HANDLING DEVICE WITH CONTROL

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 a large number of handling stations where objects have to be moved, for example, from a storage rack onto a pallet. Hand-held handling devices can be used to move the objects, allowing a high degree of flexibility during loading. Hose lifters with suction grippers arranged at the end of a lifting hose can be used as lifting aids. Crane-like constructions are also known. EP289042A1, for example, describes a stationary lifting aid in which a supporting cable is guided along a horizontally aligned, laterally pivoting boom. A vacuum gripper can be arranged on the supporting cable to secure the objects to the device. After picking them up, the operator can push or pull the objects by hand to move them to their destination and set them down there.Industrial trucks, such as order pickers, forklifts or pallet trucks, are often used to move objects over long distances.

[0003] EP 3 002 247 A discloses the preamble of claim 1.

[0004] EP 3 002 247 A1 discloses a forklift truck with a support structure and a boom, wherein a handling arm with means for gripping a load is arranged on the boom. DE 10 2015 112 125 A1 discloses an order-picking device with a manipulator articulated arm and a gripper. DE 20 2020 104 055 U1 discloses a manipulator for arrangement on an industrial truck. WO 98 / 43911 A1 discloses a device with a boom and a handling device arranged thereon. DE 10 2018 121 726 A1 discloses an industrial truck comprising an order-picking device. JP 2011 119556 A also discloses a multi-joint robot.

[0005] When manually moving objects held by the handling device, high safety standards must be met to ensure, for example, that no objects fall. Operators are instructed to operate only the handling device and not perform any other tasks. This requires the operator to put down the objects if, for example, they want to turn the handling device on and off or operate other peripherals. This is very time-consuming, especially if the operator performs several different tasks in succession.

[0006] The object of the present invention is to provide a handling device which can be operated comfortably and safely, in particular during changing activities.

[0007] This object is achieved with a handling device having the features of claim 1. The handling device comprises a support that extends along a vertical support axis during normal operation of the handling device. A movable boom is arranged on the support, which, for example, comprises several cantilever members movably connected to one another. The support and, optionally, the boom are controllable, i.e., their configuration and position can be adjusted by a drive. The support is height-adjustable in a controlled manner. The boom can, for example, change its configuration in a controllable manner.

[0008] The handling device also comprises 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.

[0009] Furthermore, the handling device comprises a controllable gripping means for fixing objects, in particular a suction gripper, which is arranged on the lifting tool in such a way that the gripping means and an object fixed thereby can be raised and lowered.

[0010] The support is height-adjustable. Optionally, the boom can be rotationally and / or translationally movable relative to the support. The support can also be rotationally movable. The boom can be rotationally movable about the cantilever direction and / or about the support axis. The boom can, for example, have two booms that are articulated to one another. In particular, the first cantilever member and / or the at least one further cantilever member can be rotationally and / or translationally movable relative to one another and / or relative to the support.

[0011] The handling device provides at least one controllable drive device, which is designed to adjust the height of the support and optionally to move the boom. The at least one drive device can also be designed to move the support. The drive device can, in particular, be designed to move the first cantilever member and / or the at least one further cantilever member.

[0012] The handling device further provides an operating device for operating the handling device by an operator, which comprises a holding section graspable by the operator and at least one operating element; depending on the functionalities, multiple operating elements can also be provided. By gripping the holding section, the operator can guide and handle the handling device, in particular the gripping means and a gripped object.

[0013] The holding section is arranged on the gripping means, on the lifting tool, or between the lifting tool and the gripping means. Thus, the gripping means and a gripped object can be guided easily and safely due to the proximity of the holding section to the gripping means. Furthermore, the at least one operating element (or the plurality of operating elements) is arranged on the gripping means, on the lifting tool, or between the gripping means and the lifting tool.

[0014] The operating device is designed such that the gripping means and the lifting tool as well as the support and optionally the boom can be controlled by means of the at least one operating element (or by means of the plurality of operating elements).

[0015] A further drive device is preferably provided for adjusting the lifting tool and / or the gripping means.

[0016] In this respect, the operating device interacts like a control device with corresponding drive devices for the support and optionally for the boom and, if applicable, for the lifting tool and / or the gripping device. In particular, one operating element is designed to control each function, e.g., one operating element for controlling the height of the support, one operating element for controlling the lifting tool, if applicable, one operating element for controlling the gripping device, and if applicable, one operating element for controlling the boom.

[0017] Consequently, the handling device, with its various functions such as gripping and raising and lowering the lifting tool and the support, can be operated by the operator within the gripping device's area. The operator therefore does not need to leave his position or put down the gripped object and / or the gripping device to change the configuration of the handling device.

[0018] The boom preferably comprises a plurality of cantilever members, wherein a first cantilever member is arranged on the support in a rotationally and / or displacement-resistant manner and extends in a first cantilever plane transversely to the support along a first cantilever direction, and wherein at least one further cantilever member extending in a further cantilever plane is pivotably arranged with a respective joint on the previous cantilever member. The joints and / or the cantilever members are preferably designed such that the subsequent cantilever planes are each located below the previous cantilever planes.

[0019] 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 such that the operator can grip 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.

[0020] It is advantageous if the holding section is designed such that it can be grasped by the operator with one hand, and if the at least one operating element is designed and / or positioned such that the operator can simultaneously grasp the handle and actuate the operating element with one hand.

[0021] An advantageous development of the invention provides that the handle is designed as a graspable handle bar, which extends substantially vertically, in particular substantially parallel to the support axis, during normal operation of the handling device. The handle bar can be designed to be substantially circular or elliptical in cross section in order to fit well in the hand. The handle bar can also be individually adapted to at least one hand of the operator. The at least one operating element can be designed as an operating button, sensor field and / or rotary or sliding control. Preferably, the operating element can be actuated by exerting pressure along an actuating direction, wherein the actuating direction can be designed to be substantially horizontal, in particular substantially orthogonal to the support axis. This enables an operator to grip the holding section and, when holding the operating element, for example,can be operated by applying pressure with the thumb and / or a finger.

[0022] The operating device is designed such that the at least one drive device for adjusting the height of the support and optionally for moving the boom, in particular for moving the first cantilever member and / or the at least one further cantilever member, can be controlled by means of the at least one operating element. The operating device can provide a connecting device (e.g., control cable or bus connection) for connecting the at least one operating element and the at least one drive device, which is arranged in particular within the handling device and preferably within the support and / or the boom.

[0023] Advantageously, the operating device is designed such that the gripping means for securing an object can be controlled by means of the at least one operating element. The gripping means can be designed, for example, as a mechanical gripper with at least one jaw for securing the object. Actuating the at least one operating element causes the jaw to be moved, in particular opened and closed. For this purpose, the operating device can interact with a drive device of the gripping means. The gripping means can also be designed as a vacuum gripper with at least one suction point for sucking up an object. In this case, the operating device can then be designed to control a valve device for controlling the vacuum supply for the vacuum gripper.

[0024] Advantageously, the operating device is also designed such that the lifting tool can be controlled for raising and lowering by actuating at least one operating element. The lifting tool can be designed, for example, as a lifting hose, a cable or chain hoist, or a telescopic column.

[0025] An advantageous further development of the invention provides that the lifting tool and / or the gripping means can be driven by means of negative pressure. The handling device can comprise a controllable vacuum generator, in particular a controllable vacuum pump, for providing the negative pressure and / or a controllable valve device, in particular with at least one controllable valve. The valve preferably serves to control the application of negative pressure to the lifting tool and / or the gripping means. In this respect, the lifting tool and / or the gripping means can then be controlled by means of the valve device. The operating device can be designed such that the vacuum generator and / or the valve device 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 power of the vacuum generator can be adjusted by means of the at least one operating element. The operating device can be designed such that at least one valve of the valve device can be opened and closed by means of the at least one operating element.

[0026] The support and / or the boom, in particular the first cantilever member and / or the at least one further cantilever member, preferably have channels, in particular 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, wherein the internal cavities of the hollow profiles form the said channels. This provides an internal pressure control system for the lifting tool and / or the gripping means and / or an internal data control system for the operating device, and avoids interfering contours caused by hoses and / or lines. The channels preferably fluidically connect the vacuum generator to the lifting tool and / or the gripping tool.The channels preferably connect the operating device with the vacuum generator and / or with the at least one drive device by means of signals.

[0027] Advantageously, the operating device is designed such that a peripheral device interacting with the handling device or provided in the vicinity of the handling device, in particular a conveyor belt, a robot and / or a production station, can be controlled by means of the at least one operating element.

[0028] An advantageous further development provides that the handling device is designed as a mobile handling device for mounting on and / or connecting to an industrial truck. The industrial truck can be designed, in particular, as an order picker, a forklift, or a pallet truck.

[0029] The handling device can preferably comprise a base housing with a central longitudinal axis running parallel to the cantilever direction and with a transverse axis running orthogonal to the central longitudinal axis and parallel to the first cantilever plane. The support is preferably arranged off-center with respect to the central longitudinal axis on the base housing, in particular in a rotationally and / or displacement-resistant manner. In this respect, the support is arranged on the base housing at a distance from the central longitudinal axis along the transverse axis. Accordingly, the handling device can be easily driven under and moved with an industrial truck or with a handling fork of an industrial truck. The base housing preferably has at least one tine receptacle for at least one tine of a handling fork of an industrial truck, wherein the tine receptacle is designed in particular in the manner of a tine overshoe.The base housing and / or the tine receptacle are preferably designed such that the base housing can be driven under by the industrial truck, and the at least one tine can be inserted into the at least one tine receptacle. This allows for easy transport of the handling device by the industrial truck. The at least one drive device and / or the vacuum pump can preferably be arranged in the base housing.

[0030] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which an embodiment is described and explained in more detail.

[0031] They show: Fig. 1 is a schematic view of a forklift truck and a handling device according to the invention; Fig. 2 is a schematic view of the handling device according to Fig. 1 ; Fig. 3a a schematic side view of the support and the boom of the handling device according to Fig. 1 ; Fig. 3b a schematic plan view of the support and the 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 .

[0032] In Fig. 1 A mobile handling device 10 with an industrial truck 12 designed as a forklift is shown. The forklift 12 has a handling fork 14 with two tines 16. The handling device 10 is designed to be connected to or attached to the forklift 12 or to a pallet truck. Furthermore, a coordinate system with the X, Y, and Z axes is shown.

[0033] To attach the handling device 10, the forklift 12 is moved along an insertion direction 18, which runs in the positive X-direction. 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 receptacles 21 extending along the X-axis.

[0034] The handling device 10 comprises a support 24 extending along a support axis 22 which is vertical during intended operation of the handling device 10. The support 24 is designed as a column which is telescopic and therefore height-adjustable. A boom 26 is arranged on the support 24. The boom 26 comprises a first cantilever member 28 which is fastened to the support 24 in a rotationally and displacement-proof manner and which extends in a first cantilever plane 30 along a first cantilever direction 32. The boom 26 further comprises a second cantilever member 34 which is mounted on the first cantilever member 28 by means of a first rotary joint 36 such that it can pivot about a first axis of rotation 37 and extends in a second cantilever plane 38.The boom 26 further comprises a third cantilever member 40, which is mounted on the second cantilever member 34 by means of a second pivot joint 42 so as to be pivotable about a second pivot axis 43 and extends in a third cantilever plane 44. The cantilever members 28, 34, 40 and the pivot joints 36, 42 are designed such that the first cantilever plane 30 is arranged above the second cantilever plane 38 and the third cantilever plane 44, that the second cantilever plane 38 is arranged above the third cantilever plane 44, and that the first cantilever plane 30, the second cantilever plane 38, and the third cantilever plane 44 run parallel to one another. In . Fig. 2 , 3a, 3b The mobility of the support 24 and the boom 26 is indicated by the double-sided arrows.

[0035] A connecting section 46 for coupling a lifting tool 48 is provided on the third cantilever member 40. The lifting tool 48 is designed as a controllable tube lifter. A controllable suction gripper 50 for securing objects 52 is indirectly arranged on the lifting tool 48 in such a way that the suction gripper 50 and an object 52 secured thereby can be raised and lowered.

[0036] Between the tube lifter 48 and the suction gripper 50, an operating device 54 is provided for operating the handling device 10 by an operator. Fig. 4The operating device 54 shown comprises a holding section 56 graspable by the operator and six operating elements 58. The holding section 56 is designed as a tangible handlebar which extends substantially vertically and has an elliptical cross-section. The holding section 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 holding section 56. The six operating elements 58 are each designed as an operating button, so that the operator can actuate the operating elements 58 by exerting pressure along an actuating direction 60 using a finger and / or a thumb. The actuating direction 60 lies substantially transversely to the support axis 22.

[0037] The handling device 10 comprises a controllable vacuum generator 62 and a controllable drive device 64. The lifting tool 48 and the suction gripper 50 can be driven by means of vacuum. The vacuum generator 62 is designed as a vacuum pump and is designed to provide the vacuum. The vacuum pump 62 is preferably arranged in the base housing 20. Furthermore, the handling device 10 comprises, within the base housing 20, the support 24, and the boom 26, a controllable valve device 66 assigned to the operating device 54 and having valves (not shown) for directing the vacuum. The drive device 64 interacts with the support 24 and with the cantilever members 28, 34, 40, such that the drive device 64 drives the support 24 for height adjustment and the cantilever members 28, 34, 40 for pivoting.The drive device 64 can move the support 24 and the boom 26 independently after actuating an operating 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 device 64 is preferably arranged in the base housing 20 or on the boom 26.

[0038] The handling device 10 also includes 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 fluidly connects the vacuum pump 62 to the lifting tool 48 and to the suction gripper 50. The data control system 70 signals the operating device 54 to the vacuum pump 62 and the drive device 64.

[0039] To control the handling device 10, the operating device 54 is designed such that, while holding the holding section 56, the operator can actuate the operating elements 58. The vacuum pump 62, the drive device 64, and the valve device 66, as well as peripheral devices interacting with the handling device 10 and provided 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, by means of the operating elements 58, the handling device 10, in particular the vacuum pump 62 and the drive device 64, can be switched on and off, the support 24 can be adjusted in height, the cantilever members 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.In addition, 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 negative pressure can be generated in the suction gripper 50 to fix the object 52. Furthermore, the operating device 54 is designed such that the power of the negative pressure generator 62 and the drive device 64 can be adjusted by means of the operating elements 58, and the valves of the valve device 66 can be opened and closed.

Claims

1. A handling device (10), comprising a support (24) that extends along a vertical support axis (22), comprising a boom (26, 28, 34, 40) arranged on the support (24), comprising a controllable lifting tool (48), in particular a vacuum tube lifter, arranged on the boom (26, 28, 34, 40), comprising a controllable gripping means (50) for fixing objects (52), in particular a vacuum gripper, which is arranged on the lifting tool (48) in such a way that the gripping means (50) and an object (52) fixed thereto can be raised and lowered, wherein an operating apparatus (54) for operating the handling device (10) by an operator is provided with a holding portion (56) that can be grasped by the operator and with at least one operating element (58), wherein the holding portion (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), characterized in that the support (24) is designed as a column that is telescopic and height-adjustable in that at least one controllable drive apparatus (64) is provided for adjusting the height of the support (24) and in that the operating apparatus (54) is designed such that the gripping means (50), the lifting tool (48) and the drive apparatus (64) for adjusting the height of the support (24) can be controlled by means of the at least one operating element (58).

2. The handling device (10) according to claim 1, wherein the holding portion (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 portion (56).

3. The handling device (10) according to claim 1 or 2, wherein the holding portion (56) is designed as a handle (56) that can be grasped by the operator with one hand, and in 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. The handling device (10) according to any of the preceding claims, wherein the handle (56) is designed as a grippable handle bar (56) that extends substantially vertically during operation of the handling device (10).

5. The handling device (10) according to any of the preceding claims, wherein the boom (26, 28, 34, 40) is rotatably and / or translatorily movable relative to the support (24), wherein the controllable drive apparatus (64) is designed to move the boom (26, 28, 34, 40), and wherein the operating apparatus (54) is designed such that the drive apparatus (64) for moving the boom (26, 28, 34, 40) can be controlled by means of the at least one operating element (58).

6. The handling device (10) according to any of the preceding claims, wherein the operating apparatus (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. The handling device (10) according to any 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. The handling device (10) according to any 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 apparatus (66) for controlling the lifting tool, wherein the operating apparatus (54) is designed such that the negative pressure generator (62) and the valve apparatus (66) can be controlled by means of the at least one operating element (58).

9. The handling device (10) according to any of the preceding claims, wherein the operating apparatus (54) is designed such that a peripheral apparatus interacting with the handling device (10) or provided in the vicinity 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. The handling device (10) according to any of the preceding claims, designed as a mobile handling device (10) to be arranged on an industrial truck (12), in particular an order picker, lift truck or forklift truck.