EP2363370B1 - Dispositif de prise - Google Patents

Dispositif de prise Download PDF

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Publication number
EP2363370B1
EP2363370B1 EP20110001652 EP11001652A EP2363370B1 EP 2363370 B1 EP2363370 B1 EP 2363370B1 EP 20110001652 EP20110001652 EP 20110001652 EP 11001652 A EP11001652 A EP 11001652A EP 2363370 B1 EP2363370 B1 EP 2363370B1
Authority
EP
European Patent Office
Prior art keywords
gripper jaw
gripper
movement
gripping device
gripping
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.)
Not-in-force
Application number
EP20110001652
Other languages
German (de)
English (en)
Other versions
EP2363370A1 (fr
Inventor
Dietrich Kreuzgruber
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.)
Feiba Engineering and Plants GmbH
Original Assignee
Feiba Engineering and Plants 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 Feiba Engineering and Plants GmbH filed Critical Feiba Engineering and Plants GmbH
Publication of EP2363370A1 publication Critical patent/EP2363370A1/fr
Application granted granted Critical
Publication of EP2363370B1 publication Critical patent/EP2363370B1/fr
Not-in-force 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
    • B66C1/58—Gripping members engaging only the external or internal surfaces of the articles and deforming the articles, e.g. by using gripping members such as tongs or grapples
    • B66C1/585—Log grapples
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/04—Tine grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/18—Grabs opened or closed by driving motors thereon by electric motors

Definitions

  • the invention relates to a gripping device.
  • a very valuable application for the gripping device according to the invention relates to the automated grasping of logs.
  • the gripping device according to the invention for the automated removal of logs or similar lumpy fuel from a warehouse and feeding the same applicable to a furnace.
  • the kiln can be stored in the form of a disordered bed of it.
  • a very common gripping device for the mechanical grasping of wood parts from a bed of wood pieces is the so-called wood grapple, as he is well known, especially from forestry.
  • This gripping device is also in small variants not suitable for the present task, as it can not be ensured that it automatically detects exactly one log of wood from a pile of logs in individual gripping operations.
  • a device is shown, with the help of which from a disorderly bed of logs automatically removed and individually an unloading, which may be, for example, a lock to a furnace, can be supplied.
  • the device consists of a gantry device with a trolley, on which a machine-driven gripping device is lowered, which detects their impact on the bed and then moves motor driven gripper jaws so that they at least slightly with one or more tips in the lumpy, to be taken Good penetration and take it so without the need to be very well defined the position of the fuel with respect to the gripping device.
  • the object underlying the invention is to provide a gripping device, with the aid of which automated a single log from a disordered bed of logs wegtransportiert and can be stored defined in a definable place.
  • a gripping device Opposite from the EP 2 014 602 A1 known construction of a gripping device, the reliability of the function is to be improved.
  • the gripping device has a frame and at least one driven relative to this between an open position and a closed position gripper jaw, being provided as the drive of the movement of the gripper jaw from the open position to the closed position, an elastic element whose elastic bias during the movement of the gripper jaw decreases from the open position to the closed position and wherein the gripper jaw is engageable with a pivoting arm and is pivotable therethrough from the closed to the open position, the pivoting arm being drivable by a controllable drive device.
  • the angular deviation or distance deviation between the gripper jaw and the swivel arm for the control of a switching element of the controller can be seen.
  • the gripper jaw When the swing arm is moved from the position where the gripper jaw is opened to the position where the gripper jaw can be closed, the gripper jaw follows - driven due to the relaxing elastic element - the movement of the swivel arm, so that it also bears against it during the movement of the swivel arm, unless the gripper jaw comes into contact with a part to be gripped during its closing movement and is thereby stopped. If the gripper jaw is stopped during its closing movement by a captured part and the swivel arm is still moved at least a short distance, come gripper jaw and arm out of contact. By measuring whether gripper jaw and swivel arm abut each other - the measurement can be carried out by means of a simple switching contact - is thus in the simplest and most robust way for a control recognizable whether an object is caught or not.
  • a frame 1 can be seen, which is itself (not shown) via a connecting part 7 and ropes or straps on the trolley of a gantry device.
  • the frame carries a drive motor 2, different, on Frame movably mounted, at least indirectly driven by the drive motor 2 gear elements 3, 4 and also pivotally mounted gripper jaws held 5.
  • the gripper jaws 5 have about the function of jaws. As intended, they come with the tips on their toothed sides when grasping a log on Holzscheit concern and clamp the log firmly, preferably with the help of a second, pressing from the other side of the log divider jaw.
  • the pivot arm 14 is via transmission elements with a controllable drive device - for example, an electric motor 2 - in gearbox connection.
  • a controllable drive device for example, an electric motor 2 - in gearbox connection.
  • the drive device is driven in the appropriate direction, so that the pivot arm 14 is rotated in the direction in which the gripper jaw 5 is to rotate. Due to the action of the tension spring 6, the gripper jaw 5 is rotated with the pivot arm 14 so that finally the in Fig. 4 shown position is reached.
  • the angular positions of the gripper jaw 5 and the pivot arm 14 are detected by a control of the gripping device. If the angular positions of these two parts are different from each other, it is recognized that the gripper jaw 5 on an object - for example, a log - rests - and this holds.
  • the swivel arm is rotated by switching the drive motor in the opposite direction so that it again engages the gripper jaw and rotates it to the open position, thus releasing the log.
  • the gripping device is best to attach to the trolley of a gantry device.
  • a "gantry device” is a very light gantry crane. In the light construction sufficient for this purpose, a gantry device can be mounted in any room, it is very cost-effective and robust and it is not in the danger zone when the logs are delivered.
  • Fig. 1 and Fig. 2 shown to use more than two gripper jaws 5 on a gripping device.
  • mutually different shaped gripper jaws are used.
  • the trajectories of the individual gripper jaws are different in their closing movement to each other. This reduces the likelihood of "erroneous actions", that is to say closing operations of the gripper jaw in which - unlike the intended purpose - no object is gripped.
  • the closing movement of the pivot arms 4, 14 can be done to the end even if gripper jaws this closing movement no longer participate. As a result, the control is simplified and there is a kind of "catching" when a gripper jaw slips off a caught object. As a result of the spring 6 and the fact that the pivot arm 4, 14 already preceded the movement in any case, then the gripper jaw closes very quickly, so that there are good chances that the object will be caught again.
  • the entire system consisting of gantry device and gripping device can be controlled such that when the gripping device has not detected any logs, a further gripping operation takes place with the gripper device in an offset position.
  • An elastic fluid typically compressed air
  • a gas spring can be used as an elastic drive element.
  • Both the elastic elements, so also the gripper jaws need not be anchored directly to the frame 1. They can also be anchored to other translation parts. (This will change the bandwidth of realizable trajectories and the force-displacement curves increased.) Instead of pure pivoting movements of the gripper jaws and guided sliding movements of the gripper jaws can be provided.
  • an electric drive motor 2 it is also possible to provide other drive means, for example hydraulic cylinders, pneumatic cylinders, hydraulic motors or pneumatic motors, for driving the opening movement of the gripper jaws 5. It is important that the drive is controllable, that is movable in two directions and off and on is.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)

Claims (6)

  1. Dispositif de prise présentant un cadre (1) et au moins une mâchoire de prise (5) entraînée par rapport à celui-ci entre une position ouverte et une position fermée, un élément élastique (6) étant prévu comme entraînement du mouvement de la mâchoire de prise (5) de la position ouverte en position fermée, dont la précharge élastique diminue durant le mouvement de la mâchoire de prise (5) de la position ouverte en position fermée et la mâchoire de prise (5) pouvant être mise en contact avec un bras pivotant (4, 14) par un dispositif d'entraînement manoeuvrable (2) et pouvant être pivoté ainsi du mouvement fermé dans le mouvement ouvert,
    caractérisé en ce que
    la déviation angulaire ou la déviation de l'espacement entre la mâchoire de prise (5) et le bras pivotant (4, 14) est reconnaissable par un élément logique de la commande.
  2. Dispositif de prise selon la revendication 1, caractérisé en ce que l'élément élastique est un ressort (6).
  3. Dispositif de prise selon la revendication 1 ou la revendication 2, caractérisé en ce qu'il sert à la prise automatisée de carburant en morceaux.
  4. Dispositif de prise selon la revendication 3, caractérisé en ce qu'il sert à la prise automatisée de bûches (10).
  5. Dispositif de prise selon l'une des revendications précédentes, caractérisé en ce qu'il présente plus de deux mâchoires de prise (5) et que les mâchoires de prise (5) sont de forme différente l'une par rapport à l'autre.
  6. Dispositif de prise selon l'une des revendications précédentes, caractérisé en ce qu'elles sont disposées sur un chariot de pont roulant, de façon à pouvoir être soulevées et abaissées.
EP20110001652 2010-03-02 2011-03-01 Dispositif de prise Not-in-force EP2363370B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
AT3262010A AT509503B1 (de) 2010-03-02 2010-03-02 Greifvorrichtung

Publications (2)

Publication Number Publication Date
EP2363370A1 EP2363370A1 (fr) 2011-09-07
EP2363370B1 true EP2363370B1 (fr) 2013-01-09

Family

ID=44060872

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20110001652 Not-in-force EP2363370B1 (fr) 2010-03-02 2011-03-01 Dispositif de prise

Country Status (2)

Country Link
EP (1) EP2363370B1 (fr)
AT (1) AT509503B1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000017356A1 (it) * 2020-07-16 2022-01-16 Molle Roberto Dalle Dispositivo di aggrappaggio ad un supporto solido
CN113118984B (zh) * 2021-05-08 2023-12-26 江苏远荣智能装备有限公司 一种用于电子烟顶针的夹紧装置及电子烟生产设备
CN116968070A (zh) * 2023-08-28 2023-10-31 成都禾想医疗科技有限公司 一种用于隔离膜抓取和套装的机械手夹钳总成

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2274985A (en) * 1940-08-19 1942-03-03 Kenneth C Jenne Lumber hook or the like
AT325790B (de) * 1973-11-05 1975-11-10 Wiener Brueckenbau Brammenzange
DE3010524A1 (de) * 1980-03-17 1981-09-24 AMD-Vertriebsgesellschaft für Antriebstechnik mbH, 5800 Hagen Selbstspannende greifzange fuer hebezeuge
US4444538A (en) 1982-07-12 1984-04-24 Jerry Manley Automatic log feeder
DE3537841A1 (de) 1985-10-24 1987-04-30 Edmund Wagner Beschickungsanlage fuer festbrennstoffe
US4688544A (en) 1986-06-16 1987-08-25 Estevan Gonzales Self loading wood burning stove
FR2769302B1 (fr) * 1997-10-03 1999-10-29 Renault Pince a leviers
DE202006019642U1 (de) * 2006-12-22 2008-04-30 Eberhard, Manfred M. Greifvorrichtung
EP2014602A1 (fr) 2007-05-23 2009-01-14 Alfred Märzinger Dispositif et procédé pour la saisie mécanique de bûches de bois

Also Published As

Publication number Publication date
AT509503A1 (de) 2011-09-15
EP2363370A1 (fr) 2011-09-07
AT509503B1 (de) 2013-07-15

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