6c and 6d.
  • the transponder can be a "read-only" transponder or be a writable transponder.
  • the receiver 8 also a transmitter, which is stored in the transponder retrieves data and / or stores new data. For reading from Streak codes or plain text will suitably be given to the recipient Assigned light source.
  • Such transmitters and receivers or readers in a dialogue with the code device 9 enter are commercially available, so that there is no need to go into detail about this.
  • the limits for the clamping force can also be advantageous in the code devices 9 the following characteristics are stored: the number and spatial arrangement (side by side and / or one behind the other) of the goods to be transported Weight (individual weight and / or total weight), the dimensions (Individual dimensions and / or overall dimensions), the coefficient of friction of the cargo 6 ff.
  • the Coefficient of friction of the transport goods from the shipper and the Coefficient of friction of the clamp arms from the manufacturer of the transport device to be specified and coordinated the strength of the cargo against clamping forces of the clamp arms, namely the Transport goods if it is to be transported unpacked and the Packaging with the content when the goods are transported packed should be, the content (article numbers) of the packaging, the location at the sender, the delivery address of the recipient, the delivery time, the limit values for the depth of entry of the cargo between the Brackets and the limit values for the clamping force.
  • the exchange of goods between the sender and recipient of the goods Data can - after printing - the usual shipping documents replace.
  • the vehicle 1 and / or the transport device 4 are with a Central unit 10 provided, the details of which are given below 5 are explained.
  • this central unit 10 the respective required parameters correlated with each other using a computer to ensure reliable control of the transport device and to ensure reliable transport of the cargo.
  • the weakest Links in the power chain are always the points of attack of the clamp arms, if these are smaller than the areas on which they attack.
  • Transponders can also be covered, e.g. inside of packaging, or on the side surfaces or top and back sides of the goods to be transported because the signal transmission here by electromagnetic waves (e.g. with radio or medium frequency) he follows. It is assumed that there is no shielding through metallic walls or close-meshed grids (Faraday cage) he follows.
  • transponders are expensive in relation to adhesive labels, it is recommended their use preferably in reusable packaging or in removable form for reuse.
  • FIGS. 2 and 3 show clamp arms 5 projecting downwards Trapezoidal shape, which linear guides 11 towards and in front of each other are movable away, in Figure 2 perpendicular to the plane of the drawing and parallel to this in FIG. 3. It is driven by a hydraulic drive 12 with counter-acting hydraulic cylinders 13 (see also Figure 5). Such an arrangement is - albeit in a different spatial position, namely with horizontally protruding clamp arms - in the DE 44 33 050 A1 describes the expressly in the disclosure content this property right is included. This document also discloses the hydraulic drive, which is integrated in the transport device 4 and is therefore no longer described in detail here.
  • the hydraulic drive can also be powered by an accumulator 14 can be supplied.
  • the clamp arms are inside with anti-slip pads 15 provided.
  • the linear guides 11 are on the undersides of hollow profiles 16 attached, which are used as insertion pockets for forklift forks, not shown are designed so that a conventional forklift as a vehicle 1st can be used.
  • FIG. 4 shows a side view of the front part of a vehicle 1 a mast 2, which can be pivoted in the direction of the upper double arrow is, and with a transport device 4a for cylindrical cargo 6e, e.g. a paper roll for printing machines.
  • the transport device 4a also has two clamp arms 5 and is by itself one known rotary drive about an axis A pivotable. So that will usually the cargo 6e with the vertical axis of the cargo recorded, rotated and transported with a horizontal axis and then parked again with a vertical axis or directly in one Printing machine mounted.
  • Vertical storage - also in columnar form Stacking - serves to avoid deformation under the Own weight.
  • This vehicle 1 also has one that is not visible here Control and regulating device with the manner already described according to the read data of a code device and / or vehicle-side data a necessary but not excessive clamping force the clamp arms can be generated.
  • FIG. 5 shows the main in a very schematic representation Drive elements and the control and regulating device 18.
  • To drive 12 include two oppositely acting hydraulic cylinders 13, which by Control valves 17, 19 and 20 controlled and by means of a hydraulic unit 21 are supplied with hydraulic fluid.
  • the control valves 17, 18 and 20 are commercially available components, namely the control valve 17 is a hydraulically unlockable check valve and the control valve 19 is a proportionally controlled pressure relief valve as in the company brochure BOSCH "Proportional valves without / with built-in electronics ", edition 1.95. The mode of operation this valve relies on the variable force of a proportional magnet compared to that of a spring.
  • the one from this Comparison of the resulting path (position) corresponds to a pressure setting or in the case of throttle and directional control valve, a throttle cross section and thus a volume flow.
  • This is a stepless or proportional Regulation of the clamping force of the clamp arms 5 in accordance with the data processing possible.
  • a receiver 22 for querying the code device (s) is connected to the central unit 10. 9 and a sensor 23 for determining the entry depth "T" connected.
  • the sensor 23 can be emitted by means of light Formation of light barriers or ultrasound with reflection measurement be operated as described in DE 38 01 133 C2.
  • the Operation of the receiver 22 and data processing has been detailed already described above.
  • an input device 24 e.g. a keyboard
  • new data and commands can be entered.
  • a display device 25 e.g.
  • the critical time is in any case the time when the Transport goods from the floor space and set down on a new one Footprint, because in these cases the mass forces are added to the weights add when accelerating and decelerating. Add to that still vertical forces due to vehicle movements over uneven ground.
  • These factors can also - depending on the design the transport device 4 and 4a and / or the central unit 10 with corresponding safety surcharges based on measured values in associated computers are taken into account. Acceleration and Deceleration values due to vehicle movements can use appropriate sensors on the vehicle or chassis be measured and evaluated. This means that it can be done in a split second increase and maintain the clamping forces.
  • Transport goods coded in this way can also be used for intermediate storage and / or at the recipient with appropriately or analogously equipped Transport devices resumed and / or transported further become.
  • the invention can also be used in gripping devices, which are also hung on a crane bridge, for example.

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)
EP01100199A 2000-02-05 2001-01-18 Méthode et dispositif de contrôle de la force de serrage des bras de préhension d'un dispositif de transport Withdrawn EP1122208A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10005220 2000-02-05
DE2000105220 DE10005220C2 (de) 2000-02-05 2000-02-05 Transporteinrichtung mit Klammerarmen und einer Einrichtung zum Steuern oder Regeln der Klemmkraft

Publications (2)

Publication Number Publication Date
EP1122208A2 true EP1122208A2 (fr) 2001-08-08
EP1122208A3 EP1122208A3 (fr) 2002-01-02

Family

ID=7630025

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01100199A Withdrawn EP1122208A3 (fr) 2000-02-05 2001-01-18 Méthode et dispositif de contrôle de la force de serrage des bras de préhension d'un dispositif de transport

Country Status (2)

Country Link
EP (1) EP1122208A3 (fr)
DE (1) DE10005220C2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2751015A4 (fr) * 2012-10-29 2015-01-07 Cascade Corp Système de commande de force de serrage interactive pour pinces de manipulation de charge
EP2106382A4 (fr) * 2007-01-12 2017-10-18 Raumaster Paper Oy Appareil de préhension pour soulever des rouleaux de bande de matière, en particulier des rouleaux de papier et de carton

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8078315B2 (en) 2008-05-08 2011-12-13 Cascade Corporation Control system for a load handling clamp
US9114963B2 (en) 2013-02-26 2015-08-25 Cascade Corporation Clamping surface positioning system for mobile load-handling clamps
DE102019201599A1 (de) * 2019-02-07 2020-08-13 Bhs Intralogistics Gmbh Überführungsanordnung
DE102019201598A1 (de) 2019-02-07 2020-08-13 Bhs Intralogistics Gmbh Anliefersystem

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE908471C (de) * 1946-02-25 1954-04-05 Clark Equipment Co Fahrstapler
US4726729A (en) * 1986-05-02 1988-02-23 Cascade Corporation Electric motor-actuated load clamp with clamping force control
DE3801133C2 (de) * 1988-01-16 1995-03-23 Kaup Gmbh & Co Kg Anbaugerät für einen Hublader
US5038283A (en) * 1989-04-13 1991-08-06 Panduit Corp. Shipping method
FI84715C (fi) * 1990-02-23 1992-01-10 Auramo Cargo Systems Oy Foerfarande och anordning foer behandling av last.
FI85260C (fi) * 1990-07-11 1992-03-25 Vesa Kaehoenen Foerfarande och system foer att instaella hydraultrycket som verkar pao ett hydrauliskt griporgan.
DE4142703A1 (de) * 1991-12-21 1993-06-24 Deutsche Aerospace Verfahren zum umschlagen von waren sowie anordnung zum durchfuehren des verfahrens
DE9417863U1 (de) * 1994-11-08 1995-01-05 Müller, Gotthard, 97941 Tauberbischofsheim Warenbehältnis mit einem Transponder
JPH1135038A (ja) * 1997-07-14 1999-02-09 Niigata Eng Co Ltd パレットのバーコードを用いた管理方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2106382A4 (fr) * 2007-01-12 2017-10-18 Raumaster Paper Oy Appareil de préhension pour soulever des rouleaux de bande de matière, en particulier des rouleaux de papier et de carton
EP2751015A4 (fr) * 2012-10-29 2015-01-07 Cascade Corp Système de commande de force de serrage interactive pour pinces de manipulation de charge

Also Published As

Publication number Publication date
EP1122208A3 (fr) 2002-01-02
DE10005220C2 (de) 2002-01-24
DE10005220A1 (de) 2001-08-16

Similar Documents

Publication Publication Date Title
EP1728758B1 (fr) Chariot de manutention avec une unité de commande électrique
EP3033295A1 (fr) Dispositif et procédé permettant de transporter des étagères au moyen d'un véhicule de transport sur une surface de sol inégale
EP3312132B1 (fr) Réduction de manière proactive des vibrations dans un chariot de manutention
DE10039629B4 (de) Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern
DE112020000738T5 (de) Träger für eine Hebevorrichtung, damit versehene Hebevorrichtung und dazugehörige Arbeitsweise
EP2385014B1 (fr) Chariot de manutention doté d'un dispositif destiné à l'identification d'un produit de transport chargé et procédé destiné à l'identification d'un produit de transport chargé d'un chariot de manutention
WO2017036756A1 (fr) Dispositif pour optimiser l'exploitation du volume dans des applications logistiques
DE10005220C2 (de) Transporteinrichtung mit Klammerarmen und einer Einrichtung zum Steuern oder Regeln der Klemmkraft
WO2022159999A1 (fr) Procédé pour emmagasiner plusieurs objets de types différents dans un rayonnage de stockage et système de stockage à rayonnages prévu à cet effet
DE10306759A1 (de) Lager für Materialrollen, Materialversorgungssystem und Verfahren zur Lagerung von Materialrollen
DE102009004854B4 (de) Verfahren und System zur Positionsbestimmung eines Flurförderzeugs
EP1024096B1 (fr) Système logistique pour l'expédition et la réception de produits, dispositifs, pour la lecture des données d'une ou plusieures mémoires de données et/ou l'écriture de données dans une mémoire de données , utilisés dans ce système logistique
DE102021203671A1 (de) Verfahren zur Zustandsüberwachung eines Hubwagens eines Staplerfahrzeugs
DE102012109904A1 (de) Flurförderzeug mit Anbaugeräten
DE102016101990A1 (de) Verfahren zur Lastgewichtmessung bei einem Flurförderzeug
EP3670428A1 (fr) Procédé de détermination de chargement d'un chariot de manutention et chariot de manutention
DE19964034C2 (de) Greifervorrichtung für einen Hublader
WO2008031573A1 (fr) Support de charge pour recevoir et transporter des objets
DE102017124180A1 (de) Verfahren zur Aufnahme von Lasten bei einem Flurförderzeug und Flurförderzeug zur Durchführung des Verfahrens
DE102017214171B4 (de) Flurförderzeug mit heb- und senkbaren Lastaufnahmemitteln mit einer Belastungsmesseinrichtung
EP3577428B1 (fr) Système d'entreposage comportant un agencement de détection associé au lieu d'entreposage
DE10054468A1 (de) Verfahren zur Steuerung der Entlade-, Lade-, Transport-, Stapel- und Entstapelvorgänge in einem Containerterminal sowie Steuervorrichtung für in Containerteminals eingesetzte Fahr- und Hebezeuge
DE202012009018U1 (de) Anbaugerät für Gabelstapler mit variabler Klemmkraft
DE102023212980A1 (de) Flurförderfahrzeug und ein Verfahren zur Aufnahme von auf einem Ladungsträger befindlichem Ladegut mit dem Flurförderfahrzeug
DE202010009972U1 (de) Kolliprüfeinrichtung KPE

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

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

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

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

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

AKX Designation fees paid
REG Reference to a national code

Ref country code: DE

Ref legal event code: 8566

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20020703