EP3176123B1 - Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise - Google Patents

Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise Download PDF

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Publication number
EP3176123B1
EP3176123B1 EP15197916.8A EP15197916A EP3176123B1 EP 3176123 B1 EP3176123 B1 EP 3176123B1 EP 15197916 A EP15197916 A EP 15197916A EP 3176123 B1 EP3176123 B1 EP 3176123B1
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EP
European Patent Office
Prior art keywords
lifting
goods
suction gripping
suction
lifting device
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.)
Active
Application number
EP15197916.8A
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German (de)
English (en)
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EP3176123A1 (fr
Inventor
Peter Enenkel
Dolores Gerstmayr
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.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
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 Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to EP15197916.8A priority Critical patent/EP3176123B1/fr
Priority to PCT/EP2016/076980 priority patent/WO2017092979A1/fr
Publication of EP3176123A1 publication Critical patent/EP3176123A1/fr
Application granted granted Critical
Publication of EP3176123B1 publication Critical patent/EP3176123B1/fr
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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
    • B66C1/02—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 suction means
    • B66C1/0225—Hand held
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis

Definitions

  • the present invention relates to a lifting device and a method provided for providing force support when moving an item.
  • U.S. 6,386,513 B1 discloses a lifting device comprising an end effector which is grasped by a human operator and applied to a load from above.
  • the end effector is suspended by a line from a take-up reel, winch, or drum that is driven by an actuator to raise or lower the load.
  • the end effector includes a force sensor that measures the vertical force that the operator applies to the end effector and provides a signal to a controller.
  • the controller and actuator are designed so that a predetermined percentage of the force required to raise or lower the load is applied by the actuator, with the remaining force being provided by the operator.
  • the load thus feels lighter to the operator, but the operator does not lose the feeling of being lifted against both the gravitational and inertial forces emanating from the load.
  • the load is borne solely by the end effector.
  • telescopic conveyors which are operated manually via a control unit.
  • the telescopic conveyors protrude sufficiently far into the container to be loaded or unloaded and can be swiveled horizontally and vertically in order to feed the goods to the operator. After an automatic transport into the container via the telescopic conveyor, the goods still have to be picked up and moved by hand.
  • WO2005110907A1 presents a suction hose lifting device and a method for moving a load with a suction hose lifter.
  • WO2006128405A1 discloses a lifting device which supports at least one hand which grips the object during manual displacement of objects.
  • the existing telescopic conveyors usually have a low adjustment speed; in addition, the manual operation of the control unit means that an item has to be picked up several times, which slows down loading and unloading.
  • the use of the suction hose lifting device requires that the goods to be moved can be connected to the suction hose lifting device by exerting a negative pressure. If this is not possible, for example, due to the nature of the surface of the goods, the goods must be moved manually without any support from the suction hose lifting device. In the event of a malfunction, the goods can fall down during the movement, causing both the goods and the operator can be harmed. The suction hose lifting device must also be held manually by the operator while the goods are moving.
  • the lifting device disclosed comprises a lifting element designed to receive an arm, the movement of the hand of this arm being supported. Although the weight of the goods is absorbed by the lifting device, it nevertheless initially loads the arm and / or hand of the operator, in particular when the goods are picked up.
  • the present invention is therefore based on the object of making possible an improved lifting device with a wide range of applications and simple operation.
  • the solution according to the invention provides a lifting device which is suitable for providing force support when moving a good, according to independent claim 1.
  • the lifting force support of the lifting aid can act directly on the suction gripping element.
  • the lifting force support is as direct as possible without putting any strain on the body part.
  • the fastening device can be designed as a loop for receiving the body part. So that a suction gripping element is provided for each of the two arms and / or hands of an operator, the lifting device comprises at least two suction gripping elements. This enables intuitive handling of the lifting device, since it is based on a physiological sequence of movements.
  • the force support can be provided redundantly when moving an item. In the event of a malfunction of one of the two suction gripping elements, the other suction gripping element is still available.
  • the suction gripping element can be designed with the item from the side and / or from to grip from above and / or from below.
  • the suction gripping element can thus grip an item almost as flexibly as a human operator.
  • At least one control element can be provided for activating and / or deactivating the lifting force assistance of the lifting aid and / or the holding force of the suction gripping element.
  • the power assistance can thus be activated and / or deactivated in a simple manner with the operating element. This enables the lifting force support that can be exercised with the lifting aid and / or that with the suction gripping element exertable holding force only to be exerted if the operator deems it necessary.
  • the at least one operating element can be arranged directly on the suction gripping element and / or the fastening device.
  • the at least one operating element can also be operated without major inconvenience when the suction gripping element is attached to the at least one body part.
  • the lifting aid can be designed to be movable horizontally and / or vertically.
  • the holding force can be applied to the good with the suction gripping element and / or with the at least exercising a body part. If the holding force exerted by the suction gripping element fails, the holding force is exerted by the body part of the operator.
  • the goods can be moved with the assistance of lifting power from a lifting aid. This minimizes physical strain.
  • the lifting force support of the lifting aid can act directly on the suction gripping element.
  • the lifting device comprises at least two suction gripping elements.
  • the holding force can thus be applied redundantly, which increases reliability.
  • a physiological gripping and lifting process can take place when moving the goods. The physiological gripping and lifting process secures the goods redundantly, which greatly minimizes the risk of the goods falling down, which can lead to damage to the goods and / or the operator.
  • the lifting force assistance and / or the exertion of the holding force with the suction gripping element can be switched on and / or off with at least one operating element as required.
  • the lifting force assistance and / or holding force with the suction gripping element are only exerted when this is desired by the operator and switching on and / or off is easily possible with the operating element.
  • FIG. 1 shows schematically a lifting device 2 which is designed for force support when moving an item 4 according to a preferred embodiment of the invention.
  • the lifting device 2 comprises two suction gripping elements 6l, 6r configured as mirror images of one another and a lifting aid 8.
  • the two suction gripping elements 6 and consequently also their fastening devices 18 are designed mirror images of each other.
  • the left suction gripping element 6l is optimized for receiving the left arm and / or left hand 28; the right suction gripping element 6r is optimized for receiving the right arm and / or right hand 28.
  • the lifting device 2 is optimized for the loose loading and unloading of storage containers, which are particularly suitable for receiving parcels, parcels, mail containers, Suitcases and other pieces of luggage are provided and are always referred to in a uniform generalized manner as goods 4 below.
  • the lifting aid 8 provides a continuous lifting force support 10 in that it absorbs all or at least part of the weight 12 of the good 4 and / or the suction gripping elements 6 and / or the lifting aid 8 via a pull rope 14.
  • the pull rope 14 is wound or unwound when it is raised and lowered.
  • An operating element 22 is arranged directly on the suction gripping element 6 and the fastening device 18, with which the holding force 20 of the suction gripping element 6 and the lifting force support 10 of the lifting aid 8 can be applied in an uncomplicated manner without large additional movements and thus without major disruptions in the sequence of movements, such as multiple changes of grip. and can be switched off.
  • the operating element 22 comprises one or more switches with which the lifting force support 10 and holding force 20 are activated and deactivated individually by pressing.
  • the exact design of the suction cup 16 is optimized for the respective specific area of application of the lifting device 2, in particular with regard to the goods 4 to be relocated. Heavy goods 4 in particular, especially if they also have irregular surfaces, require a particularly powerful suction cup 16.
  • the holding force is 20 exerted with the help of negative pressure.
  • the suction cups 16 are connected to a negative pressure source, for example a vacuum pump, via pneumatic lines 24r, 24l, 24. connected.
  • the pneumatic lines 24r, 24l, which run spirally around the pull cords 14, are supplied by a common supply line 24.
  • Negative pressure can also be generated with an ejector module that includes a compressed air nozzle.
  • the ejector module is designed to deactivate the holding force 20 exerted by the suction cup 16 by releasing the negative pressure by directing a short blast of compressed air into the suction cup 16 in order to prevent the suction cup 16 from sticking.
  • the lifting force support 10 acts directly on the suction gripping elements 6.
  • One task of the suction gripping elements 6 is to transfer the weight of the item 4 to the pull rope 14.
  • the suction gripping elements 6 represent an operating interface. Since the weight force 12 is not first absorbed via the body part and passed on to the lifting aid 8, an operator 32 is only slightly stressed when moving the goods 4. In order to always ensure optimal positioning of the lifting aid 8 over the item 4, the lifting aid 8 is attached to a suspension 26 which is designed to be movable horizontally and vertically.
  • the lifting device 2 is preferably designed to automatically follow the operator's movements.
  • the fastening device 18, with which the suction gripping element 6 can be attached to a body part, in particular part of an arm and / or a hand 28 of the operator 32, enables the suction gripping element 6 to be moved together with the body part without it having to be actively held. This considerably simplifies handling; in addition, both hands 28 of the operator can be used as a gripping and lifting tool. In this way, a redundant exercise of both the holding force 20 on the good 4 and the lifting force support 10 is made possible. Redundant in a double sense, because there are at least two body parts, in particular two hands 28 and / or arms, and two suction gripping elements 6 available.
  • the holding force 20 can be exerted on the one hand with the suction cup 16 and on the other hand with the hand 28 of the operator 32.
  • the fastening device 18 is arranged in such a way that the item 4 can be gripped both with the suction cup 16 and with the hands 28, even if part of an arm and / or a hand 28 is with the fastening device 18 is connected.
  • the hands 28 of the operator 32 can therefore continue to perform normal gripping movements. If the suction cup 16 does not grip properly or loses contact - because the surface structure of the item 4 does not allow gripping with the suction cup 16 or due to a malfunction, for example a power failure - the item 4 can be caught and held using the hands 28.
  • the design of the fastening device also supports the operator when the lifting force and / or holding force are exerted by the operator.
  • the fastening device 18 is particularly adapted to support manual gripping, which makes the use of the lifting device 2 highly intuitive.
  • manual gripping a large part of the weight force 12 is absorbed by the lifting aid 8 via the fastening device 18 and the suction gripping element 6, so that the hand 28 and fingers are stressed as little as possible.
  • a transfer of the lifting force from the hands 28 to the fastening device 18 and thus the lifting aid 8 is thus optimized.
  • the suction gripping element should support the movement of the good 4.
  • the load on the hands 28 and individual fingers is very high when gripping a heavy item 4 without any force support.
  • a gripping support integrated into the fastening device 18 is used to avoid or reduce unfavorable stresses on individual areas of the hands 28.
  • the gripping support can be designed like a loop, such as is used in gymnastic or training gloves.
  • a fastening device 18 designed as a complete glove also fulfills this purpose.
  • the weight 12 of the good 4 is absorbed directly by the lifting aid 8 with its lifting force support 10 via the pulling rope 14.
  • the suction gripping elements 6 with the suction cups 16 exert a holding force 20 on the item 4. If one or even both force supports fail, the good 4 will still not fall to the ground, since the good 4 is additionally held manually with one or two hands 28. Even in this unfavorable case, the lifting device 2 still assists in moving the goods 4.
  • both suction gripping elements 6r, 6l are first attached to at least one body part, in particular part of an arm and / or a hand 28.
  • a holding force 20 is then exerted on the item 4 and the item 4 is moved.
  • the holding force 20 is exerted on the item with the suction gripping elements 6r, 6l and, additionally, redundantly secured, with the hands 28.
  • the product 4 is handled solely with the hands 28 held with a physiological gripping process.
  • the goods 4 themselves are moved with the lifting force assistance 10 of the lifting aid 8, which acts directly on the suction gripping elements 6r, 6l, with the operator performing a physiological lifting process redundantly.
  • the lifting force support 10 of the lifting aid 8 and / or the exertion of the holding force 20 with the suction gripping elements 6r, 6l is switched on with the operating elements 22r, 22l as required.
  • FIG. 2 shows a suction gripping element 6 with a fastening device 18 configured as a loop.
  • the loop and thus the entire suction gripping element 6 are fastened to the right hand 28 of an operator 32.
  • the loop runs around the hand 28 below the thumb in such a way that both the thumb and the fingers can move freely.
  • the design of the fastening device 18 as a loop enables both a quick and uncomplicated pick-up of the hand 28 and the use of the hand 28 of the operator 32 as a gripping tool and also serves as a gripping aid.
  • a switch that can be operated with the thumb is attached to the loop as an operating element 22, with which both the holding force 20 exerted by the suction cup 16 and the lifting force support 10 can be activated and deactivated.
  • the suction cup 16 is connected to the fastening device 18 via a connecting piece 30 running below the thumb over the ball of the hand. Since the pull rope 14 of the lifting aid 8 as well as in Figure 1 acts directly on the suction cup 16, when the suction cup 16 exerts a holding force 20 on an item 4, all or at least a portion of the weight 12 is absorbed by the lifting aid 8 without straining the hand 28.
  • the pneumatic line 24 runs around the pull rope 14 of the lifting aid 8.
  • the suction cup 16 is attached to the connecting piece 30 in a freely rotatable manner. This and the offset arrangement via the connecting piece 30 enables complete freedom of movement of the hand 28. In the event that the holding force 20 cannot be exerted with the suction cup 16, the item 4 can be gripped and aligned with the hand 28.
  • the weight 12 is transmitted from the back of the hand to the loop and finally via the connecting piece 30 to the pulling rope 14 of the lifting aid 8, which absorbs the weight 12 and thus provides lifting force support 10.
  • Figure 3 shows an item 4 which, according to a preferred embodiment of the invention, is held by two suction gripping elements 6 of the lifting device 2 and additionally redundantly manually by two hands 28.
  • the manual gripping and lifting of the good 4 takes place by performing a physiological gripping and lifting process and is therefore very intuitive. Since the suction gripping elements 6 are arranged in the shadow of the arms, access between two goods 4 standing close together is not hindered.
  • the suction gripping elements 6 are like those in Figure 1
  • the suction gripping elements 6r, 6l shown are mirror images of one another, the left suction gripping element 6 being the same as in FIG Figure 2 shown suction gripping element 6 corresponds.
  • the suction gripping element 6 shown on the left in the drawing is optimized for receiving the right hand 28, the suction gripping element 6 shown on the right is optimized for receiving the left hand 28.
  • the lifting force is absorbed by the pull cables 14 around which pneumatic lines 24 lead.
  • the product 4 is held laterally mainly by the suction cups 16 which exert a holding force 20.
  • Lifting force support 10 and the exertion of the holding force 20 with the suction cups 16 are performed separately by pressing the control element 22 activated with the thumb for each suction gripping element 6 separately. Deactivation takes place by releasing the operating element 22.
  • FIG. 4 shows a schematic diagram of the lifting device 2 according to a preferred embodiment of the invention.
  • An operator 32 is located in a container 34, which serves as a storage container, and builds up a stack of goods 36, the goods 4 being conveyed into the container 34 by a telescopic conveyor 38.
  • the design of the fastening device 18 as a loop, as in FIG Figure 2 and 3 shown, putting on and taking off the suction gripping elements 6 of the lifting device 2 with a simple sliding in and out is uncomplicated and only little time consuming, so that the use of the lifting device 2 can be decided individually for each item 4.
  • the display 40 As a decision-making aid, there is a display 40 at the end of the telescopic conveyor which shows the weight of the item 4 which is currently at the end of the telescopic conveyor.
  • the display 40 comprises a weight display 40g and a traffic light display 40a.
  • the traffic light display 40a allows a quick visual classification.
  • the suction gripping elements 6 are either on the edge of the telescopic conveyor 38, or they hang at a height at which they have been deposited and can be easily put back on the pulling ropes 14.
  • the suction gripping elements are with With the help of a weight detection system held at this height.
  • the operator 32 simply slips his hands 28 into the loops, grabs an item 4 and activates the power assistance with the operating elements 22.
  • the traffic light display 40a lights up green and it is not necessary to use the lifting device 2. If a lifting device 2 is used anyway this can restrict the ergonomics of the operator 32, which can lead to one-sided stress and premature fatigue.
  • the traffic light display 40a lights up red and the use of the lifting device 2 is mandatory in order to avoid physical strain damage.
  • the traffic light display 40a lights up yellow and the operator 32 can decide for himself, based on his individual physical capacity, whether he would like to use the lifting device 2 or not.
  • the display 40 enables individual handling of the lifting device 2, depending on the physical requirements of the respective operator 32, without person-specific adaptations being necessary. This would be unfavorable due to the high turnover of personnel.
  • the pull cords 14 of the lifting aid 8 grip as well as in the Figures 1 to 3 shown directly on the suction gripping elements 6 in order to absorb the weight 12 of the item 4.
  • the operator 32 has put both hands 28 into the fastening device 18, which is designed as a loop, and additionally grips the goods 4 redundantly and manually, which were transported into the container 34 with a telescopic conveyor 38.
  • the suspension 26 comprises the cable spreader 42 and a lightweight boom, which is attached to a beam portal 46 attached to the telescopic conveyor 38.
  • the bar portal 46 is adjustable in height and automatically adaptable to the height of the container with a distance detection.
  • the suspension 26 is arranged directly below the container ceiling, as a result of which maximum freedom of movement for the operator 32 is made possible.
  • the lightweight boom 44 has very smooth-running joints and can thus be moved in all vertical directions without noticeable resistance.
  • the operator 32 picks up the goods 4 from the end of the telescopic conveyor 38 and forms the goods stack 36 in front of him, the goods 4 being nested as precisely as possible on the container wall in order to achieve the highest possible packing density. Since the upper body is usually rotated by 180 degrees, the lightweight boom 44 is designed to ensure at least this freedom of movement. Ideally, however, the operator 32 can rotate several times around his own axis with the fastening device 18 attached to the hands 28. The operator 32 uses a step stool 48 in order to be able to stack the goods 4 even higher than his body size actually allows.
  • a pressure sensor on the suction gripping element 6, which indicates whether a negative pressure is present or not. In this way, the operator can estimate even before the weight of a good 4 is picked up whether his hands 28 are only gripping the good 4 manually to secure it, or whether they have to exert the entire holding force 20.
  • the fastening device 18 comprises a sensor that activates the power assistance when fastening the suction gripping element 6 to a body part or when releasing the suction gripping element 6 from Body part deactivated.
  • the fastening device 18 comprises a sensor that activates the power assistance when fastening the suction gripping element 6 to a body part or when releasing the suction gripping element 6 from Body part deactivated.
  • the lifting force assistance is interrupted immediately as soon as the weight detection is interrupted. If the power assistance fails in the event of a power interruption or other failures, a brake is activated, which forces the material 4 to be released very slowly.
  • the handling of the lifting device 2 is extremely simple and intuitive, the at least one suction gripping element 6 can be put on and / or taken off very quickly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (13)

  1. Dispositif de levage (2) qui est approprié pour l'assistance de la force lors du déplacement d'une marchandise (4), comprenant au moins un système d'aide au levage (8) et au moins un élément de préhension par aspiration (6),
    dans lequel
    a) le système d'aide au levage (8) sert à assister la force de levage (10) de la marchandise (4),
    b) une force (20) de retenue peut être exercée sur la marchandise (4) avec l'élément de préhension par aspiration (6), au moyen de laquelle la marchandise (4) peut être saisie, et
    c) l'élément de préhension par aspiration (6) comprend un dispositif de fixation (18) qui est approprié pour le fixer à au moins une partie du corps, en particulier à une partie d'un bras et/ou d'une main (28),
    caractérisé en ce que le dispositif de levage (2) comprend au moins deux éléments de préhension par aspiration (6).
  2. Dispositif de levage (2) selon la revendication 1, caractérisé en ce que l'assistance de force de levage (10) du système d'aide au levage (8) sollicite directement l'élément de préhension par aspiration (6).
  3. Dispositif de levage (2) selon l'une des revendications 1 à 2, caractérisé en ce que le dispositif de fixation (18) est configuré sous forme d'une boucle adaptée pour recevoir la partie du corps.
  4. Dispositif de levage (2) selon l'une des revendications 1 à 3, caractérisé en ce que l'élément de préhension par aspiration (6) est configuré pour saisir la marchandise (4) sur le côté et/ou de dessus et/ou de dessous.
  5. Dispositif de levage (2) selon l'une des revendications 1 à 4, caractérisé en ce qu'au moins un élément de commande (22) est prévu pour activer et/ou désactiver l'assistance de force de levage (10) du système d'aide au levage (8) et/ou la force de retenue (20) de l'élément de préhension par aspiration (6).
  6. Dispositif de levage (2) selon l'une des revendications 1 à 5, caractérisé en ce que le au moins un élément de commande (22) est disposé directement sur l'élément de préhension par aspiration (6) et/ou sur le dispositif de fixation (18).
  7. Dispositif de levage (2) selon l'une des revendications 1 à 6, caractérisé en ce que le système d'aide au levage (8) est conçu de manière à pouvoir être déplacé horizontalement et/ou verticalement.
  8. Procédé de déplacement d'une marchandise (4) en utilisant un dispositif de levage (2) qui comprend au moins deux éléments de préhension par aspiration (6), le procédé comprenant les étapes suivantes :
    a) fixation des éléments de préhension par aspiration (6) respectivement sur au moins une partie d'un corps, en particulier sur une partie d'un bras et/ou d'une main (28),
    b) exercice d'une force de retenue (20) sur la marchandise (4), et
    c) déplacement de la marchandise (4).
  9. Procédé selon la revendication 8, caractérisé en ce que la force de retenue (20) est exercée sur la marchandise (4) avec l'élément de préhension par aspiration (6) et/ou avec la au moins une partie du corps.
  10. Procédé selon l'une des revendications 8 à 9, caractérisé en ce que le déplacement de la marchandise (4) s'effectue avec l'assistance de force de levage (10) d'un système d'aide au levage (8).
  11. Procédé selon l'une des revendications 8 à 10, caractérisé en ce que l'assistance de force de levage (10) du système d'aide au levage (8) sollicite directement l'élément de préhension par aspiration (6).
  12. Procédé selon l'une des revendications 8 à 11, caractérisé en ce qu'un processus physiologique de préhension et de levage s'effectue lors du déplacement de la marchandise (4) .
  13. Procédé selon l'une des revendications 8 à 12, caractérisé en ce que l'assistance de force de levage (10) et/ou l'exercice de la force de retenue (20) avec l'élément de préhension par aspiration (6) peuvent être mis en marche et/ou désactivés en fonction des besoins avec au moins un élément de commande (22).
EP15197916.8A 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise Active EP3176123B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15197916.8A EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise
PCT/EP2016/076980 WO2017092979A1 (fr) 2015-12-04 2016-11-08 Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15197916.8A EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise

Publications (2)

Publication Number Publication Date
EP3176123A1 EP3176123A1 (fr) 2017-06-07
EP3176123B1 true EP3176123B1 (fr) 2021-01-27

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EP15197916.8A Active EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise

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WO (1) WO2017092979A1 (fr)

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Publication number Priority date Publication date Assignee Title
EP3453641B1 (fr) * 2017-09-08 2020-03-11 Siemens Aktiengesellschaft Dispositif de support, dispositif de fret, procédé pour charger un conteneur
DE202019004693U1 (de) 2019-11-15 2019-12-13 Dominik Heinzelmann Antriebsmodul mit Überlastungssicherung
DE202020106660U1 (de) 2020-11-19 2020-12-04 Dominik Heinzelmann Hebehilfe
CN116619428A (zh) * 2023-07-11 2023-08-22 四川中成智控科技有限公司 一种机械臂定位高度可调节的智能快递分拣机器人

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US5915673A (en) * 1996-03-27 1999-06-29 Kazerooni; Homayoon Pneumatic human power amplifer module
AUPO909197A0 (en) * 1997-09-08 1997-10-02 Ringland, Karin Sheet material lifting device
US6386513B1 (en) * 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
SE525903C2 (sv) 2004-05-18 2005-05-24 Vaculex Ab En vakuumtublyftanordning och ett förfarande för förflyttning av en last medelst en vacuumtublyftanordning
DE202005008760U1 (de) 2005-06-02 2005-10-27 Gebhardt Transport- Und Lagersysteme Gmbh Hubvorrichtung

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