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EP2953882B1 - Un outil de préhension pour la fixation d'un objet allongé - Google Patents

Un outil de préhension pour la fixation d'un objet allongé Download PDF

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Publication number
EP2953882B1
EP2953882B1 EP13807911.6A EP13807911A EP2953882B1 EP 2953882 B1 EP2953882 B1 EP 2953882B1 EP 13807911 A EP13807911 A EP 13807911A EP 2953882 B1 EP2953882 B1 EP 2953882B1
Authority
EP
European Patent Office
Prior art keywords
gripping
actuator
tool
arm
arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13807911.6A
Other languages
German (de)
English (en)
Other versions
EP2953882A1 (fr
Inventor
Torben Kruse Ulriksen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tiltman ApS
Original Assignee
Tiltman ApS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tiltman ApS filed Critical Tiltman ApS
Publication of EP2953882A1 publication Critical patent/EP2953882A1/fr
Application granted granted Critical
Publication of EP2953882B1 publication Critical patent/EP2953882B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/58—Gripping members engaging only the external or internal surfaces of the articles and deforming the articles, e.g. by using gripping members such as tongs or grapples
    • B66C1/585—Log grapples

Definitions

  • the present invention relates to a gripping tool for the fixation of an elongated object, such as a pole or a mast, according to the preamble of claim 1.
  • the document FR 2 148 191 A1 discloses a gripping tool for fixing an elongated object, said gripping tool comprises a first gripping device and a second gripping device which are mutually displaced in the longitudinal direction, wherein both gripping devices comprises at least one gripping arm arranged to act on said object, whereby said gripping tool further comprises a gripping actuator which is connected to said at least one gripping arm of both gripping devices so that said gripping actuator drives the gripping action of both of the first gripping device and the second gripping device.
  • the invention relates to a gripping tool for the fixation of an elongated object, such as a pole or a mast.
  • Said gripping tool comprising a first gripping device and a second gripping device, which are mutually displaced in the longitudinal direction, wherein both gripping devices comprise at least one gripping arm arranged to grip the object.
  • the gripping devices are in principle moved fully independent of each other. However, since they are connected via the gripping actuator, the gripping action of the first gripping device be dependent upon the gripping action of the second gripping device as soon as the second gripping device grips the object.
  • One aspect of the invention is that said gripping actuator is arranged between said first gripping device and said second gripping device, thereby achieving a very compact gripping tool design.
  • said gripping actuator is an electric linear actuator comprising a motor-driven spindle.
  • first gripping device and said second gripping device comprising at least two opposed gripping arms.
  • each gripping device By providing each gripping device with two opposing gripping arms a larger work range is ensured work in an easy way.
  • One aspect of the invention is that said two opposing gripping arms are symmetrically arranged relative to an axis of symmetry that is substantially parallel to a longitudinal center axis of said elongate object, when this is fixed in said gripping tool. This provides a symmetrical gripping action, which ensures an easier gripping process.
  • One aspect of the invention is that the gripping arms are connected to said gripping actuator by means of one or more ball joints.
  • Ball joint can transfer forces in several directions, which is advantageous in this context since the gripping actuator extends substantially perpendicular to the plane the gripping arms are moving in.
  • the gripping tool comprises at least one adjustable backstop.
  • Providing the gripping tool with one or more adjustable backstops ensures a greater field of application of the gripping tool - i.e. that the tool can be used for handling the elongate objects with smaller and larger diameter than without the adjustable backstops - without increasing the motion range of the gripping arms. This ensures that the gripping tool has a large working range without increasing the cost significantly.
  • the gripping tool comprises a connection unit for mounting on the excavator arm of a motorized excavator, which ensures that the gripping tool can easily be used.
  • One aspect of the invention is that the said elongate object has a varying diameter in the longitudinal direction.
  • One aspect of the invention is that the gripping arms are individually suspended in individual tilt joints.
  • each gripping arm By suspending each gripping arm in its own individual tilt joint, it is possible to ensure individual movement of each gripping arm, so that the gripping tool can be adapted to larger variation of objects.
  • said gripping actuator comprises an actuator rod arranged to slide in and out of an actuator housing and wherein said at least one gripping arm of said first gripping device is connected to said actuator rod and wherein said at least one gripping arm of said second gripping device is connected to the said actuator housing.
  • FIG. 1 shows a motorized excavator 2 with an embodiment of a gripping tool 1 according to the invention mounted on the end of the excavator arm 5, as seen in perspective.
  • the motorized excavator 2 of a compact type also known as a mini excavator
  • the excavator could be of "standard" size, such as a standard excavator, a digger, a backhoe or the any other type of excavator 2, which via a motor-driven hydraulic system can be used also for digging-like work.
  • An excavator 2 typically includes a supporting frame structure 6 or a chassis fitted with an open or closed driver's cab 3, which includes a driving seat and for example a steering wheel and/or various handles 4 to control the excavator's functions when the excavator 2 is driven from one place to another or when it is used for digging, for raking, for demolition or other.
  • the supporting frame structure 6 is placed on propelling means 15 which are in contact with the underlying ground.
  • the propelling means 15 allow the excavator 2 to be self-propelled and thus by its own motion move from place to place.
  • the excavator 2 is provided with an excavator arm 5.
  • the excavator arm 5 can rotate on a frame joint 16 having a substantially horizontal axis of rotation and in another embodiment the excavator arm 5 could also be connected to the frame 6 via a joint with a vertical axis of rotation, but in this embodiment the excavator arm 5 is fixed against lateral movement relative to the frame 6. Instead, the entire frame 6 including the excavator arm 5 is rotated relative to the propelling means 15 to enable transverse movement of the excavator arm 5.
  • a typical excavator arm 5 includes a main arm 7, which is rotatable in a vertical plane through a main arm actuator 8.
  • the main arm 7 is connected to a lower arm 9 through a middle joint 10 and the lower arm 9 can be rotated in a vertical plane around the middle joint 10 by means of a lower arm actuator 11.
  • the lower arm 9 is provided with a tool actuator 13 to rotate the gripping tool 1 around a front joint 14 in said vertical plane.
  • the tool actuator 13 acts on the gripping tool 1 by means of a tool arm 17 and a connecting arm 18, which allow that the linear movement of the tool actuator 13 can rotate the gripping tool 1 further in both directions compared to if the tool actuator 13 was connected directly to the gripping tool 1 through a pivot joint.
  • connection unit 20 is connected to the gripping tool 1 through the connection unit 20.
  • This connection unit 20 is provided with a number of connection parts 21, which ensures that the gripping tool 1 easily and quickly can be mounted on the excavator arm 5 so that it is also ensured that the connection is very safe - i.e. that the gripping tool 1 remains connected to the excavator arm 5, even when these are severely impacted.
  • connection parts 21 in the form of sheet metal parts, which grips axles and a peg mounted in the holes crosswise to the excavator arm 5 and the connection unit 20.
  • the connection parts 21 may be designed in a myriad of ways depending on local standards, manufactures standards, physical limitations and other things requiring that the connection unit 20 and/or the connection parts 21 must be designed in a certain way.
  • connection parts 21 may include one or more quick couplings or the connection parts 21 may be prepared for or designed so that the connection unit 20 can be mounted via a quick release coupling ensuring that the excavator arm 5 and the connection unit 20 can be connected automatically - typically by means of one or more actuators - or at least reduce the manual labor associated with performing the interconnection.
  • the gripping tool 1 is in the process of lifting an elongate object 12 in the form of a conical lamppost.
  • the object weighs 150 kg and is 4 meters long but the gripping tool 1 can in principle handle objects 12 at anything between 0.5 meters and 20 meters and between 1 kg and 2,000 kg depending on the size and design of the gripper tool 1 and excavator 1.
  • FIG. 2 shows a cross section through an embodiment of a gripping tool 1 according to the invention, as seen in perspective.
  • both the first gripping device 22 and the second gripping device 23 comprises two opposing gripping arms 19, but in another embodiment one or both gripping devices 22, 23 could comprises only one movable gripping arm 19 which would hold the object 12 against a fixed arm, a faceplate or the like.
  • the two gripping devices 22, 23 are displaced by about 0.45 meters, so that this gripping tool 1 cannot be used properly on objects that are shorter than this.
  • the gripping devices 22, 23 can be mutually displaced in another distance, which could be either shorter or longer - possibly adapted to a given use.
  • Figure 3 shows a gripping tool 1 with a gripping device 23 in outer position and a gripping device 22 in inner position, as seen from above.
  • all the gripping arms 19 are provided with a gripping roller 28 outermost on the arms 19.
  • the gripping rollers 28 are rotatably mounted on the gripping arms 19 in order to ensure that an object 12 can easily be guided in between the gripping arms 19.
  • the gripping rollers 28 are made of a hard rubber material in order to ensure that the rollers 28 do not scratch the object 12 but in another embodiment the rollers 28 may be made of any other material which preferably is softer than steel to not scratch steel objects.
  • arms 19 could instead be provided with bars, guides or other, which could facilitate the introduction of the object 12 into the gripping tool 1.
  • the internal distance between the gripping rollers 28 of the first gripping device 22 - in the inner position - is about 70 mm and the internal distance between the gripping rollers 28 of the other gripping device 23 - in the outer position - is approx. 170 mm but in another embodiment the gripping arms 19 could be both closer together and further apart in inner and outer positions, respectively.
  • the gripping tool 1 can used to grip an object 12 having a diameter of slightly more than 70 mm to a little less than 170 mm.
  • Figure 4 shows a gripping tool 1 without back covering with the gripping actuator 24 retracted, as seen from the back and figure 5 shows a gripping tool 1 without back covering with the gripping actuator 24 expanded, as seen from the back.
  • the gripping actuator 24 extends between the gripping devices 22, 23 so that one end of the gripping actuator 24 is connected to both of the gripping arms 19 at the first gripper device 22 and the other end of gripping actuator 24 is connected to both of the gripping arms 19 at the second gripping device 23 via four ball joint rods 31.
  • the ball joint rods 31 are so "loosely” connected to the gripping actuator 24 that they can transmit forces even though the arm is moved both up and down by the gripping arm's tilting movement (explained in more details in connection with Figure 6 ) and the back and forth by the actuator 24.
  • the ball joint rods 31 are connected to the gripping arms 19 via ball joints 26, which also permit movement in various directions.
  • the actuator 24 can be connected to the gripping arms 22, 23 in other equally effective ways - such as by means of several joint connections.
  • the gripping actuator 24 is an electric linear actuator comprising an actuator rod 33 in the form of a motor-driven spindle, which is extruded into and out of an actuator housing 34.
  • the spindle has a pitch which ensures that the actuator 24 is self-locking to loads up to 4700 N.
  • the actuator 24 press with a force of up to 3100 N but in another embodiment both the self-locking force and the pressure force could be bigger or smaller e.g. customized for a specific use.
  • the gripping actuator 24 could be formed as a hydraulic cylinder, a pneumatic cylinder, a motor with pinion and a rack or other.
  • the gripping actuator 24 is a hydraulic or pneumatic cylinder the piston rod will be the actuator rod 33 and the cylinder body would be the actuator housing 34.
  • the gripping tool 1 is designed so that when the actuator 24 is in the outer position - and the gripping arms 22, 23 thus are in the inner position - the ball joint rods 31 extend substantially perpendicularly from the longitudinal direction of the actuator 24 so that there is a self-locking function is achieved in that an outward pressure on the gripping arms 19 will substantially press directly onto the opposed gripping arm 19. The pressure will therefore essentially not try to push the actuator 24 together and thus it is ensured that the holding power of the gripping devices 22, 23 far exceeds the nominal thrust and self- locking ability of the actuator 24.
  • the individual connection from the actuator 24 for each gripping arm 19 also means that when the actuator is contracted to clamp a object 12 , then one of the arms 19 first strike topic 12 The arm 19 will then typically be stopped while the other armes movement continues until all arms 19 are in contact with the object 12 Subsequently, the symmetrical design supplied with the actuator 24 will try to pull the member 12 to a position where it is parallel with the gripping tool's symmetry axis 25 - a symmetrical central position.
  • each gripping arm 19 The individual connection from the actuator 24 to each gripping arm 19 also ensures that when the actuator 24 retracts to squeeze around an object 12 one of the arms 19 will hit the object 12 first. This arm 19 will typically stop while the movement of the remaining arms continues until all arms 19 are in contact with the object. The symmetrical design will then cause that the actuator 24 will try to pull the object 12 to a position where it is parallel with the axis of symmetry 25 of the gripping tool - a symmetric center position.
  • the individual connection from the actuator 24 to each gripping arm 19 also ensures that the actuator 24 will try to pull the object 12 to a position where it is parallel with the axis of symmetry 25 of the gripping tool even though the object 12 has one diameter at the first gripper device 22 and another at the second gripping device 23. Also, this design ensures that the gripping force from the actuator 24 is divided equally between the gripping arms 19 whether the subject 12 is cylindrical, conical or otherwise.
  • Figure 6 shows a cross through the center of a gripping tool 1, as seen from above.
  • all of the gripping arms 19 are supported in separate individual tilt joints 29 around which they tilt so that the arms 19 describe a circular motion.
  • the gripping arms 19 could be displaced in and out more or less linearly.
  • the gripping tool 1 is provided with two adjustable back stops 27 located at each end of the tool 1.
  • the gripping tool 1 may be fitted with another number of adjustable backstops 27 such as three, four or possibly only one arranged in between gripping devices 22, 23.
  • the adjustable backstops 27 ensure that the tool 1 can better be adjusted to a given object 12 - both in terms of the diameter of the object 12 and the variation thereof.
  • adjustable back stops 27 are provided with an abutment layer 30 intended to prevent the object 12 from being scratched.
  • This abutment layer 30 could be made of a similar material as the gripping rollers 28.
  • Figure 7 shows a cross section through the center of a gripping tool 1 - seen from the side.
  • Figure 8 shows an embodiment of a gripping tool 1, seen in perspective.
  • this gripping tool 1 can also be used for objects with a square, triangular, oval, polygonal or other cross-sections.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Manipulator (AREA)

Claims (10)

  1. Un outil de préhension (1) pour fixer un objet de forme allongée (12) tel qu'un poteau ou un mât, le dit objet de préhension (1) est composé de :
    une première tête de préhension (22) et une seconde tête de préhension (23) qui se déplacent mutuellement dans la direction longitudinale, où chaque tête de préhension (22, 23) comprend au moins un bras de préhension (19) disposé de manière à agir sur le dit objet (12), où la dite tête de préhension (1) comprend de plus un actionneur de préhension (24) connecté à au moins l'un des dits bras de préhension (19) de chaque tête de préhension (22, 23), de sorte que le dit actionneur de préhension commande l'action de préhension à la fois de la première tête de préhension (22) et de la seconde tête de préhension (23).
    caractérisé par
    les dits bras de préhension (19) sont soutenus dans les articulations basculantes (29) individuelles séparées autour desquelles les dits bras de préhension (19) basculent de sorte que les dits bras (19) décrivent un mouvement circulaire autour d'un axe de rotation substantiellement
    parallèle à la direction longitudinale du dit actionneur (24),
    où les têtes de préhension (22, 23) sont disposées de sorte que l'action de préhension de la première tête de préhension(22) est substantiellement au moins partiellement indépendante de l'action de préhension de la seconde tête de préhension (23).
  2. Un outil de préhension (1) comme décrit dans la revendication 1, dans lequel le dit actionneur de préhension (24) est disposé entre la dite première tête de préhension (22) et la dite seconde tête de préhension (23).
  3. Une tête de préhension (1) selon les revendications 1 et 2, dans laquelle le dit actionneur de préhension (24) est un actionneur linéaire électrique comprenant un axe commandé par un moteur.
  4. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes sur lequel la dite première tête de préhension (22) et la dite seconde tête de préhension (23) comprennent au moins deux bras de préhension opposés (19).
  5. Un outil de préhension (1) selon la revendication 4, où les dits deux bras de préhension (19) sont disposés de manière symétrique par rapport à un axe de symétrie (25) qui est substantiellement parallèle à un axe central longitudinal du dit objet allongé (12) quand celui-ci est fixé dans le dit outil de préhension (1).
  6. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes où les dits bras de préhension (19) sont reliés au dit actionneur de préhension (24) au moyen d'une ou de plusieurs liaisons rotules (26).
  7. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes où le dit outil de préhension (1) comprend au moins un arrêteur ajustable (27).
  8. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes où le dit outil de préhension (1) comprend un dispositif d'assemblage (20) pour le monter sur la flèche (5) d'une excavatrice motorisée (2).
  9. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes où les dits bras de préhension (19) sont montés individuellement dans des articulations basculantes individuelles (29).
  10. Un outil de préhension (1) selon n'importe laquelle des revendications précédentes où le dit actionneur de préhension (24) comprend une tige de vérin (33) disposée pour glisser dans et hors d'un cylindre (34) et où au moins l'un des dits bras de préhension (19) de la dite première tête de préhension (22) est relié à la dite tige de vérin (33) et où au moins l'un des dits bras de préhension (19) de la dite seconde tête de préhension (23) est relié au dit cylindre (24).
EP13807911.6A 2012-11-25 2013-11-14 Un outil de préhension pour la fixation d'un objet allongé Not-in-force EP2953882B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201200747 2012-11-25
PCT/DK2013/050381 WO2014079454A1 (fr) 2012-11-25 2013-11-14 Outil de saisie pour fixer un objet allongé

Publications (2)

Publication Number Publication Date
EP2953882A1 EP2953882A1 (fr) 2015-12-16
EP2953882B1 true EP2953882B1 (fr) 2017-12-20

Family

ID=49779832

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13807911.6A Not-in-force EP2953882B1 (fr) 2012-11-25 2013-11-14 Un outil de préhension pour la fixation d'un objet allongé

Country Status (3)

Country Link
EP (1) EP2953882B1 (fr)
DK (1) DK2953882T3 (fr)
WO (1) WO2014079454A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015122891B4 (de) * 2015-12-29 2018-12-06 Horst Busch Elektro-Technik GmbH Einspannvorrichtung für ein längliches Bauteil zum Transport, zur Montage und Demontage des Bauteils mittels eines Baufahrzeuges
CN107826970B (zh) * 2017-09-12 2023-11-21 远景能源（江苏）有限公司 风力发电机组单叶片安装吊具
DK180004B1 (en) 2018-04-09 2020-01-16 Kristensen Preben Lifting device for moving a pole between a horizontal and a vertical position
CN110253485A (zh) * 2019-07-25 2019-09-20 贵州省交通工程有限公司 道路桥梁障碍物拆卸夹具

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3231303A (en) * 1963-04-01 1966-01-25 Robert G Letourneau Rotatable grapple
DE2138695C3 (de) * 1971-08-03 1974-04-25 Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg Traverse für einen Zangenkran, insbesondere Brammentransportkran
WO1999066244A2 (fr) * 1998-06-19 1999-12-23 Ryan Incorporated Eastern Dispositif et procedes de mise en place et de presentation de pieces de forme allongee
US20050161654A1 (en) * 2003-09-30 2005-07-28 Ancell Perry W. Utility pole installation system and method
US7537428B2 (en) * 2006-12-05 2009-05-26 Vermeer Manufacturing Company Adjustably pivotable grapple with fixed heel
US7588403B2 (en) * 2006-12-19 2009-09-15 Symonds Stephen M Pole handling apparatus

Also Published As

Publication number Publication date
DK2953882T3 (en) 2018-01-15
EP2953882A1 (fr) 2015-12-16
WO2014079454A1 (fr) 2014-05-30

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