Attachment device 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 is provided in the form of an electric cylinder 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] Mounting device and method for actuation

[0002] The invention relates to an attachment device to be mounted on a lifting system according to the preamble of claim 1, a use according to the preamble of claim 15 and a method for actuating an attachment device according to the preamble of claim 16.

[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 relieving against a corresponding gripping finger device in the sense of a correspondingly arranged, opposing pair of gripping finger devices by means of a

[0006] CONFIRMATION COPY The force cylinder unit is pivotably adjustable, wherein at least one force cylinder unit as an electric cylinder, in particular an electric linear drive, 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 adjustable on the electric cylinder by means of control and / or control variables, in particular an integrated control and / or control 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.

[0007] The invention enables the control and / or regulation of the clamping force of a roll-shaped load as a function of its weight, thus minimizing the force required for holding and preventing damage to the load. The control and / or evaluation of the attachment is preferably autonomous, particularly with a customized control and / or regulation unit for the power of the electric cylinders in the attachment. Preferably, there is no intervention in or by the lifting system or forklift to which the attachment may be mounted. Only a basic setting of a minimum force for controlling the base position of the gripping fingers is achieved by controlling the power, particularly by a separate device in the attachment and / or the lifting system or forklift.The secure clamping can be performed in variable directions, both horizontally and / or vertically. 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. The hydraulic supply can be removed from the attachment if required.

[0008] The device according to the invention aims to prevent damage to goods due to excessive clamping force, achieved by precisely controlling the clamping force at a gripping finger that adapts to the load weight. This ensures that only the minimum necessary clamping force acts on the load being clamped. Advantageously, a proportional force limit is provided for clamping force control, resulting in an adapted clamping force. This control loop creates a positive feedback system that, through force adjustment, always securely grips the respective load with the appropriate, weight-dependent force.

[0009] 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. Advantageously, at least two gripping fingers are used, specifically two short and two long gripping fingers, which can be opened and closed by force cylinders located within them, particularly electric cylinders, especially electric linear actuators. The force 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.

[0010] 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 means of the measured values ​​of the measuring sensors and / or calculations resulting therefrom.

[0011] It is advantageous if control and / or regulation can be achieved by adjusting the force of an electric cylinder or a gripping finger device.

[0012] 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 an electric cylinder.

[0013] 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.

[0014] 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.

[0015] It is advantageous if an upper pivot 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 and the necessary cylinder pressures via the force sensors. 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, where the pivot bracket is defined as the pivot point.The load weight can be calculated using the measured reaction force and the acting torques. The required clamping force is then derived from this calculated load weight. Furthermore, the geometry of the gripping fingers and the resulting lever arms or gear ratios to the force at the pressure plates are also taken into account to adjust the clamping force; these factors also depend on the angular position and the roller diameter.

[0016] It is advantageous if a force sensor is provided on an electric cylinder and / or at least one of the pressure plates to determine an applied force, in particular in the sense of a force limiting sensor.

[0017] It is advantageous if a basic force, in particular predetermined by a load weight range, in particular a maximum load weight output value, in particular transmitted by the associated lifting system, in particular a forklift, is provided at the control and / or regulating unit.

[0018] It is advantageous if the force setting depends on the load weight via control parameters / values ​​of the control and / or regulation unit, in particular determined by the predetermined force sensors and / or angle sensors.

[0019] 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.

[0020] 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.

[0021] It is advantageous if, using force sensors, the reaction forces and / or torques of the load allow for 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. It is also advantageous if the load weight can be determined using the values ​​from the angle sensors and the force sensors. This enables the clamping force to be adjusted, taking into account the length and lever geometry of the gripping fingers, as well as the angular position and load roller diameter. Using the force calculated by the control unit, an appropriate clamping force can then be applied to the electric cylinder. Thus, the required clamping force of the electric cylinder can be calculated simply and quickly by evaluating the sensor values ​​and the factors calculated and measured from them.

[0022] The problem is also solved by using an attachment device which is designed by means of a base plate means, in particular as a rotary unit, and which is to be attached to a lifting system, in particular to a lifting vehicle, in particular to a forklift, with a roller clamping means comprising at least two correspondingly opposing gripping finger means for load-dependent clamping adjustment to a load.

[0023] 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, 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, wherein a roller-shaped load is held at a front end region of a gripping finger device, wherein at least one gripping finger device is pivotably adjustable by means of a force cylinder unit for clamping and / or releasing against a corresponding gripping finger device in the sense of a correspondingly arranged, opposing pair of gripping finger devices.wherein at least one force cylinder unit as an electric 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 electric cylinder by means of control and / or control variables, in particular an integrated control and / or control unit, until a target clamping force is reached based on determined measured values ​​of one or more measuring 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.

[0024] 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.

[0025] They show:

[0026] Fig. 1 shows an attachment device in perspective view,

[0027] Fig. 2a shows an attachment device in perspective view,

[0028] Fig. 2b shows a close-up of an attachment device and

[0029] Fig. 3 shows a schematic representation of values.

[0030] Fig. 1 shows an attachment device 1 in a perspective view with a close-up detail. The attachment device 1, which is designed by means of a base plate means 12, in particular rotatable as a rotary unit 25, in particular by means of a central base plate means 12, is attachable 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, for example four gripping finger means, which are connectable, which are in particular curved and / or bendable, for pivotally 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 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 as an electric cylinder 9, in particular an electric linear drive, is provided on at least one gripping finger 4 of a pair of gripping cylinders 30, in particular from a holding area of ​​the base plate means 12 on the gripping finger 4 for exerting force, wherein holding forces to be exerted on the load 5 by gripping finger 4 of a pair of gripping fingers 30 on the electric cylinder 9 are adjustable by means of control and / or control variables, in particular an integrated control and / or control unit 32, in particular attached to the base plate means 12, in particular the rotary unit 25, 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 to be held 5. In particular, a force sensor 33 can advantageously be provided on at least one of the pressure plates 14 to measure the applied clamping force and, in particular, to provide feedback to the control unit 32, especially one force sensor 33 each on opposite gripping finger centers 4 of a pair of gripping finger centers 30 if the load 5 is rotated. A force sensor 19 as a measuring sensor 24 is further shown in an exemplary enlarged detail.

[0031] Fig. 2a shows an attachment device 1 in perspective view with Fig. 2b as a detail enlargement of the attachment device 1 with two angle sensors 22 as measuring sensors 24, wherein in Fig. 3 the angle measurement of the outer angle 23 is shown by way of example, in particular in an angular rotation of the gripping finger means 4.

[0032] Fig. 3 shows a schematic representation of the values, in particular the weight forces of the various components of the attachment device, especially the gripping finger means 4 and the load 5. Two representative loads 5, one larger and one smaller, are shown as examples.The 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 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 force of an electric 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 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 an electric 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.

[0033] REFERENCE MARK LIST

[0034] 1 Mounting device

[0035] 3 roller clamping devices

[0036] 4 Gripping Finger Medium

[0037] 5 cylindrical load

[0038] 6 load roller diameters

[0039] 7 Power cylinder unit

[0040] 9 electric cylinders

[0041] 12 Baseplate media

[0042] 13 front end area

[0043] 14 Printing plate

[0044] 15 stopping area

[0045] 16 stopping area

[0046] 17 Swivel axis

[0047] 18 lower support device

[0048] 19 Force sensor

[0049] 20 force sensor

[0050] 21 Force sensor

[0051] 22 Angle sensor

[0052] 23 outer angle

[0053] 24 measuring sensor

[0054] 25 rotary unit

[0055] 26 short-finger tools

[0056] 27 long-finger tools

[0057] 28 distance

[0058] 29 Swivel bracket

[0059] 30 pairs of middle grasping fingers

[0060] 32 Control and / or regulating unit

[0061] 33 Force sensor

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 an electric cylinder, in particular an electric linear drive, 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) are adjustable on the electric cylinder 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 force of an electric 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 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 an electric cylinder.

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 (34), 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 pivoting bracket (29), in particular a pivoting suspension, in particular with a base plate parallel to the base plate, is provided in a holding area (16) of the base plate means (12) that is rearward with respect to the load (5). pivot axis (17) 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 force sensor (33) is provided associated with, in particular on, an electric cylinder and / or a pressure plate for determining an exerted force, in particular in the sense of a force limiting sensor.

9. Attachment device (1) according to one of claims 1 to 8, characterized in that a basic force, in particular predetermined by a load weight range, in particular maximum load weight output value, in particular transmitted by the associated lifting system, in particular forklift truck, is provided on the control and / or regulating unit (32).

10. Mounting device (1 ) according to one of claims 1 to 9, characterized in that the force setting is dependent on the load weight by control parameters / values ​​of the control and / or regulating unit (32), in particular determined by the predetermined force sensors and / or angle sensors. 1 1. Attachment device (1 ) according to one of claims 1 to 10, 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.

12. Mounting device (1 ) according to one of claims 1 to 11 , 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.

13. Mounting device (1) according to one of claims 1 to 12, 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.

14. Mounting device (1) according to one of claims 1 to 13, characterized in that the load weight can be determined 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 to the electric cylinder using the calculated force.

15. Use of an attachment device (1), in particular according to one of claims 1 to 14, which is designed by means of a base plate means (12), in particular as a rotary unit (25), in particular by means of a central 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 clamping means (3) comprising at least two correspondingly opposing gripping finger means (4) for load-dependent clamping adjustment to a load (5).

16. Method for actuating an attachment device (1) according to any one of claims 1 to 14, 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 clamp 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). is, 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 finger means (30) is pivotably adjustable by means of a force cylinder unit (7), wherein at least one force cylinder unit (7) as an electric 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 exerting force starting from a holding area (15) of the base plate means (12),wherein, by means of control and / or regulation variables, in particular an integrated control and / or regulation unit (32), holding forces to be exerted on the load (5) by gripping finger means (4) of a pair of gripping finger means (30) on the electric cylinder (9) are adjusted 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 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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