Handling device with control

Abstract

Handling device (10) with a support (24) extending along a vertical support axis (22), with a boom (26, 28, 34, 40) arranged on the support (24), with a controllable lifting tool (48) arranged on the boom (26, 28, 34, 40), with a controllable gripping device (50) for fixing objects (52), which is arranged on the lifting tool (48) in such a way that the gripping device (50) and an object (52) fixed therewith can be raised and lowered, wherein the support (24) is height-adjustable, wherein at least one controllable drive device (64) is provided for adjusting the height of the support (24), wherein an operating device (54) for operating the handling device (10) by an operator is provided with a holding section (56) that can be grasped by the operator and with at least one operating element (58), wherein the holding section (56) and the at least one operating element (58) are attached to the gripping means (50) or to the lifting tool (48) or is arranged between the gripping device (50) and the lifting tool (48), wherein the operating device (54) is designed such that the gripping means (50), the lifting tool (48) and the drive device (64) for adjusting the height of the support (24) can be controlled by means of the at least one operating element (58).

Description

[0001] The invention relates to a handling device for handling and, if necessary, transporting objects.

[0002] In production or logistics environments, there are often numerous handling stations where objects need to be moved, for example, from a storage rack onto a pallet. Manually operated handling devices can be used to move these objects, offering a high degree of flexibility during loading. Lifting aids can include tube lifters with suction grippers attached to the end of a lifting tube. Crane-like constructions are also known. For example, EP 0 289 042 A1 discloses a stationary lifting aid in which a support cable runs along a horizontally oriented, laterally pivotable boom. A vacuum gripper can be attached to the support cable to secure the objects to the device. After picking up the objects, the operator can manually push or pull them to move them to their destination and then set them down.To move objects over longer distances, industrial trucks are often used, e.g. order pickers, forklifts or pallet trucks.

[0003] When manually moving objects held by the handling device, stringent safety requirements must be met to ensure, for example, that no objects fall. Operators are therefore required to operate only the handling device and not perform any other tasks simultaneously. This means that the operator must put the objects down if, for example, they want to switch the handling device on or off or operate other peripherals. This is very time-consuming, especially if the operator is performing several different tasks consecutively.

[0004] A manipulator for positioning on a vehicle is known from DE 20 2020 104 055 U1. Furthermore, industrial trucks and forklifts with manipulators are known from EP 3 002 247 A1, DE 10 2018 121 726 A1, CN 2 09 989 023 U, DE 10 2015 112 125 A1 and EP 2 256 081 A1.

[0005] The present invention is based on the objective of providing a handling device which can be operated comfortably and safely, especially when performing changing tasks.

[0006] The problem is solved by a handling device with the features of claim 1. The handling device comprises a support extending along a vertical support axis during normal operation. A movable boom is arranged on the support, which, for example, comprises several cantilever sections movably connected to one another. The support and, optionally, the boom are controllable, i.e., their configuration and position are adjustable by a drive mechanism. The support is height-adjustable in a controlled manner. The boom can, for example, controllably change its configuration.

[0007] Furthermore, the handling device includes a controllable lifting tool, in particular a hose lifter, arranged on the boom. The lifting tool can preferably be arranged on a connecting section of the last cantilever member.

[0008] Furthermore, the handling device includes a controllable gripping device for fixing objects, in particular suction grippers, which is arranged on the lifting tool in such a way that the gripping device and an object fixed therewith can be raised and lowered.

[0009] The outrigger is height-adjustable. Optionally, the boom can be rotatably and / or translationally movable relative to the outrigger. The outrigger can also be rotatably movable. The boom can be rotatably movable around the cantilever direction and / or around the support axis. The boom can, for example, have two boom sections that are articulated together. In this case, the first cantilever section and / or at least one further cantilever section can each be rotatably and / or translationally movable relative to each other and / or to the outrigger.

[0010] The handling device includes at least one controllable drive unit, which is designed for adjusting the height of the support and optionally for moving the boom. The at least one drive unit is designed for moving the support. In particular, the drive unit can be designed for moving the first cantilever section and / or at least one further cantilever section.

[0011] The handling device further includes an operating device for the operator to operate the handling device. This device comprises a gripping section accessible to the operator and at least one operating element; depending on the functionalities, several operating elements may also be provided. By gripping the gripping section, the operator can guide and handle the handling device, in particular the gripping element and any gripped object.

[0012] The holding section is located on the gripping device, the lifting tool, or between the lifting tool and the gripping device. This allows the gripping device and any gripped object to be guided easily and securely due to the proximity of the holding section to the gripping device. Furthermore, at least one operating element (or multiple operating elements) is located on the gripping device, the lifting tool, or between the gripping device and the lifting tool.

[0013] The operating device is designed in such a way that the gripping device and the lifting tool, as well as the support and optionally the boom, can be controlled by means of at least one operating element (or by means of several operating elements).

[0014] A further drive device is preferably provided for adjusting the lifting tool and / or the gripping device.

[0015] In this respect, the operating device functions as a control unit with corresponding drive units for the outriggers and, optionally, for the boom and, if applicable, for the lifting tool and / or gripping device. Specifically, each operating element is designed to control a specific function, e.g., one operating element for controlling the height of the outriggers, one operating element for controlling the lifting tool, optionally one operating element for controlling the gripping device, and optionally one operating element for controlling the boom.

[0016] Consequently, the handling device, with its various functions such as gripping, raising and lowering the lifting tool and support, can be operated by the operator within the area of ​​the gripping device. Therefore, the operator does not need to leave their position or put down the gripped object and / or the gripping device to change the configuration of the handling device.

[0017] The boom preferably comprises several cantilever sections, wherein a first cantilever section is arranged on the support in a rotationally and / or slidably fixed manner and extends in a first cantilever plane transversely to the support along a first cantilever direction, and wherein at least one further cantilever section extending in a further cantilever plane is pivotably arranged with a joint on the preceding cantilever section. The joints and / or the cantilever sections are preferably designed such that the subsequent cantilever planes are each located below the preceding cantilever planes.

[0018] Advantageously, the operating device, in particular the holding section and the at least one operating element, is designed such that the operator can actuate the at least one operating element while holding the holding section. The holding section can be designed so that the operator can grasp the holding section with one hand or with both hands, in which case the holding section and the at least one operating element are designed such that the operator can actuate the at least one operating element with one hand or with both hands while holding the holding section.

[0019] It is advantageous if the holding section is designed in such a way that it can be grasped by the operator with one hand, and if the at least one operating element is designed and / or positioned in such a way that the operator can simultaneously grasp the handle and operate the operating element with one hand.

[0020] An advantageous embodiment of the invention provides that the handle is designed as a grippable handle bar which, during normal operation of the handling device, extends substantially vertically, and in particular substantially parallel to the support axis. The handle bar can have a substantially circular or elliptical cross-section to ensure a comfortable grip. Furthermore, the handle bar can be individually adapted to at least one of the operator's hands. The at least one control element can be designed as a control knob, sensor field, and / or rotary or sliding control. Preferably, the control element can be actuated by applying pressure along an actuation direction, wherein the actuation direction can be substantially horizontal, and in particular substantially orthogonal to the support axis. This allows the operator to grasp the grip section and, while holding the handle, to adjust the control element accordingly.can be operated by applying pressure with the thumb and / or a finger.

[0021] The operating device is designed such that the at least one drive unit for adjusting the height of the support can be controlled by means of the at least one operating element, preferably also for moving the boom, in particular for moving the first cantilever section and / or the at least one further cantilever section. The operating device may provide a connection device (e.g., control cable or bus connection) for connecting the at least one operating element and the at least one drive unit, which is arranged in particular within the handling device and preferably within the support and / or the boom.

[0022] Advantageously, the operating device is designed such that the gripping device for fixing an object can be controlled by means of the at least one operating element. The gripping device can, for example, be designed as a mechanical gripper with at least one jaw for fixing the object. By actuating the at least one operating element, the jaw is moved, in particular opened and closed. For this purpose, the operating device can interact with a drive unit of the gripping device. The gripping device can also be designed as a vacuum gripper with at least one suction point for drawing in an object. In this case, the operating device can then be designed to control a valve device for monitoring the vacuum supply to the vacuum gripper.

[0023] Advantageously, the operating device is also designed such that the lifting tool can be controlled for raising and lowering by actuating at least one control element. The lifting tool can be designed, for example, as a lifting hose, a rope or chain hoist, or a telescopic column.

[0024] An advantageous further development of the invention provides that the lifting tool and / or the gripping device can be driven by means of a vacuum. The handling device can include a controllable vacuum generator, in particular a controllable vacuum pump, for providing the vacuum and / or a controllable valve assembly, in particular with at least one controllable valve. The valve preferably serves to control the application of vacuum to the lifting tool and / or the gripping device. In this respect, the lifting tool and / or the gripping device can then be controlled by the valve assembly. The operating device can be designed such that the vacuum generator and / or the valve assembly can be controlled by means of the at least one operating element.The operating device can be designed such that the vacuum generator can be switched on and off and the output of the vacuum generator can be adjusted by means of at least one operating element. The operating device can be designed such that at least one valve of the valve assembly can be opened and closed by means of at least one operating element.

[0025] The support and / or the boom, in particular the first cantilever member and / or the at least one further cantilever member, preferably have channels, especially internal channels, for conveying media and / or data. Furthermore, the support and / or the boom, in particular the first cantilever member and / or the at least one further cantilever member, are preferably designed as hollow profiles, with the internal cavities of the hollow profiles forming the aforementioned channels. This provides an internal pressure guidance system for the lifting tool and / or the gripping device and / or an internal data guidance system for the operating device, and avoids interfering contours caused by hoses and / or cables. The channels preferably connect the vacuum generator to the lifting tool and / or the gripping device fluidically.The channels preferably connect the control unit to the vacuum generator and / or to the at least one drive unit via signal technology.

[0026] Advantageously, the operating device is designed in such a way that a peripheral device, in particular a conveyor belt, a robot and / or a production station, which interacts with the handling device or is provided in the vicinity of the handling device, can be controlled by means of the at least one operating element.

[0027] An advantageous further development provides that the handling device is designed as a mobile handling device for placement on and / or connection to a material handling vehicle. The material handling vehicle can be, in particular, a picker, a forklift, or a pallet truck.

[0028] The handling device preferably comprises a base housing with a central longitudinal axis running parallel to the overhang direction and a transverse axis running orthogonal to the central longitudinal axis and parallel to the first overhang direction. The support is preferably arranged off-center with respect to the central longitudinal axis on the base housing, and is particularly rotationally and / or slidably fixed. In this respect, the support is spaced apart from the central longitudinal axis along the transverse axis on the base housing. Accordingly, the handling device can be easily driven under and moved by a forklift or by the forks of a forklift. The base housing preferably has at least one fork receptacle for at least one fork of a forklift, the fork receptacle being designed in the form of a fork overshoe.The base housing and / or the fork receptacle is preferably designed such that the base housing can be accessed by a forklift truck and the at least one fork can be inserted into the at least one fork receptacle. This allows for easy transport of the handling device using a forklift truck. The at least one drive unit and / or the vacuum pump can preferably be located in the base housing.

[0029] Further details and advantageous embodiments of the invention can be found in the following description, which describes and explains an exemplary embodiment in more detail.

[0030] They show: Fig. 1 a schematic view of a forklift truck and a handling device according to the invention; Fig. 2 a schematic view of the handling device according to Fig. 1; Fig. 3a a schematic side view of the support and boom of the handling device according to Fig. 1; Fig. 3b a schematic top view of the support and boom of the handling device according to Fig. 1; and Fig. 4 a schematic view of an operating device of the handling device according to Fig. 1.

[0031] In Fig. Figure 1 shows a mobile handling device 10 with a forklift truck 12. The forklift truck 12 has a handling fork 14 with two tines 16. The handling device 10 is designed for connection to or attachment to the forklift truck 12 or to a pallet truck. A coordinate system with the axes X, Y, and Z is also shown.

[0032] The forklift 12 is moved along an insertion direction 18, which runs in the positive X-direction, to attach the handling device 10. To transport the handling device 10, the handling fork 14 is located inside or below the handling device 10 and is then raised in the positive Z-direction. As soon as the handling device 10 is in the desired position, the handling fork 14 is lowered in the negative Z-direction so that the handling device 10 rests on the ground. To detach the forklift 12 from the handling device 10, the handling fork 14 is moved opposite to the insertion direction 18. The mobile handling device 10 comprises, as shown in particular in Fig. 2 can be seen, a base housing 20 with two prong mounts 21 extending along the X-axis.

[0033] The handling device 10 comprises a support 24 extending along a support axis 22 that is vertical during normal operation of the handling device 10. The support 24 is designed as a column which is telescopic and thus height-adjustable. A boom 26 is arranged on the support 24. The boom 26 comprises a first cantilever member 28, which is fixed to the support 24 against rotation and displacement and which extends in a first cantilever direction 32 along a first cantilever direction 32. The boom 26 further comprises a second cantilever member 34, which is pivotably mounted on the first cantilever member 28 about a first axis of rotation 37 by means of a first pivot joint 36 and extends in a second cantilever direction 38.The boom 26 further comprises a third cantilever member 40, which is pivotably mounted on the second cantilever member 34 about a second axis of rotation 43 by means of a second pivot joint 42 and extends in a third cantilever dimension 44. The cantilever members 28, 34, 40 and the pivot joints 36, 42 are designed such that the first cantilever dimension 30 is arranged above the second cantilever dimension 38 and the third cantilever dimension 44, that the second cantilever dimension 38 is arranged above the third cantilever dimension 44, and that the first cantilever dimension 30, the second cantilever dimension 38, and the third cantilever dimension 44 are parallel to each other. Fig. 2, Fig. 3a, Fig. 3b the mobility of the support 24 and the boom 26 is indicated by the double-sided arrows.

[0034] The third cantilever member 40 has a connection section 46 for coupling a lifting tool 48. The lifting tool 48 is designed as a controllable tube lifter. A controllable suction gripper 50 for fixing objects 52 is indirectly arranged on the lifting tool 48 such that the suction gripper 50 and an object 52 fixed therein can be raised and lowered.

[0035] Between the tube lifter 48 and the suction gripper 50, an operating device 54 is provided for the operation of the handling device 10 by an operator. The in Fig.The operating device 54 shown in Figure 4 comprises a gripping handle 56 and six operating elements 58. The gripping handle 56 is designed as a grippable handle that extends substantially vertically and has an elliptical cross-section. The gripping handle 56 can be grasped by the operator with one hand. The operating elements 58 are arranged on the operating device 54 such that the operator can actuate the operating elements 58 while holding the gripping handle 56. The six operating elements 58 are each designed as a button, allowing the operator to actuate them by applying pressure with a finger and / or thumb along an actuation direction 60. The actuation direction 60 is substantially transverse to the support axis 22.

[0036] The handling device 10 comprises a controllable vacuum generator 62 and a controllable drive unit 64. The lifting tool 48 and the suction gripper 50 can be driven by means of a vacuum. The vacuum generator 62 is designed as a vacuum pump and for providing the vacuum. The vacuum pump 62 is preferably arranged in the base housing 20. Furthermore, the handling device 10 includes, within the base housing 20, the support 24, and the boom 26, a controllable valve assembly 66 associated with the operating device 54, with valves (not shown) for directing the vacuum. The drive unit 64 interacts with the support 24 and with the cantilever arms 28, 34, 40, such that the drive unit 64 drives the support 24 for height adjustment and the cantilever arms 28, 34, 40 for pivoting.The drive unit 64 can independently move the support 24 and the boom 26 after activation of a control element 58, or it can assist the operator in guiding the support 24 and the boom 26, so that the movement requires only minimal effort from the operator. The drive unit 64 is preferably arranged in the base housing 20 or on the boom 26.

[0037] The handling device 10 also comprises an internal pressure control system 68 and an internal data control system 70, which are arranged in the hollow support 24 and in the hollow boom 26. The pressure control system 68 fluidically connects the vacuum pump 62 to the lifting tool 48 and to the suction gripper 50. The data control system 70 connects the operating unit 54 to the vacuum pump 62 and the drive unit 64 via signal transmission.

[0038] To control the handling device 10, the operating device 54 is designed such that the operator can actuate the operating elements 58 while the holding section 56 is in position. The vacuum pump 62, the drive unit 64, and the valve unit 66, as well as peripheral equipment interacting with the handling device 10 and located in the vicinity of the handling device 10, can be controlled by means of the operating elements 58. Consequently, the operating device is designed such that the handling device 10, in particular the vacuum pump 62 and the drive unit 64, can be switched on and off, the support 24 can be adjusted in height, the cantilever arms 28, 34, 40 can be pivoted by more than 360°, and the lifting tool 48 can be compressed and expanded parallel to the support axis 22.Furthermore, the operating device 54 is designed such that the suction gripper 50, and thus a fixed object 52, can be raised and lowered by means of the operating elements 58, and a vacuum can be generated in the suction gripper 50 to fix the object 52. The operating device 54 is also designed so that the power of the vacuum generator 62 and the drive unit 64 can be adjusted by means of the operating elements 58, and the valves of the valve unit 66 can be opened and closed.

Claims

[1] Handling device (10) with a support (24) extending along a vertical support axis (22), with a boom (26, 28, 34, 40) arranged on the support (24), with a controllable lifting tool (48) arranged on the boom (26, 28, 34, 40), with a controllable gripping means (50) for fixing objects (52), which is arranged on the lifting tool (48) in such a way that the gripping means (50) and an object (52) fixed therewith can be raised and lowered, wherein the support (24) is height adjustable, wherein at least one controllable drive device (64) is provided for adjusting the height of the support (24), wherein an operating device (54) for operating the handling device (10) by an operator is provided with a holding section (56) which can be grasped by the operator and with at least one operating element (58), wherein the holding section (56) and the at least one operating element (58) are arranged on the gripping means (50) or on the Lifting tool (48) or between the gripping means (50) and the lifting tool (48), wherein the operating device (54) is designed such that the gripping means (50), the lifting tool (48) and the drive device (64) for adjusting the height of the support (24) can be controlled by means of the at least one operating element (58). [2] Handling device (10) according to claim 1, wherein the holding section (56) and the at least one operating element (58) are designed such that the operator can actuate the at least one operating element (58) when holding the holding section (56). [3] Handling device (10) according to claim 1 or 2, wherein the holding section (56) is designed as a handle (56) that can be grasped by the operator with one hand, and that the at least one operating element (58) is designed and positioned such that the operator can simultaneously grasp the handle (56) and actuate the operating element (58) with one hand. [4] Handling device (10) according to one of the preceding claims, wherein the handle (56) is designed as a grippable handle bar (56) which extends substantially vertically during operation of the handling device (10). [5] Handling device (10) according to one of the preceding claims, wherein the boom (26, 28, 34, 40) is rotatably and / or translatorily movable relative to the support (24), wherein a controllable drive device (64) is provided for moving the boom (26, 28, 34, 40), and wherein the operating device (54) is designed such that the drive device (64) for moving the boom (26, 28, 34, 40) can be controlled by means of the at least one operating element (58). [6] Handling device (10) according to one of the preceding claims, wherein the operating device (54) is designed such that the gripping means (50) for fixing an object (52) and for releasing the object (52) can be controlled by means of the at least one operating element (58). [7] Handling device (10) according to one of the preceding claims, wherein the operating device (54) is designed such that the lifting tool (48) for raising and lowering the gripping means (50) can be controlled by means of the at least one operating element (58). [8] Handling device (10) according to one of the preceding claims, wherein the lifting tool (48) can be driven by means of negative pressure, wherein the handling device (10) comprises a controllable negative pressure generator (62), in particular a negative pressure pump, for providing the negative pressure and a controllable valve device (66) for controlling the lifting tool, wherein the operating device (54) is designed such that the negative pressure generator (62) and the valve device (66) can be controlled by means of the at least one operating element (58). [9] Handling device (10) according to one of the preceding claims, wherein the operating device (54) is designed such that a peripheral device cooperating with the handling device (10) or provided in the environment of the handling device (10), in particular a conveyor belt, a robot and / or a production station, can be controlled by means of the at least one operating element (58). [10] Handling device (10) according to one of the preceding claims, designed as a mobile handling device (10) for arranging on an industrial truck (12), in particular an order picker, pallet truck or forklift truck.

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