Attachment device, use and method for actuating same

Abstract

An attachment device (1), which is to be attached to a lifting system via a base plate means, in particular a central base plate means (12), said attachment device having a roll clamping means (3) comprising at least two correspondingly opposite gripping finger means (4), for pivotably holding and / or conveying a substantially roll-shaped load (5), and having at least one pressure plate (14), for holding the roll-shaped load, at a front end region of a gripping finger means; wherein at least one gripping finger means can be pivotably adjusted by means of a force cylinder unit (7); wherein at least one force cylinder unit (7) is provided in the form of a hydraulic cylinder (9) on at least one of the gripping finger means of a gripping cylinder pair; and wherein open-loop and / or closed-loop control variables, in particular from an integrated open-loop and / or closed-loop control unit (32), can be used to adjust the electric cylinder, with regard to the holding forces to be exerted on the load via the gripping finger means of a pair of gripping finger means until a target clamping force is reached based on the measured values acquired by one or more measuring sensors (24) which are arranged in predefined positions in and / or associated with the roll clamping means, according to the load to be held.

Description

[0001] Attachment device, use and method of operation

[0002] The invention relates to an attachment device that is to be attached to a lifting system. A according to the preamble of claim 1, a use according to the preamble of claim 16 and a method for actuating an attachment device according to the preamble of claim 17.

[0003] Known forklift attachment devices clamp a load with a fixed, predetermined force, which can lead to loads being damaged or not being held securely enough.

[0004] The task is to provide an attachment device that enables safe and quick clamping and transport of the load.

[0005] The problem is solved by an attachment device which is to be mounted on a lifting system, in particular on a lifting vehicle, in particular on a forklift, by means of a base plate, in particular designed as a rotary unit, in particular by means of a central base plate, in particular designed as a rotary unit, with a roller clamping device comprising at least two correspondingly opposing gripping finger devices, which are in particular curved and / or bendable, for pivotally holding and / or transporting a substantially roller-shaped load, with at least one pressure plate, in particular pivotable, for holding the roller-shaped load at a front end region of a gripping finger device, wherein at least one gripping finger device for clamping and / or releasing against a corresponding gripping finger device in the sense of a correspondingly arranged, opposing pair of gripping finger devices is pivotably adjustable by means of a force cylinder unit.wherein at least one force cylinder unit as a hydraulic cylinder is provided on at least one gripping finger means of a pair of gripping cylinders, in particular attached to the gripping finger means from a holding area of ​​the base plate means for exerting force, wherein holding forces to be exerted on the load by gripping finger means of a pair of gripping finger means on the hydraulic cylinder are adjustable by means of control and / or regulation variables, in particular an integrated control and / or regulation unit, until a target clamping force is achieved based on determined measured values ​​of one or more measuring sensors arranged at predetermined positions in and / or assigned to the roller clamping means, adapted to the respective load to be held.

[0006] The invention enables the control and / or regulation of the clamping force of a roll-shaped load as a function of its weight, so that only the optimal, i.e., minimum necessary, force is used for holding, particularly in a balanced position, thereby preventing damage to the load. The control and / or evaluation of the present attachment is preferably autonomous, especially with a customized control and / or regulation unit for electrical and / or hydraulic control within the attachment. Preferably, there is no intervention in or by the hydraulics of the lifting system or forklift to which the attachment may be mounted. Only a basic setting of a minimum pressure in the hydraulics, for the purpose of controlling the basic position of the gripping fingers, can be made by the lifting system or forklift if necessary.The secure clamping can be performed in variable directions between horizontal and / or vertical. According to the invention, by determining the load diameter, load weight, and various clamp arm positions, the clamping force is adjusted according to the load weight and center of gravity – without interfering with the lifting system.

[0007] The device according to the invention aims to prevent damage to goods due to excessive clamping pressure. This is achieved by precisely controlling the clamping pressure or the return pressure of the hydraulic oil in a hydraulic cylinder at a gripping finger, which adapts to the load weight. This ensures that only the minimum necessary clamping force acts on the load being clamped. Advantageously, a proportional pressure relief valve is provided for clamping force control, allowing the system's return pressure to be adjusted so that the pressure difference between the rods and the base of the respective hydraulic cylinder, or of several hydraulic cylinders at different gripping fingers, results in an adapted clamping force. This control loop creates a positive clamping system that, through weight-dependent pressure adjustment, always securely grips the respective load with the appropriate, weight-dependent force.

[0008] Especially when handling potentially delicate cylindrical loads such as carpets, textiles, films, and paper, transport with special roll clamps is advantageous, particularly cardboard or paper roll clamps, to ensure safe and efficient transport. It is advantageous to use at least two gripping fingers, ideally two short and two long, which can be opened and closed by means of power cylinders, especially hydraulic cylinders, located within the gripping fingers. The power cylinders are attached both to a base plate and to the gripping fingers themselves. The base plate serves to mount the attachment to a forklift truck and, in particular, offers a mounting option via clamps on an ISO fork carriage. The base plate can also be designed as a rotating unit to allow rotation of the load.The load itself is absorbed by the pressure plates, which are pivotably mounted at the front of the gripping finger center. The force acting on the load to clamp it depends on the hydraulic pressure released by the vehicle or on the clamping optimization according to the invention by means of pressure limitation.

[0009] It is advantageous if the target clamping force of one or more gripping fingers of a pair of gripping fingers is essentially determined by the load weight of the respective load, as determined by the measured values ​​of the measuring sensors and / or calculations derived therefrom. It is also advantageous if control and / or regulation can be achieved by adjusting the rod-side pressure of a hydraulic cylinder of a gripping finger.

[0010] It is advantageous if a force cylinder unit is provided in each of several gripping finger means, in particular as hydraulic cylinders and / or electric cylinders and / or pneumatic cylinders, wherein at least one force cylinder unit of a gripping finger means arranged correspondingly as a pair of gripping finger means is configured as a hydraulic cylinder.

[0011] It is advantageous if one or more short-finger gripping devices and one or more long-finger gripping devices are arranged opposite each other as a pair of gripping devices.

[0012] It is advantageous if an angle sensor is provided as a measuring sensor in at least one gripper finger of a pair of gripper fingers, particularly in one gripper finger of each pair, especially for measuring an external angle between the gripper finger and the base plate. The load roller diameter can be precisely determined by the position of the gripper fingers detected by the angle sensors. Using the roller diameter and assuming a uniformly distributed density, the center of gravity of the load roller can be determined. Furthermore, all individual centers of gravity are known from the measured angular position of the arms, which can be advantageously taken into account in the weight calculation.

[0013] It is advantageous if an upper pivoting bracket, in particular a pivot suspension, especially with a pivot axis parallel to the base plate, is provided in a holding area of ​​the base plate located rearward of the load, and / or a lower support means is provided on which at least one force sensor for measuring reaction forces is arranged, in particular two force sensors at a predetermined distance. The device according to the invention advantageously determines the load weight via the force sensors; changes in force can be positive or negative, and determines the necessary cylinder pressures. The force sensors serve to measure the reaction forces on the lower contact points of the attachment device on the lifting system. Furthermore, angle sensors are mounted, in particular on short and / or long gripping fingers, to detect the angular position when gripping the load. The load weight can be determined via the equilibrium condition of a static system.The swivel mount is defined as the pivot point. Using the measured reaction force, the load weight can be calculated by determining the acting torques. The required clamping force is then derived from the calculated load weight. To regulate the pressure in the clamping cylinder, the geometry of the gripping finger centers and the resulting levers or gear ratios to the force on the pressure plates are also taken into account, which also depend on the angular position and the roller diameter.

[0014] It is advantageous if a pressure sensor is assigned to, in particular on, a hydraulic cylinder to determine a pressure on the cylinder bottom and / or a pressure sensor is provided to determine a pressure on the cylinder rod side.

[0015] It is advantageous if a pressure relief valve, in particular a proportional pressure relief valve, is provided for each hydraulic cylinder of a gripping finger device, in particular one pressure relief valve for each hydraulic cylinder of each gripping finger device, which enables control and / or regulation proportional to a difference between the cylinder bottom pressure and the cylinder rod side pressure of the hydraulic cylinder(s). The device according to the invention can increase the pressure in an adjusted manner, in particular by selectively returning hydraulic oil to the rod side and utilizing the relatively higher pressure at the bottom of the hydraulic cylinder on the gripping finger device, regardless of the load diameter.

[0016] It is advantageous if a base pressure, in particular predetermined by a load weight range, especially a maximum load weight output value, transmitted by the associated lifting system, in particular a forklift, is provided at the pressure relief valve as cylinder bottom pressure.

[0017] It is advantageous if an adjustable cylinder rod-side pressure is provided at the pressure relief valve, whereby the pressure setting is determined by control parameters / values, in particular depending on the load weight, by the predetermined force sensors and / or pressure sensors and / or angle sensors.

[0018] It is advantageous if, by means of the force cylinder unit, a clamping force, which increases essentially proportionally to the held load up to a predetermined control value, can be exerted by the gripping finger means.

[0019] It is advantageous if the angle sensor(s) can determine the diameter of the held load, thereby enabling the determination of the load's center of gravity under the assumption of a uniform density.

[0020] It is advantageous if, with the help of the reaction forces and / or torques of the load determined by force sensors, a complete determination of the center of gravity, including the center of gravity of the load as well as the centers of gravity of the gripping fingers, is made possible.

[0021] It is advantageous if the load weight can be determined using the values ​​from the angle and force sensors. This allows for clamp force adjustment, taking into account the length and lever geometry of the gripper fingers, as well as the angular position and load roller diameter. Using the calculated back pressure on one side of the hydraulic cylinder's rod, an adjusted clamp force can then be applied. Thus, the back pressure on the cylinder's rod side can be calculated quickly and easily by evaluating the sensor values ​​and the factors calculated and measured from them, and the proportional pressure relief valve can be controlled.

[0022] The problem is also solved by a method for actuating an attachment device, which is mounted on a lifting system, in particular on a lifting vehicle, in particular on a forklift, by means of a base plate, in particular designed as a rotary unit, with a roller clamping device comprising at least two correspondingly opposing gripping finger means, which are in particular curved and / or bendable, for pivotally holding and / or transporting a substantially roller-shaped load, with at least one pressure plate, in particular pivotable, wherein a roller-shaped load is held at a front end region of a gripping finger means, wherein at least one gripping finger means is pivotably adjustable by means of a force cylinder unit for clamping and / or releasing against a corresponding gripping finger means in the sense of a correspondingly arranged, opposing pair of gripping finger means.wherein at least one force cylinder unit as a hydraulic cylinder is provided on at least one gripping finger means of a pair of gripping cylinders, in particular attached to the gripping finger means for force application starting from a holding area of ​​the base plate means, wherein holding forces to be exerted on the load by gripping finger means of a pair of gripping finger means are set on the hydraulic cylinder by means of control and / or regulation variables until a target clamping force is achieved based on determined measured values ​​of one or more sensors arranged at predetermined positions in and / or assigned to the roller clamping means, wherein the exerted clamping force is adjusted to the respective load to be held.

[0023] Further features and advantages of the invention will become apparent from the claims and the following description, in which exemplary embodiments of the subject matter of the invention are explained in more detail in conjunction with the drawings.

[0024] They show:

[0025] Fig. 1 shows an attachment device in perspective view,

[0026] Fig. 2a shows an attachment device in perspective view,

[0027] Fig. 2b shows a close-up of an attachment device and

[0028] Fig. 3 shows a schematic representation of values. Fig. 1 shows an attachment device 1 in a perspective view with a close-up. The attachment device 1, which is designed by means of an exemplary central base plate means 12, in particular as a rotary unit 25, can be attached to a lifting system, in particular to a lifting vehicle, in particular to a forklift truck, with a roller clamping means 3 comprising at least two correspondingly opposing gripping finger means 4, in particular four gripping finger means, which are connectable, which are in particular curved and / or bendable, for pivotably holding and / or transporting a substantially roller-shaped load 5, with at least one in particular pivotable pressure plate 14 for holding the roller-shaped load 5 at a front end region 13 of a gripping finger means 4.wherein at least one gripping finger means 4 for clamping and / or relieving against a corresponding gripping finger means 4 in the sense of a correspondingly arranged, opposing pair of gripping fingers 30 is pivotably adjustable by means of a force cylinder unit 7, wherein at least one force cylinder unit 7 as a hydraulic cylinder 9 is provided on at least one gripping finger means 4 of a pair of gripping cylinders 30, in particular attached to the gripping finger means 4 from a holding area of ​​the base plate means 12 for exerting force, wherein by means of control and / or regulating variables in particular an integrated control and / or regulating unit 32, in particular attached to the base plate means 12, in particular the rotary unit 25,The holding forces to be exerted on the load 5 by gripping finger means 4 of a pair of gripping finger means 30 on the hydraulic cylinder 9 are adjustable until a target clamping force is reached, based on measured values ​​from one or more measuring sensors 24 arranged at predetermined positions in and / or assigned to the roller clamping means 3, adapted to the respective load 5 to be held. A force sensor 19 as measuring sensor 24 is further shown in an exemplary enlarged detail.

[0029] Fig. 2a shows a mounting device 1 in a perspective view, with Fig. 2b showing a close-up of the mounting device 1 with two angle sensors 22 as measuring sensors 24. Fig. 3 shows an exemplary angle measurement of the outer angle 23, particularly during an angular rotation of the gripping finger means 4. Fig. 3 shows a schematic representation of values, in particular the weight forces of the various components of the mounting device, especially the gripping finger means 4 and the load 5. Two loads 5, one larger and one smaller, are shown by way of example.The target clamping force to be achieved by one or more gripping finger means 4 of a pair of gripping finger means 30 is essentially determined by the load weight of the respective load 5 as determined by means of the measured values ​​of the measuring sensors 24 and / or calculations resulting therefrom, wherein control and / or regulation is to be carried out by adjusting a rod-side filling quantity of a hydraulic cylinder 9 of a gripping finger means 4, wherein a force cylinder unit 7 is provided in each of several gripping finger means 4, in particular as a hydraulic cylinder 9 and / or electric cylinder and / or pneumatic cylinder, wherein at least one force cylinder unit 7 of a pair of gripping finger means 4 arranged correspondingly as a pair of gripping finger means 30 is configured as a hydraulic cylinder 9, wherein one or more short gripping finger means 26 and one or more long gripping finger means 27 are each arranged correspondingly opposite each other as a pair of gripping finger means 30.The total weight force Fg is determined schematically from the various measured values, in particular the reaction force Fr at the force sensors 19, 20, 21 and the weight forces of the gripping finger means F1 , F2, F3, regardless of whether it is a large or small diameter 6, as shown schematically.

[0030] REFERENCE MARK LIST

[0031] 1 Mounting device

[0032] 3 roller clamping devices

[0033] 4 Gripping Finger Medium

[0034] 5 cylindrical load

[0035] 6 load roller diameters

[0036] 7 Power cylinder unit

[0037] 9 hydraulic cylinders

[0038] 12 Baseplate media

[0039] 13 front end area

[0040] 14 Printing plate

[0041] 15 stopping area

[0042] 16 stopping area

[0043] 17 Swivel axis

[0044] 18 lower support device

[0045] 19 Force sensor

[0046] 20 force sensor

[0047] 21 Force sensor

[0048] 22 Angle sensor

[0049] 23 outer angle

[0050] 24 measuring sensor

[0051] 25 rotary unit

[0052] 26 short-finger tools

[0053] 27 long-finger tools

[0054] 28 distance

[0055] 29 Swivel bracket

[0056] 30 pairs of middle grasping fingers

[0057] 31 Pressure sensor

[0058] 32 Control and / or regulating unit

Claims

REQUIREMENTS 1. Attachment device (1) which is to be attached to a lifting system, in particular to a lifting vehicle, in particular to a forklift truck, by means of a base plate means (12) in particular designed as a rotary unit (25) in particular, with a roller clamping means (3) comprising at least two correspondingly opposing gripping finger means (4) which are in particular curved and / or bendable, for pivotably holding and / or transporting a substantially roller-shaped load (5), with at least one pressure plate (14) in particular pivotable for holding the roller-shaped load (5) at a front end region (13) of a gripping finger means (4), wherein at least one gripping finger means (4) is pivotably adjustable by means of a force cylinder unit (7) for clamping and / or relieving against a corresponding gripping finger means (4) in the sense of a correspondingly arranged, opposing pair of gripping finger means (30),wherein at least one force cylinder unit (7) as a hydraulic cylinder (9) is provided on at least one gripping finger means (4) of a pair of gripping cylinders (30), in particular attached to the gripping finger means (4) for force application starting from a holding area of ​​the base plate means (12), wherein holding forces to be exerted on the load (5) by gripping finger means (4) of a pair of gripping finger means (30) on the hydraulic cylinder (9) are adjustable by means of control and / or control variables, in particular an integrated control and / or control unit (32), until a target clamping force is achieved based on measured values ​​of one or more measuring sensors (24) arranged at predetermined positions in and / or associated with the roller clamping means (3), adapted to the respective load (5) to be held.

2. Attachment device (1) according to claim 1, characterized in that a target clamping force of one or more gripping finger means (4) of a pair of gripping finger means (30) is essentially determined by the load weight of the respective load (5) determined by means of the measured values ​​of the measuring sensors (24) and / or calculations resulting therefrom.

3. Attachment device (1 ) according to claim 1 or 2, characterized in that control and / or regulation is to be carried out by adjusting a rod-side pressure of a hydraulic cylinder (9) of a gripping finger means (4).

4. Attachment device (1 ) according to one of claims 1 to 3, characterized in that a force cylinder unit (7) is provided in several gripping finger means (4), in particular as a hydraulic cylinder (9) and / or electric cylinder and / or pneumatic cylinder, wherein at least one force cylinder unit (7) of a gripping finger means (4) arranged correspondingly as a pair of gripping finger means (30) is configured as a hydraulic cylinder (9).

5. Attachment device (1 ) according to one of claims 1 to 4, characterized in that one or more short gripping finger means (26) and one or more long gripping finger means (27) are arranged correspondingly opposite each other as a pair of gripping finger means (30).

6. Mounting device (1 ) according to one of claims 1 to 5, characterized in that at least in one gripping finger means (4) of a pair of gripping finger means (30) an angle sensor (22) is provided as a measuring sensor (24), in particular in each gripping finger means (4) of a pair of gripping finger means (30), in particular for measuring an external angle (23) between gripping finger means (4) and base plate means (12).

7. Mounting device (1) according to one of claims 1 to 6, characterized in that an upper pivot bracket (29) is provided in a holding area (16) of the base plate means (12) that is rearward with respect to the load (5). a special pivot suspension, in particular with a pivot axis (17) parallel to the base plate, is provided and / or a lower support means (18) on which at least one force sensor (19) (for measuring reaction forces) is arranged, in particular two force sensors (20, 21) at a predetermined distance (28).

8. Mounting device (1 ) according to one of claims 1 to 7, characterized in that a pressure sensor (31 ) is provided associated with, in particular on, a hydraulic cylinder (9) for determining a pressure on the bottom of the cylinder and / or a pressure sensor for determining a pressure on the rod side of the cylinder.

9. Attachment device (1) according to one of claims 1 to 8, characterized in that a pressure relief valve, in particular a proportional pressure relief valve, is provided associated with a hydraulic cylinder (9) of a gripping finger means (4), in particular one pressure relief valve for each hydraulic cylinder (9) of each gripping finger means (4), which enables control and / or regulation proportional to a difference of a cylinder bottom-side pressure and a cylinder rod-side pressure of the hydraulic cylinder (9) / the hydraulic cylinders (9).

10. Attachment device (1) according to one of claims 1 to 9, characterized in that a base pressure, in particular predetermined by a load weight range, in particular maximum load weight output value, transmitted by the associated lifting system, in particular forklift truck, is provided at the pressure limiting valve as cylinder bottom pressure.

11. Mounting device (1 ) according to one of claims 1 to 10, characterized in that an adjustable cylinder rod-side pressure is provided at the pressure relief valve, wherein the pressure setting is determined by control parameters / values, in particular depending on the load weight, by the predetermined force sensors and / or pressure sensors and / or angle sensors.

12. Attachment device (1 ) according to one of claims 1 to 11 , characterized in that a clamping force, which increases substantially proportionally to the held load (5) up to a predetermined control value, can be exerted by the gripping finger means (4) holding the load (5) by means of the force cylinder unit.

13. Mounting device (1 ) according to one of claims 1 to 12, characterized in that the diameter of the held load (5) can be determined by the angle sensor(s) (22), whereby, assuming a uniform density, a determination of the center of gravity of the load (5) is made possible.

14. Mounting device (1) according to one of claims 1 to 13, characterized in that the reaction forces and / or torques of the load are used to (5) determines by force sensors a complete center of gravity determination including a center of gravity of the load (5), as well as centers of gravity of the gripping finger means (4) is made possible.

15. Mounting device (1) according to one of claims 1 to 14, characterized in that it is possible to determine the load weight using the values ​​of the angle sensors (22) and the force sensors, from which a clamping force setting can be made taking into account the length and lever geometry of the gripping finger means (4), as well as the angular position and load roller diameter. (6) makes it possible to apply an adapted clamping force by using the calculated back pressure on a rod side of the hydraulic cylinder (9).

16. Use of an attachment device (1), in particular according to one of claims 1 to 15, which is designed by means of a base plate means (12), in particular as a rotary unit (25), and is to be attached to a lifting system, in particular to a lifting vehicle, in particular to a forklift truck, with a roller clamp means (3) comprising at least two corresponding opposing gripping finger means (4) for load-dependent clamping adjustment to a load (5).

17. Method for actuating an attachment device (1) according to any one of claims 1 to 15, which is attached to a lifting system, in particular to a lifting vehicle, in particular to a forklift truck, by means of a base plate means (12) in particular designed as a rotary unit (25) in particular, with a roller clamping means (3) comprising at least two correspondingly opposing gripping finger means (4) which are in particular curved and / or bendable, for pivotably holding and / or transporting a substantially roller-shaped load (5), with at least one pressure plate (14) in particular pivotable, wherein a roller-shaped load (5) is held at a front end region (13) of a gripping finger means (4), wherein at least one gripping finger means (4) is for clamping and / or releasing against a corresponding gripping finger means (4) in the sense of a correspondingly arranged,The opposing pair of gripping fingers (30) is pivotably adjustable by means of a force cylinder unit (7), wherein at least one force cylinder unit (7) is provided as a hydraulic cylinder (9) on at least one gripping finger (4) of a pair of gripping cylinders (30), in particular attached to the gripping finger (4) for force application starting from a holding area (15) of the base plate means (12), wherein holding forces to be exerted on the load (5) by gripping fingers (4) of a pair of gripping fingers (30) are set on the hydraulic cylinder (9) by means of control and / or regulating variables, in particular an integrated control and / or regulating unit (32), until a target clamping force is achieved based on determined measured values ​​of one or more measuring sensors (24) arranged at predetermined positions in and / or assigned to the roller clamping means (3), wherein the exerted clamping force is adjusted to the respective load (5) to be held.

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