Clamp and mobile lifting system with such clamp

Abstract

The invention relates to a clamp for a mobile lifting system and a mobile lifting system, wherein the clamp comprises a support part and two clamping arms movably connected to the support part. An actuator system is provided on the support part, wherein each clamping arm is connected with an actuator. The actuators serve as master and slave cylinders, respectively. At least one accumulator is connected to the slave cylinder, wherein the accumulator generates a counter pressure due to the position of the clamping arm.

Description

Technical Field

[0001] This invention relates to a lifting system with a lifting unit having a mounted clamp. The clamp includes two gripping arms movably connected to a support member, wherein the gripping arms can grasp an object. An actuator is used to move the gripping arms and apply clamping pressure to the object. Background Technology

[0002] Using clamps to grip objects, such as pipes, is a known technique where a clamping arm continuously applies pressure to the object. The clamping arm can be manually activated by pumping oil into a hydraulic cylinder connected to it. A pressure gauge on the lifting system's control panel provides readings of when sufficient clamping pressure has been reached to lift the object.

[0003] If the clamping pressure is too high, small objects are prone to warping and damage. Conversely, larger objects require higher clamping pressure to ensure they can be lifted.

[0004] For known lifting systems, it is currently not possible to adjust the clamping pressure according to the size and dimensions of different objects. This means that the lifting system is set to apply a predetermined, constant clamping pressure.

[0005] US2017 / 0283228A1 discloses an unconventional clamp comprising two hydraulic cylinders, each connected to a telescopic clamping arm. The clamping arm can extend in two stages, with an outer telescopic element extending to a first maximum position, and then an inner telescopic element further extending to a second maximum position. This clamp applies a stepped clamping pressure to the object, where the actual clamping force is difficult to control during the transition between the two pressure stages.

[0006] Cascade's HFC+ system includes two sets of gripping arms for holding paper rolls, where the gripping force is automatically adjusted based on the weight of the object. A pressure switch automatically switches between lower and higher gripping forces.

[0007] Purpose of the invention

[0008] The purpose of this invention is to provide a clamp and lifting system that overcomes the problems existing in the known art.

[0009] Another object of the present invention is to provide a clamp and lifting system capable of safely and carefully grasping different objects.

[0010] A third objective of the present invention is to provide a clamp and lifting system that minimizes the risk of damage to smaller objects. Summary of the Invention

[0011] This invention distinguishes itself from known technologies by providing a clamp for a mobile lifting system, the clamp comprising...

[0012] - A support portion having a connecting portion configured to connect to a corresponding connecting portion on a lifting unit in the lifting system.

[0013] - A clamping arm, wherein the clamping arm is disposed at each end of the support, wherein one end of the clamping arm is movably connected to the support, preferably rotatably connected to the support, and the other end is configured to clamp an object.

[0014] - An actuator system disposed on a support and connected to at least one clamping arm, wherein the actuator system includes at least one actuator configured to move at least one clamping arm between an open position and at least one clamping position, preferably rotating at least one clamping arm about the support along a rotation axis.

[0015] - The actuator system is configured to grip an object with clamping pressure, and the clamping pressure is adjusted based on the position of the clamping arm, wherein the clamping pressure is gradually adjusted between an open position and at least one clamping position.

[0016] This provides an improved clamp that minimizes the risk of damage to objects during lifting and allows for varying clamping pressure based on the size and dimensions of different objects. The clamp is particularly suitable for handling rolled items, but it is also applicable to other objects such as buckets, pipes, boxes, crates, cans, etc. Compared to other known clamps, this clamp enables safe and careful handling of objects by automatically adjusting the clamping pressure according to their size and / or dimensions.

[0017] The clamp includes a support portion with a joint adapted for direct or indirect mounting to a lifting unit as part of a lifting system. The lifting unit includes a corresponding joint adapted for mounting the clamp and / or a rotating unit. The joints on the clamp and / or the lifting unit may include one or more connectors allowing the clamp to be connected to an internal power and / or control unit on the lifting system. Connectors may include hydraulic or pneumatic connection elements, power cables, and / or similar connection elements. Thus, the clamp can be mounted on any lifting system, preferably a mobile lifting system. Therefore, the clamp can be controlled by a control unit and / or driven by power from the lifting system.

[0018] The clamp includes two additional clamping arms disposed at both ends of a support, with one end of each clamping arm flexibly connected to the support. The clamping arms may be movably or rotatably connected to the support, allowing them to move / rotate along the clamping direction. Optionally, the clamp may include a manually operated adjustment mechanism configured to adjust the shared distance between the clamping arms in the clamping direction. Alternatively, the adjustment mechanism may be driven by energy integrated into the clamp or lifting system.

[0019] The gripping arm may be equipped with one or more support plates, with a possible rubber layer or another deformable layer added to them to increase the friction of the support plates, thereby gently gripping the object. The support plates may be attached to the usable end of the gripping arm in a tiltable manner. Thus, the gripper can be positioned relative to the object, allowing the gripping arm to reach around the object and hold it.

[0020] The clamp also includes an actuator system configured to move the gripping arms along the gripping direction. At least one actuator is disposed on the support and connected to at least one gripping arm, wherein the actuator is driven by an integrated power source or by a manually operated driveable unit. The driveable unit or power source may be integrated into the clamp or into a lifting system. Preferably, each gripping arm is connected to its own actuator, wherein the actuators can be controlled individually or synchronously. Thus, with the assistance of the actuators, the gripping arms can be moved to any gripping position between an open position and a closed position.

[0021] Preferably, the clamping pressure is gradually adjusted from the open position to the closed position, or vice versa. Thus, the clamping pressure is continuously adjusted during the movement of the clamping arm, rather than through a stepped adjustment as in existing clamping techniques. This provides better control over the clamping pressure because there is no transition between the two pressure stages.

[0022] According to one embodiment, the actuator system is configured to apply a substantially constant pressure in the clamping direction to generate a reverse pressure based on the position of the clamping arm, wherein the constant pressure and the reverse pressure combine to form a final clamping pressure.

[0023] With the aid of an actuator, once activated, the clamp can generate initial pressure along the clamping direction. This initial pressure can be independent of the position of the clamping arm, and thus can be used as a pressure reference. The initial pressure can be a relatively constant pressure, or alternatively, the initial pressure can be adjusted by the control unit of the lifting system. Furthermore, the clamp can generate a second pressure in the opposite direction of the clamping direction, which counteracts a portion of the initial pressure. The second pressure can depend on the positioning of the clamping arm, thus the pressure will vary according to the position of the clamping arm. Preferably, the second pressure is lower than the initial pressure, and the two pressures combine to generate pressure applied to the object.

[0024] This provides a simple method for adjusting the clamping pressure according to the size and / or dimensions of the object. This is preferred when handling relatively small objects, as these objects are prone to deformation under excessive clamping pressure.

[0025] Alternatively, other technologies can be applied to adjust the clamping pressure. For example, the user can adjust the clamping pressure via a user terminal, such as through a computer terminal or a screen on the control unit. This can be achieved, for instance, by the user manually selecting or entering the type and / or size of the object in a menu, and then the control unit automatically determines the clamping pressure based on these inputs and activates the actuator. Alternatively, the user can manually input or adjust the maximum or minimum clamping pressure via a user terminal.

[0026] According to one embodiment, the actuator system includes an active cylinder connected to a driven cylinder, such that a first medium flows between the active cylinder and the driven cylinder.

[0027] In a preferred embodiment, at least two containers or cylinders disposed on the support can serve as actuators, wherein the two containers / cylinders are interconnected so that a first medium can circulate between the two containers. Preferably, one container will serve as the active cylinder, and the second container will serve as the passive cylinder. The active cylinder is connected to a clamping arm, and the passive cylinder is connected to a second clamping arm. This ensures that the two cylinders follow each other.

[0028] In this embodiment, the container / cylinder can be connected to a pump unit, which is manually or electronically controlled by a controller within the lifting system. When the clamping arm is activated, the first medium can be manually or automatically introduced into and de-introduced into the active cylinder.

[0029] According to one embodiment, the actuator system includes at least one accumulator, preferably connected to at least one of the driving cylinder and the driven cylinder, wherein the at least one accumulator is configured to generate reverse pressure by compressing another medium.

[0030] The actuator system also includes one or more accumulators disposed on the support. At least one accumulator is connected to at least one clamping arm; preferably, each clamping arm is connected to its own separate accumulator. The accumulator contains a second medium that can be compressed, thereby generating a reverse pressure. The accumulator can be connected to the clamping arm to compress the second medium as the clamping arm moves / rotates toward the clamping position. Alternatively, the accumulator can be connected to the clamping arm to generate a negative pressure as the clamping arm moves / rotates toward the clamping position. This reverse / negative pressure will counteract the pressure generated by the actuator / cylinder.

[0031] In one particular embodiment, the accumulator is connected to either the active or driven cylinder, such that a first medium can be transferred to the accumulator when the clamping arm moves toward the clamping position. This compresses the second medium, increasing its pressure, and also partially increases the pressure in the first medium. When the clamping arm moves toward the open position, the first medium is released from the accumulator. This reduces the pressure in the second medium, and also partially reduces the pressure in the first medium.

[0032] The number of accumulators and most of these accumulators can be adjusted to suit specific applications, thus enabling the achievement of different pressure profiles.

[0033] According to one embodiment, at least one of the first medium and the second medium is a hydraulic fluid or a gas.

[0034] The driving and driven cylinders can be hydraulic or pneumatic containers, in which hydraulic fluid or gas can circulate. Each cylinder may include a piston rod, which can be connected to a respective clamping arm. The piston head can divide the container into two chambers, namely a first chamber and a second chamber. The second chamber in the driving cylinder can be connected to the first chamber in the driven cylinder, in which a first medium can circulate between the two chambers.

[0035] The second chamber within the driven cylinder can be connected to a chamber within the accumulator, wherein a first medium can circulate between the two chambers. Alternatively, a third medium can circulate between the two chambers.

[0036] The first chamber within the active cylinder can be connected to a hydraulic / pneumatic pump, where a first medium can circulate between the chamber and the pump. Alternatively, a fourth medium can circulate between the chamber and the pump.

[0037] The third and / or fourth media can be different from the first and / or second media. This also allows for different pressure profiles.

[0038] According to one embodiment, at least one position sensor is provided relative to at least one clamping arm and records the position of the clamping arm, wherein the output electrical input of at least one position sensor is sent to a control unit, and the control unit adjusts the clamping pressure according to the position of the clamping arm.

[0039] The clamping pressure can also be adjusted by recording the angular / axial position of the clamping arm. One or more position sensors can be mounted on the support relative to the clamping arm. These position sensors record the angular or axial displacement of the clamping arm and convert it into an electrical signal suitable for processing in the control unit. The position sensors can be angular position sensors, linear position sensors, magnetic sensors, encoders, or other types of position sensors. This allows the control unit to track the position of the clamping arm during operation.

[0040] An electrical signal can be input to the control unit, which then controls the operation of the actuator system. The control unit can determine a clamping pressure control signal based on the input signal. By activating the actuator, the control unit adjusts the current clamping pressure according to the clamping pressure control signal. The control unit can use a predetermined algorithm or a lookup table to determine the clamping pressure control signal.

[0041] Alternatively or additionally, one or more pressure sensors may be provided relative to the actuator system, and these sensors may record the actual clamping pressure. Position sensors can convert this into electrical signals suitable for processing in the control unit. The control unit can control the activation of the actuator based on the measured clamping pressure. This allows the control unit to monitor the clamping pressure applied during operation. The control unit can also monitor pressures within the actuator system, such as the clamping pressure, to ensure that this pressure remains within safe limits during operation.

[0042] According to one embodiment, the clamping pressure is highest when the clamping arm is in the outer clamping position and lowest when the clamping arm is in the inner clamping position.

[0043] The clamp can be advantageously designed such that the clamping pressure is highest when the clamping arm is in the maximum / outer clamping position, which is equivalent to the open position. Similarly, the clamp can be designed such that the clamping pressure is lowest when the clamping arm is in the minimum / inner clamping position, which is equivalent to the closed position. This allows for the gentle gripping of both small and large objects, as larger objects typically require higher clamping pressure than smaller ones.

[0044] Preferably, the clamping pressure can decrease as the clamping arm moves or rotates toward the closed position. Similarly, the clamping pressure can increase as the clamping arm moves or rotates toward the open position. The current clamping pressure can be monitored via a user interface. The clamping pressure can be determined using a linear or nonlinear function implemented in the controller.

[0045] The difference between this invention and the prior art lies in providing a mobile lifting system, which includes:

[0046] - Base,

[0047] - A lifting unit mounted on a base, wherein the control unit is configured to raise or lower the clamp in the lifting direction.

[0048] - A drive unit connected to the lifting unit, wherein the drive unit is configured to drive the lifting unit, possibly using internal power to drive the lifting unit.

[0049] - A control unit connected to the lifting unit, wherein the control unit is configured to control at least the lifting unit.

[0050] - The fixtures are configured as described above.

[0051] This results in a lifting system with clamps that minimizes the risk of damaging small objects and allows for adjustment of clamping pressure according to the size and / or dimensions of different objects. This increases the flexibility of the lifting system while providing a method for carefully lifting objects. The clamping pressure can thus be adjusted based on the positioning of the clamping arm. This is achieved by gradually adjusting the clamping pressure as the clamping arm moves from the open position to the closed position, or vice versa. This allows for improved clamping pressure control because there is no transition between two pressure stages.

[0052] The lifting system includes a base with wheels, rails, or the like, allowing the lifting system to move on a floor or similar surface. The base is configured to support the lifting unit, a control unit, and a power source. The lifting system may include a motor, which is optionally connected to the wheels / rails and can be controlled by the control unit. Thus, the lifting system can be moved manually or by means of a built-in motor.

[0053] The lifting system also includes a lifting unit mounted on the base, wherein the lifting unit is configured to raise or lower the clamp in the lifting direction. The lifting device may include a joint movably disposed within the lifting frame, wherein the rotating unit and / or the clamp may be mounted on the joint. The lifting unit is driven by a drive unit on the lifting system. The lifting unit may include a motor, such as an electric motor, connected to the joint via a chain, wherein the motor is driven by the drive unit. The lifting unit may include an optional locking mechanism, allowing the clamp to be locked to at least one height position. This allows the clamp to be raised / lowered manually or automatically.

[0054] The drive unit in the lifting system may include an integrated energy source, such as a battery, battery pack, or fuel cell, which can be used to drive various electronic components in the lifting system. The energy source can also be connected to the clamps and / or rotating units via joints, thereby enabling the clamps and / or rotating units to be driven by the energy source. Similar to manual operation of the lifting units, clamps, and / or rotating devices by the user, the drive unit can also be manually operated, for example, using an integrated pump. Alternatively, the pump device can be electrically controlled by a control unit on the lifting system.

[0055] The control unit on the lifting system includes a handle and at least one control panel connected to a controller integrated into the lifting system. The control panel may include one or more user interfaces from which users can control the lifting unit, rotating unit, and / or clamping unit. The control unit may include an optional remote control, wired or wirelessly connected to the controller, which users can also use to control the lifting unit, rotating unit, and / or clamping unit. The control unit allows users to operate the lifting system easily and safely, for example, by controlling the speed, locking position, etc., of the lifting unit, rotating unit, and / or clamping unit.

[0056] According to one embodiment, a rotating unit is provided between the clamp and the lifting unit, wherein the rotating unit is configured to rotate the clamp about a pivot axis in the direction of rotation.

[0057] A rotating unit is provided between the clamp and the lifting unit, allowing the clamp to rotate and thus the object to rotate, i.e., rotate about a rotation axis. The rotating unit may include a rotatable mechanism, which can be manually operated or motor-driven, such as by an electrically driven motor. The rotating unit may include an optional locking mechanism, allowing the clamp to be locked in at least one given radial position. The clamp's rotation and potential locking at this given rotational position allows the user to access the object in an ergonomically correct working posture. Therefore, the clamp's rotation and potential locking at this given rotational position allows the object to be transferred to another system, such as a mobile lift for easy object placement.

[0058] According to one embodiment, the lifting system is provided with at least one sensor, and the sensor is configured to measure clamping pressure at least directly or indirectly, wherein at least one sensor is connected to a control unit.

[0059] Advantageously, the lifting system may include one or more sensors for recording various parameters throughout the lifting process. For example, a first sensor may be provided in the clamp, configured to directly or indirectly measure clamping pressure. The first sensor may be a pressure sensor or a force sensor. The first sensor may be connected to a control unit, such as a controller, where the recorded force / pressure can be read from a screen. Alternatively, the control unit may include lights indicating whether the lifted object is safe.

[0060] The lifting system may also include a second sensor configured to measure whether the clamp is under force. This other sensor can be a load cell or a strain gauge. This allows for recording whether it is safe to open the clamp.

[0061] The fixture may also be equipped with one or more position sensors, as described above. Attached Figure Description

[0062] The present invention will now be described with reference to the accompanying drawings, in which:

[0063] Figure 1 A sketch of an exemplary lifting system according to the present invention is shown;

[0064] Figure 2 It shows Figure 1 The lifting system shown has its clamps locked in a vertical position;

[0065] Figure 3 It shows Figure 1 The image shows a top view of the lifting system, with the clamping arm in the open position;

[0066] Figure 4 The clamp is shown, with the clamping arms in an outer clamping position and an inner clamping position;

[0067] Figure 5 An exemplary embodiment of the clamp is shown;

[0068] Figure 6 It shows Figure 5 The piston position inside the driven cylinder, shown in the external clamping position;

[0069] Figure 7 It shows Figure 5 The piston position inside the driven cylinder, shown in the inner clamping position;

[0070] Figure 8 An exemplary configuration of the actuator system is shown; and

[0071] Figure 9 Another configuration of the actuator system is shown.

[0072] When describing the accompanying drawings, the same or corresponding elements will be labeled with the same reference numerals in different drawings. Therefore, not all details will be explained in every individual drawing / embodiment.

[0073] label

[0074] Detailed Implementation

[0075] Figure 1 A sketch of an exemplary mobile lifting system 1 according to the present invention is shown. The mobile lifting system 1 includes a base 2 with wheels, a lifting unit 3 disposed on the base, a control unit 4 connected to the lifting unit 3, and a drive unit 5 connected to the lifting unit 3.

[0076] The lifting unit 3 is configured to raise or lower the clamp 6 along the lifting direction 7. The drive unit 5 is configured to drive the lifting unit 3 via an internal energy source, such as a battery.

[0077] Control unit 4 is configured to control at least lifting unit 3. Here, control unit 4 is also configured to control clamp 6. In this case, control unit 4 includes a handle and at least one control panel.

[0078] A rotating unit 8 is provided between the clamp 6 and the lifting unit 3. The rotating unit 8 is attached to the joint on the lifting unit 3 and the clamp 6 respectively.

[0079] Figure 2 A movable lifting system 1 is shown, with its clamp 6 locked in a vertical position, and the lifting unit 3 raised and locked in a flipped position in this position. The rotating unit 8 is configured to rotate the clamp 6 about a rotation axis 10 in a rotation direction 9. Here, the rotation axis 10 is the central axis on the clamp 6.

[0080] The rotating unit 8 may include a handle to manually flip the clamp 6, or the rotating unit 8 may include an actuator, such as an electric actuator, to automatically flip the clamp 6.

[0081] Figure 3 A top view of the mobile lifting system 1 is shown, with its clamp 6 in the open position. The clamp 6 includes a support 11 and two clamping arms 12 rotatably connected to the support 11. The clamping arms 12 are rotatable about a rotation axis (see...). Figure 5 Rotate along the clamping direction 13.

[0082] Clamping arm 12 can be in the open position (see Figure 1 ) and at least one clamping position (see Figure 4 The clamping arm 12 can rotate between the clamps 6 and the clamping arm 12 with the help of an actuator located in the clamp 6.

[0083] Figure 4 The clamp 6 is shown with its clamping arm 12 in an outer clamping position (denoted as "maximum") and an inner clamping position (denoted as "minimum").

[0084] Fixture 6 includes an actuator system (see Figure 5 The actuator system is configured to apply an initial pressure, such as a constant pressure 15, in the clamping direction 13. The actuator system is also configured to generate a second pressure, such as a reverse pressure 16, in the clamping direction 13 depending on the position of the clamping arm 12. The constant pressure 15 and the reverse pressure 16 combine to generate a clamping pressure 17 on the object 18.

[0085] Therefore, due to the positioning effect of the clamping arm 12, the clamping pressure 17 applied to the object 18 can be adjusted. The clamping pressure 17 is highest when the clamping arm 12 is in the outer clamping position (maximum), and lowest when the clamping arm 12 is in the inner clamping position (minimum).

[0086] Support plates 19 are provided at opposite ends of the clamping arm 12. The support plates 19 are adjusted to press the object 18 upward. The support plates 19 have a specific length and width and are preferably connected to the clamping arm 12, which allows tilting so as to accommodate the object 18.

[0087] Figure 5 An exemplary embodiment of the clamp 6 is shown, wherein the front plate, top plate, and support plate have been removed for illustrative purposes. The support 11 has a clamp engagement 20, which is adjusted to be mounted to a corresponding lifting unit engagement 21 on the lifting unit 3. The support 11 is designed to provide support for the clamping arm 12 and to house the actuator system 14.

[0088] The clamping arm 12 is rotatably connected to the support 11, allowing the clamping arm 12 to rotate about the rotation axis 22 along the clamping direction 13. One clamping arm 12 is connected to a first actuator 23, and the second clamping arm 12 is connected to a second actuator 24. The first actuator 23 and the second actuator 24 are configured to move, for example, rotate the clamping arm 12 along the clamping direction 13 between an open position and at least one clamping position. The first actuator 23 and the second actuator 24 are hydraulic cylinders and move along the direction 13 as shown in the figure. Figure 4 The clamping direction shown generates a constant pressure 15. One of the first actuator 23 and the second actuator 24 is used as the driving cylinder, while the other is used as the driven cylinder.

[0089] One of the first actuator 23 and the second actuator 24, for example, the driven cylinder is also connected to a first accumulator 25 and a second accumulator 26. The first accumulator 25 and the second accumulator 26 are hydraulic accumulators and generate reverse pressure 16, such as... Figure 4 As shown, the reverse pressure 16 is opposite to the clamping direction 13.

[0090] In this configuration, as the first actuator 23 and the second actuator 24 rotate the clamping arm 12 in the clamping direction 13, the clamping pressure 17 is adjusted, while the reverse pressure 16 is generated in the first accumulator 25 and the second accumulator 26.

[0091] Figure 6 The position of piston 27 in the driven cylinder, in the external clamping position, is shown. Figure 7 The position of piston 27 in the driven cylinder, in the external clamping position, is shown. Here, the second actuator 24 serves as the driven cylinder.

[0092] The first actuator 23 and the second actuator 24 have internal chambers, which are divided into a first chamber 28 and a second chamber 29, separated by the head of the piston 27. A first medium 30 is supplied from the driving cylinder to the first chamber 28 in the driven cylinder. A third medium 33 is supplied from the second chamber 29 in the driven cylinder to one of the first accumulator 25 and the second accumulator 26, which contain the second medium 31.

[0093] In the external clamping position, the compression of the second medium 31 in the first accumulator 25 and the second accumulator 26 will be minimized. Assuming that the pressure of the first medium 30 from the active cylinder is constant, the resulting clamping pressure 17 applied to the object 18 by the piston 27 through the clamping arm 12 will be the highest.

[0094] In the inner clamping position, the compression of the second medium 31 in the first accumulator 25 and the second accumulator 26 will be maximized. Assuming that the pressure of the first medium 30 from the active cylinder is constant, the resulting clamping pressure 17 applied to the object 18 by the piston 27 through the clamping arm 12 will be at its minimum.

[0095] Here, the first medium 30 and / or the third medium 33 are hydraulic fluids, while the second medium 31 is a gas.

[0096] Figure 8 It shows the relationship with Figure 5 The illustrated circuit diagram relates to the actuator system 14. The first accumulator 25 is similar to the second accumulator 26. Alternatively, they may have two different configurations / sizes. Here, the first accumulator 25 and the second accumulator 26 are connected to a series of driven cylinders.

[0097] As the clamping arm 12 rotates toward the object 18, a fourth medium 34 is introduced from a hydraulic unit, such as a pump, into the first chamber 28 within the drive cylinder. The hydraulic unit can be mounted on the mobile lifting system 1.

[0098] The piston 27 in the active cylinder is pushed out of the active cylinder, transferring the first medium 30 to the driven cylinder. This causes the piston 27 in the driven cylinder to be pushed out of the driven cylinder, transferring the third medium 33 to the first accumulator 25 and the second accumulator 26. This results in the compression of the second medium 31 and the generation of reverse pressure. When the clamping arm 12 rotates away from the object 18, the piston 27 will push back into the cylinder, and the reverse pressure will decrease.

[0099] The mobile lifting system 1 is equipped with at least one sensor configured to directly or indirectly measure at least the clamping pressure 17, wherein at least one sensor is connected to the control unit 4.

[0100] Figure 9An alternative circuit diagram relating to actuator system 14' for operating gripper arm 12 is shown. Here, a position sensor 35 is provided on the support portion 11 of gripper 6. Position sensor 35 is electrically connected to controller 36 in control unit 4, wherein position sensor 35 records the position of gripper arm 12.

[0101] Furthermore, pressure sensor 37 is electrically connected to controller 36, wherein pressure sensor 37 records the local pressure in the actuator system. Here, the pressure of the fourth medium 34 is recorded and input to controller 36.

[0102] The controller 36 is also electrically connected to at least one pressure relief valve 38, which the controller 36 controls to ensure that the pressure supplied by the hydraulic system 39 is maintained within safe operating limits.

[0103] Hydraulic fluid is pumped to the first actuator 23 and the second actuator 24 in the fixture, and further pumped to the lifting actuator 40. Any bypass hydraulic fluid from the pressure relief valve 38 returns to the supply tank 41.

Claims

1. A clamp (6) for a mobile lifting system (1), comprising: - Support (11), the support (11) having a clamp engagement (20), the clamp engagement (20) being configured to connect to a corresponding lifting unit engagement (21) on the lifting unit (3) in the lifting system (1). - Clamping arms (12) are provided at each end of the support (11), wherein one end of the clamping arm is rotatably connected to the support (11) and the second end is configured to clamp an object (18). - An actuator system (14) disposed on a support (11) and connected to at least one clamping arm (12), wherein the actuator system (14) includes at least one actuator configured to move at least one clamping arm (12) between an open position and at least one clamping position, wherein the at least one actuator rotates at least one clamping arm (12) about a rotation axis (22) on the support (11). - The actuator system (14) is configured to grip an object (18) with a clamping pressure (17) and adjust the clamping pressure (17) based on the position of the clamping arm (12), wherein the clamping pressure (17) is gradually adjusted between an open position and at least one clamping position, and the actuator system (14) is configured to apply a constant pressure (15) in the clamping direction (13) to generate a reverse pressure (16), which together form the clamping pressure (17).

2. The clamp (6) according to claim 1, characterized in that, The actuator system (14) includes an active cylinder and a driven cylinder, such that a first medium (30) flows between the active cylinder and the driven cylinder.

3. The clamp (6) according to claim 1 or 2, characterized in that, The actuator system (14) includes at least one accumulator connected to at least one of the driving cylinder and the driven cylinder, wherein the at least one accumulator is configured to generate reverse pressure (16) by compressing a second medium (31).

4. The clamp (6) according to claim 3, characterized in that, At least one of the first medium (30) and the second medium (31) is a hydraulic fluid or a gas.

5. The clamp (6) according to claim 1, characterized in that, At least one position sensor (35) is positioned relative to at least one clamping arm (12) and records the position of the clamping arm, wherein the output electrical input of at least one position sensor (35) is fed to a control unit (4), and the control unit (4) adjusts the clamping pressure (17) according to the position of the clamping arm.

6. The clamp (6) according to claim 1, characterized in that, The clamping pressure (17) is highest when the clamping arm (12) is in the outer clamping position, and the clamping pressure (17) is lowest when the clamping arm (12) is in the inner clamping position.

7. A mobile lifting system (1), comprising: - Base (2) - A lifting unit (3) is provided on the base (2), wherein the drive unit (5) is configured to raise or lower the clamp (6) in the lifting direction (7). - A drive unit (5) connected to the lifting unit (3), wherein the drive unit (5) is configured to ultimately drive the lifting unit (3) by means of internal energy. - A control unit (4) connected to the lifting unit (3), wherein the control unit is configured to control at least the lifting unit (3). - Wherein the clamp (6) is configured according to any one of claims 1 to 6.

8. The mobile lifting system (1) according to claim 7, characterized in that, A rotating unit (8) is provided between the clamp (6) and the lifting unit (3), wherein the rotating unit (8) is configured to rotate the clamp (6) about the rotating axis (10) in the rotation direction (9).

9. The mobile lifting system (1) according to claim 7, characterized in that, The lifting system (1) is provided with at least one sensor, and the sensor is configured to measure clamping pressure (17) at least directly or indirectly, wherein the at least one sensor is connected to the control unit (4).

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