DE1431892B1 - BALANCED CARRY AND ADJUSTMENT DEVICE - Google Patents

Description

The invention relates to a balanced support and adjustment device with which a Object, e.g. B. a tool, within certain limits in a desired, local location, in which it was brought can be held, with a support frame, with one on the support frame pivotally articulated, lying in a vertical plane parallelogram linkage, which consists of two consists of usually horizontal longitudinal rods and two normally vertical connecting rods, with a holding device for the object provided on the one vertical connecting rod and having a substantially vertical counterforce for the weight of the article the parallelogram linkage exercising the sliding cylinder arrangement controllable via a pressure medium circuit, which is supported with its upper end on the support frame and with the lower end on the Parallelogram linkage is articulated.

Such a device is known (U.S. Patent 1,843,968). This known device is designed as a trolley with three wheels, on the frame of which sit two vertical support posts. Between the two hall posts extend two axes arranged one above the other, on which the vertical, Sitting on top of each other connecting rods of a parallelogram linkage. At the car a sliding cylinder assembly is also provided, which with one end of the lower vertical Connecting rod of the parallelogram linkage is connected. On that of the sliding cylinder assembly A support table is attached to the opposite end of the parallelogram linkage. By actuation the sliding cylinder assembly can the parallelogram linkage so around his of the pivot points formed on both axes are pivoted that the support table upwards or downwards is moved down. In this way, heavy objects to be placed on the support table can be carried along transported by the trolley and raised or lowered as required. To lift or Lowering, it is always necessary to close the corresponding control valves of the sliding cylinder arrangement actuate. The sliding cylinder arrangement locks the parallelogram linkage in each case through Actuation of the control valves last set position. On the other hand, it cannot do that through one to balance heavy object on one side loaded parallelogram linkage in such a way that the parallelogram linkage is easily moved up and down by hand without actuating the control valves can be. A change in the horizontal position of the object lying on the support table Direction can only take place with the known device that the car accordingly is moved. >

There is also a support and adjustment device known (USA.-Patent 2 613 903), which from consists of a pulley that hangs on a carriage, which in turn is hanging on one of the Ceiling to be fastened rail runs. The pulley system consists of three side by side upper rollers and three underneath, also adjacent lower rollers. Above The upper and lower rollers are run by a pull rope, at the lower end of which there is a gripping hook. Between the upper and lower rollers there is a shift cylinder arrangement, with which the distance between the upper and lower rollers can be changed. With the change the distance between the upper and lower rollers will be the grapple hook at the end of the Pull rope raised or lowered. The sliding cylinder assembly is manually operated with a Control circuit provided which is adjustable so that the object hanging on the grappling hook can not only be raised or lowered with the aid of the sliding cylinder arrangement, but can also be lifted or depressed by hand without little effort. However, it is disadvantageous in this support and adjustment device that the hanging on the gripping hook object horizontally only can be moved in the running direction of the rail on which the block and tackle hangs.

It has also been proposed a support device (German Auslegeschift 1280 770) that a a parallelogram linkage forming a vertical plane, which at one at its upper end supported frame is hinged only to one of the horizontal longitudinal rods. The one to be stopped The object is attached to a grapple hook that is attached to a downward-facing extension

he one vertical connecting rod of the parallelogram linkage is located. To balance the object to be held, use the parellalogram linkage also a counterweight. The counterweight is constant. To objects different To be able to balance the weight with the support and adjustment device, that is Parallelogram linkage displaceable with respect to its pivot point relative to the support frame. In order to the support and adjustment device is in equilibrium even in the unloaded state, can whole counterweight or part of it shifted in its position relative to the parallelogram linkage will.

The support and adjustment device on which the proposal described above is based has opposite the previously known support and adjustment devices have the advantage that the object to be held in three dimensions can be changed in its position by hand without great effort. A However, the disadvantage of the support and adjustment device on which the proposal mentioned is based is that with a quick adjustment of the position of the counterweights to overcome large inertial forces are. This has the consequence that the picking up or unloading of objects to be held always one Requires a certain amount of time, since the counterweights must always be shifted to support the or Keep adjustment device in balance. A quick change of the load condition is therefore not possible because the inertia forces to be overcome would become too great.

The present invention is now based on the object of a support and adjustment device of the initially described type so that with this the object to be held without large Effort manually movable in three dimensions within the operating area of the device is, and it should be possible to work quickly with the device even when the load changes.

The object is inventively achieved in that the Paralleloi ^r raiiimj cstän;? ', E hinged to the upper end of Seinern supported carrying frame with only one of horizontal longitudinal rods

3 4

is that at a lateral distance therefrom the displacement F i g. 1 is a partially broken away side

cylinder arrangement with the lower end on the view of an embodiment of the invention

another horizontal longitudinal rod is hinged that ßen device and shows the application of a

the holding device for the object on a pneumatic cylinder for feeding a die

downward extension of the 5 balance building force,

a vertical connecting rod is provided, Fig. 2 is a view in section along the

and that a line 2-2 of FIG. 1 and shows the positional arrangement

fendes counterweight, for the counterweight to be held, the pneumatic cylinder inside the arms

stand is provided. of the balancing arrangement according to Fi g. 1 hold-

The solution according to the invention thus combines the io the hanger.

mechanical features of a in three dimensions Fig. 3 is an end view of the device according to pivotable parallelogram linkage with those of FIG. 1 along line 3-3 and shows the yoke advantages the sliding cylinder arrangement. With the arrangement that is used for securing the load tra-shift cylinder assembly a compensating force on the parallelogram 15 can be applied to the rest of the assembly when the load changes.

linkage exercised or removed again from this F i g. 4 shows a further evaluation according to the invention, so that a balanced state is maintained, in which the support point of the upper one is maintained. It is therefore no longer necessary to move part of the pneumatic cylinder horizontally when the load changes, the whole counterweight or one of which is movable, so that the cylinder always changes its position in part of its force. The masses moved in the 20 in a vertical direction, whereby a slide cylinder arrangement are better balanced under changing compared to the counterweight extremely small, so that conditions is made possible
there are no great forces of inertia to overcome. Fig. 5 is a view in section along FIG

An expedient embodiment of the inven- line 5-5 according to the F i g. 4 and shows the roller arrangement

according to the carrying and adjustment device can 25 voltage, which is used to carry the upper end of the

consist in that the counterweight is applied to a pneumatic cylinder,

upward extension of the other F i g. 6 is a section on line 6-6 of FIG

vertical connecting rod is provided. F i g. 4 and shows the yoke assembly that is used to support

An advantageous development of the inventive counterweight is used,
according to the support and adjustment device can thereby 30 F i g. 7 shows another output according to the invention that the sliding cylinder assembly guide form in which a vertical position of the pneumit is maintained at its upper end via a first joint on matic cylinder by means of an arrangement of the support frame and with its lower end via levers.

a second joint on the other horizontal F i g. 8 is a section along line 8-8 of FIG

Longitudinal rod in the plane of the parallelogram 35 Fig. 7.

rod is pivotally attached. One possible F i g. 9 shows a further embodiment according to the invention of the device according to the invention, in which the force of the pneumatic device can now be characterized in that the cylinder itself always acts vertically when the upper end of the displacement cylinder arrangement moves the device into such a position is provided on the support frame, in the plane 40 that the counterweight and the load-bearing of the parallelogram linkage extending, horizontal arms are not in the vertical,
10 shows the device according to FIG which the cylinder is still hinged to the horizontal longitudinal rod. 45 works right.

An alternative embodiment consists, for example, in FIG. 1 is an embodiment of the invention

in that a device for moving the device according to the present invention is reproduced, the one

one end of the slide cylinder assembly in the balance assembly 10 carried by means

Guide is provided on the support frame, such as a support frame 11, which consists of a base plate 12

that the shift cylinder assembly with 50 and side pieces 13 and 14 consists. The Trasrrah-

its lower end to the other horizontal longitudinal men 11 is in turn via an axle pin 16 (with

rod exerted counterforce independent of the bearings 17 and 18) carried by a profile 19, the

The deflection of the parallelogram linkage is always carried vertically in a manner not shown here,

kai is directed. The stub axle and the bearing arrangement enable

Another alternative embodiment is thereby lent a turning of the device in such a way

indicates that the cylinder. to enable the desired position arrangement to be shifted,

The cylinder arrangement is firmly connected to the support frame. A pivot bearing 21 is mounted between the arms 13

the is, and that the piston rod of the sliding and 14 of the support frame 11 by means of pins 22 and

, cylinder anorchiiing, · one in. worn on the level of 23. The pivot bearing 21 in turn carries

Parallelogram linkage extending, horizontal 60, a longitudinal rod 24 which is pivotable at one end

Has guide, in the em. On the other horizon- through the pin 26 with a vertical connection

Tal longitudinal rod attached slider is slidably connected rod 27, which is a downward judicial

is arranged such that. which has the extension 28 displaced, which carries the load 29

cylinder arrangement on the outside; lower horizontal long-wearing. The longitudinal rod 24 is at the other end

rod exercised. / Counterforce - always vertically "gerich- 65 pivotable by means of the pin 31 with a second

is tet. ... ·, '".,'.., ...., - '. ^; ." . '■' ... vertical connecting rod 32 connected to their

• The result is achieved in the following nunmelir \ inter the upper end of the counterweight 33 is attached. The ..reference to the Zeiciuiiingcii eTUiiitert,. ["- '"'

Verbjudüngsstange 32 is articulated with one

5 6

The end of a second longitudinal rod 34 is applied by means of the direction that is again a

Pin 36 connected, and the other end adjusts the balanced state. If you z. B. the

Longitudinal rod 34 is articulated with the connecting force exerted by the cylinder for the

rod 27 connected by means of pin 37. apply pause after removing the load

The lengths of the longitudinal rods IO and 34 and 5, the device is adjusted so that a connecting rods 32 and 37 are chosen so that in a balanced state they form a parallelogram linkage when the load is present. This is sufficient and in this case no suitable choice of the size of the counterweight 33 and force is applied by the cylinder. In this state, the length of the lever arm connecting this counterweight with the two lines 47 and 48 parallelogram linkage to the outside air are open, so that the piston 42 is not acted on from any side (ie the length of the connecting arm 32 above which a displacement force then pin 31 ) as well as the relative lengths of the parts which assume any position inside the cylinder, longitudinal rod 24 on each side of the pivot bearing 21, as can be achieved by the movement of the device, such a structure that one is necessary. To release the load, cylinder balancing is actuated for any desired load attached to 15 of 41 by means of a suitable control (non-load bearing extension 28 shown), followed by pressurized fluid, the load then being applied to any layer of fluid enters the cylinder and is balanced on which the support and 'adjustment front upper side of the piston exerts a force. This moves direction. a downward force acts on the

However, when the device is so adjusted, ao longitudinal rod 34 a. There is a rotation that every desired load is balanced, results in the entire device around which the horizontal axis is of course that the same then non-balanced pegs 22 and 23 in a clockwise direction. Under is once the load is removed. In order to make a suitable support possible from the prerequisite that the load 29 is in contact with the balance in both modes of operation, the balancing of the counterweight 33 is now required for borrowed, that is, both with and without a load on the »5. Extension 28, and in order to continue not to give an award, downward force is generated by pushing the piston of the counterweight 33 or parts 42 thereof. Thus, the load can be made necessary by the load-bearing, whereby the inexpedient extension 28 is released, and the previous inertial force effects result, if the direction still remains in the balanced state, the device according to the invention is a shifting device the force to be applied to the longitudinal rod 34 piston 42 for the cylinder arrangement for the application of a generally balancing after removal of the load by the vertical force to be applied to the longitudinal rod 34 piston 42, where the force is in the correct direction and its lever arm α (that is the vertical distance is applied in such an amount that the equilibrium is immediately restored from pins 22 and 23 to pin 46) after the 35 is the moment removed by the weight of the load 29 load 29 (assuming that is formed, which acts via the lever arm α,
the device pre-loaded and balanced. Optionally, it may be expedient to maintain the out-of-load condition or after it has been attached (under the balanced condition of the assembly assuming that the device is not in a loaded and loaded condition, so that it was balanced). The vertical force is not generated in the piston 42 if no load is applied to the extension 28 in a suitable manner by means of a pressure medium. When actuated cylinder assembly 41 is applied to lift a load, fluid is introduced into the lower cylinder chamber under a reciprocating piston pressure, whereby-

42 has, which by means of a connecting rod by an upward force on the

43 and the yoke 44 connected to the longitudinal rod 34, the connecting rod 34 acts, which directs the downward is, the connection counteracts by means of the pin 46 ended moment that is caused by the load he follows. There are lines 47 and 48 with counter-forms. This again becomes an overbalancing one Ends of the cylinder 41 connected so the state of the device is reached.

that a pressurized fluid so- The device shown in Fig. 1, in which probably in the upper as well as on the lower side of the 50 the upper end of the cylinder 41 stationary relative to Piston 42 can be introduced, as a result of which one of the supporting frame parts is present, is designed in such a way that upward or downward force produces that at constant pressure of the fluid in will. The lines 47 and 48 lead to a central cylinder 41 for precise balancing only Conventional hydraulic or pneumatic can then be maintained if the construction source and control devices which do not have any part of the 55 elements in the position shown, i.e. if so present Form invention. The upper end of the probably the extension 28 as well as the counterweight The connecting rod 32 of the cylinder 41 is exactly vertical by means of an anchor pin 49 wear, which are present on the sides 13 and 14 of the supporting layer. Under these conditions, the frame 11 is attached. Acting of an exactly vertical force by the device is in the Fig. 1 60 piston 42 achieved a balanced state and position shown, d. H. if both the lasttra- are sustained. However, if the Lowing extension 28 as well as the connecting piston force exerted remains constant and the rod 32 in the balanced vertical state extension 28 z. B. be in a non-vertical position, if it results that the arrangement is moved afterwards, the balanced state is opened-remove or increasing the load 29 by a 65 lifted, despite the action of vertical forces suitable force can be balanced by the counterweight 33 and the load 29 (as it the piston 42 via the connecting arm 43 and which results from the action of gravity), Yoke 44 on the longitudinal rod 34 in such a way the force generated by the piston 42 is not now

7 8

acts more in the vertical. It is therefore true, a precisely balanced condition of the arrangement, that if the construction of the device can be maintained, if the relationship is not such that the piston 44 applies its force the distance A (the length of the arm 69 between constant and precisely perpendicular Direction exert the pins 70 and 64) to the distance α (which horikann, the device only for vertical positions of the 5 zontal distance between the pin 70 and the connecting rod 32 and the extension 28 from pin 68 ), i.e. H. A / a is equal to the ratio B / b , can be balanced and that for all other positions where B is the effective length of the load-bearing arm, the balanced state is only reached approximately 63 between the load hook and the pin 64 and b . This discrepancy may be due to the distance between pins 64 and 65.
be counteracted that the effective length between io The F i g. 7 shows a further inventive see the support point at the upper end of the cylinder embodiment, which is adapted so that the cylinder 41 (ie pin 49) and the operative connector always maintain a vertical position, whereby the connection point with the longitudinal rod 34 (ie Pin46) a balanced state of the arrangement is made relatively long. It thus follows that regardless of the movement of the load results. In this embodiment, the displacement relative to the vertical is the same, the cylinder 71 is reduced (this results from a given part of the pins 72 connected to the sleeve 73, the angular rotation of the arm 28 about the pin 26), depending on the sliding rod 74 which in turn is long this distance. The practical impact of the arms of the yoke 76 is carried. The lever 77 action of the imbalance fluctuates naturally- is pivotable by the pin 75 with the longitudinal rod borrowed in the different conditions and hangs 20 79 and is also rotatably arranged around the of the actual lengths of the components, the pin 81 of the journal bearing 82. The size of the weights in question and the other end of the lever 77 is pivotally connected to the rod 84 by the desired limitation of the size of the required pin 83, which in turn exerts the force required to move the device in pivotable about the pin 81 at one end of the unbalanced state is applied. 25 bels 87 is articulated. The lever 87 is rotatable about

The embodiments of the invention arranged according to the pin 88, which is represented by the opposite-Fig. 4, 7 and 9 show modified embodiments of the arms of the support frame 85 being carried, The other end of the lever 87 has a longitudinally practiced Force provided in a perpendicular direction itself borrowed slot that connects to the pin 89 in one enable when the load and counter-grip 30, which is connected to the sleeve 73, comes. low-weight can be moved from the vertical. In It thus follows that the rotation of the load bearing this Way can a precise balance or the arm 91 around the pin 92 to a movement of the a balanced condition within the action sleeve 73 leads in such a direction that the area of the device are maintained. Cylinder 71 remains in its vertical position.

In the embodiment according to FIG. 4, this is 35. Under these conditions, the device is in the

upper end of the cylinder 51 is not articulated in the balanced state for all positions of the load-bearing

Mounted support frame 52 which carries the device. remaining arm 91 provided that

Instead, the cylinder 51 is at its upper one that, as explained above, the ratio-

End by means of a rod 58 with a roller nis a / A is equal to the ratio b / B.

arrangement 53 connected, consisting of opposite 40. In the embodiments according to F i g. 4th

There are rollers 54 and 56 which are rotatable on the axle and 7 is the sliding cylinder assembly on their

57 are attached. This axis is by means of the rod lower end, for. B. by the pin 68 in FIG. 4th

58 connected to the top of the cylinder. connected to the lower longitudinal bar, the upper one The rollers 54 and 56 roll on inwardly extending ends of the sliding cylinder assembly can fenden rails 59 (with stops 61 and 62), the 45 however free in the horizontal direction in the required with a rail track 60 are connected, which move borrowed manner so as to move the cylinder in a attached to a suitable upper suspension. in a vertical position. When executing

The remaining part of the device according to FIG. 4 form according to FIG. 9, this ratio is reversed.

is equal to that in FIG. 1 shown device. reverses so that the top of the cylinder is in a

In the embodiment according to FIG. 4 results in 50 fixed position relative to the support frame, it is clear that the arm 63 forming the extension is free from the parallelogram linkage while its lower end is in the horizontal direction in the manner shown, and the device can move precisely according to that so that the from the cylinder of FIG. 1 corresponds. As soon as the arm 63 z. B. the resulting force acts in a vertical direction. After counterclockwise around the pin 64 55 Fig. 9 is through the cylinder 101, which is rotated rigidly, the connection point of the yoke is attached to the support frame 102, so always in 66 with the longitudinal rod 67 (ie pin 68) according to To remain right vertical position, moved to the connection, and on the roller assembly 53, a rod 103 with the T-shaped member 104 a force resulting force is transmitted, which tends to be applied. Slide the cross section of the T-shaped roller assembly to the right. The 60 104 is provided with an elongated slot, so the roller 106 is engaged in the roller arrangement along the rails 59. This is rotatable on the roll into a new position in which the roll is directly attached to arm 107 by means of pin 108. The roller 106, above the now shifted position of the pin 68, can be located freely within the slot in, so that the force exerted by the cylinder 51 moves the crosspiece of the component 104 so that the entire force moves in a vertical direction associated piston 104 remains one. Can exert force that is always perpendicular independently

Assuming that the force of the cylinder depends on the position of the load. As in FIG. 10

if this is always vertical, it can be shown that the one extreme position of the load-bearing

Claims (6)

Arms 111 represents the force exerted by the piston and cylinder always acts vertically, regardless of the position of the load. Thus, a balanced state of the entire arrangement can be maintained. n ■■ u patent claims: 1. Balanced carrying and adjustment device with which an object, e.g. B. a Tool, within certain limits in a desired, local position in which it is brought was, can be held, with a support frame, with a pivotable on the support frame articulated parallelogram linkage lying in a vertical plane, which consists of two usually horizontal longitudinal rods and two normally vertical connecting rods exists, with a holding device provided on the one vertical connecting rod for the object and with a substantially vertical counterforce for the weight of the object exerting on the parallelogram linkage, via a pressure medium circuit controllable sliding cylinder arrangement, which with its upper end on the support frame is supported and articulated with the lower end on the parallelogram linkage, thereby characterized in that the parallelogram linkage is supported at the one at its upper end Support frame (11, 52, 85, 102) hinged to only one of the horizontal longitudinal rods (24, 69) is that the displacement cylinder arrangement (41, 42; 51, 71; 101, 109) hinged with the lower end to the other horizontal longitudinal rod (34, 67, 79, 107) is that the holding device for the object (29) on a continuing downward Extension (28, 63, 91, 111) of a vertical connecting rod (27) is provided, and that a counterweight (33) acting on the parallelogram linkage for the one to be held Item (29) is provided. 2. Support and adjustment device according to claim 1, characterized in that the Counterweight (33) on an upward extension of the other vertical Connecting rod (32) is provided. 3. Support and adjustment device according to claim 1 or 2, characterized in that the sliding cylinder arrangement (41, 42) with its upper end via a first joint (49) on the support frame (14) and with its lower end via a second joint (46) on the other horizontal longitudinal rod (34) pivotally attached in the plane of the parallelogram linkage is (Figs. 1 to 3). 4. carrying and adjusting device according to claim 1 or 2, characterized in that the upper end (53) of the sliding cylinder arrangement (51, 71) in one on the support frame (52) provided, horizontal guide extending in the plane of the parallelogram linkage (60, 74) is slidably connected to the support frame (52, 85) and that the lower end the sliding cylinder arrangement (51, 71) via a joint (68, 78) on the other horizontal one Longitudinal rod (67, 79) is articulated (Fig. 4 to 8). 5. carrying and adjusting device according to claim 1, 2 or 4, characterized in that means for translating one end of the translating cylinder assembly (71) in FIG the guide (74) is provided on the support frame (85) in such a way that the sliding cylinder arrangement (71) exercised with its lower end on the other horizontal longitudinal rod (79) Counterforce always vertical regardless of the deflection of the parallelogram linkage is directed (Figs. 7 and 8). 6. Support and adjustment device according to claim 1 or 2, characterized in that the cylinder (101) of the sliding cylinder arrangement (101, 109) is firmly connected to the support frame (102) and that the piston rod (103) of the sliding cylinder arrangement (101,109) a in the plane of the parallelogram linkage extending, horizontal guide (108), in which a slider (106) attached to the other horizontal longitudinal rod (107) is slidably arranged so that the sliding cylinder arrangement (101, 109) on the lower horizontal longitudinal rod (107) exerted counterforce is always directed vertically (Fig. 9 and 10). For this purpose 2 sheets of drawings