EP0888852B1 - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- EP0888852B1 EP0888852B1 EP98110873A EP98110873A EP0888852B1 EP 0888852 B1 EP0888852 B1 EP 0888852B1 EP 98110873 A EP98110873 A EP 98110873A EP 98110873 A EP98110873 A EP 98110873A EP 0888852 B1 EP0888852 B1 EP 0888852B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- linear bearing
- handling device
- bearing unit
- transverse arm
- column
- 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.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
- B25H1/0028—Tool balancers
Definitions
- the invention relates to a handling device, with a pedestal and at least an axially displaceable, provided with a tool holder Cross arm.
- DE-A-4447019 describes a handling device for the manual movement of Known loads. This is between a crane device and one Gripping device arranged and should remove the load from the operator.
- the handling device works with traction devices that are guided over several rollers, where the lifting effect via a working cylinder with piston and piston rod as well as the pressure of a medium is reached.
- Such handling devices are in the Manufacturing very expensive, additionally require a device for production of the working pressure and are used wherever very high lifting and Lowering forces are necessary.
- Simple handling devices are also known which only consist of one Stand column and a axially displaceable cross arm.
- a disadvantage of these known simple handling devices can be seen in the fact that these due to their structure can only take on small workers, or at Larger workers are unstable and tipping or swinging tend.
- Such a handling device is for example in DE-U-9418725.8 described.
- DE-B-1150789 describes a suction device for stonework.
- a suction device is arranged there on a boom. It goes without saying even that a precise vertical alignment is not required there and with this device can also not be achieved.
- the invention has for its object a handling device for manual To move loads, which has a high stability and works reliably and safely at the same time.
- the main advantage of the invention is that the stability of the Handling device is optimized in that the respective linear bearing unit is a tube which has ball bushings at its ends. This has the advantage that the distance the ball bushings to the forces acting on the cross arm can.
- the cross arm is connected to the pedestal using at least one cross clamp connected.
- the cross arm consists of 2 shafts. Both Shafts are each arranged in a linear bearing unit. These waves are spaced apart, the center distance is advantageously larger than that five times the shaft diameter. This arrangement also improves the stability of the Handling device significantly increased. The large distance between the waves means that high torsional forces can be absorbed.
- each shaft can be connected to one Fasten the individual cross clamp to the stand column by assembling with individual cross clamps, the distance between the two cross arm shafts is variable or can also be adapted here to the moments to be recorded.
- the weight of the handling device is balanced by a spring-loaded device Rope.
- a spring-loaded device Rope When using this pull rope, commercially available devices for Get involved.
- Another embodiment of the invention provides both the linear bearing unit of the cross arm as well as the linear bearing unit on the pedestal in relation to the To arrange the cross arm longitudinally displaceable and lockable. This allows the Working range of the handling device vary and to the respective environment to adjust.
- This linear bearing unit 14 consists of a tube 15 which carries ball bushings 16, 17 at its ends and thus is longitudinally movable and pivotable on the pillar 11.
- On the pipe 15 two cross clamps 18, 19 are attached.
- Each cross clamp enters Pipe 20, 21 arranged at right angles to the column 11.
- Ball bushings 22, 23, 24, 25 are also arranged at its ends, so that the second Linear bearing units for the two cross arms 26, 27 are formed.
- the two cross arms and the shafts running in the ball bushings 22-25 are on their ends connected to stabilizers 28, 29.
- On the stabilizer 29 is one Pick-up device 30 for a tool (not shown here) to be picked up such as a screwdriver, a drill or a Threading device arranged.
- the tensile force of the cable pull device 12 is set such that the corresponding tool along the Stand column can be moved.
- FIGS. 2-4 show a cross clamping piece 18. This has a first bore 31 on. This is for clamping a pipe to be inserted into the hole Provide cross clamp with a slot 32. Is perpendicular to the bore 31 another hole 33 is arranged. A pipe is also in this hole arranged. Two screw threads 34, 35 serve to accommodate two Turnbuckles. Through these two clamping screws, both a clamped in the bore 31, as well as a tube arranged in the bore 33 and attached.
- FIG. 5 A detailed representation of the clamping piece in connection with the pedestal and a cross arm is shown in Fig. 5.
- the column 11 is over the ball bushing 16 and that Tube 15 attached to the cross clamp 18.
- the tube 20 is in the Cross clamp 18 clamped.
- the tube 20 carries over the ball bushings 22, 23rd the cross arm 26.
- To move the tube 20 in the cross clamp and to move the cross clamp with respect to the tube 15 is the Screw connection 36 opened and the corresponding change in position carried out.
Abstract
Description
Die Erfindung betrifft ein Handhabungsgerät, mit einer Standsäule und mindestens einem axial verschiebbaren, mit einer Werkzeughaltevorrichtung versehenen Querarm.The invention relates to a handling device, with a pedestal and at least an axially displaceable, provided with a tool holder Cross arm.
Aus der DE-A-4447019 ist ein Handhabungsgerät für das manuelle Bewegen von Lasten bekannt. Dieses ist zwischen einer Kraneinrichtung und einer Greifeinrichtung angeordnet und soll der bedienenden Person die Last abnehmen. Das Handhabungsgerät arbeitet mit Zugmittel, die über mehrere Rollen geführt sind, wobei die Hebewirkung über einen Arbeitszylinder mit Kolben und Kolbenstange sowie den Druck eines Mediums erreicht wird. Solche Handhabungsgeräte sind in der Herstellung sehr aufwendig, benötigen zusätzlich eine Einrichtung zur Erzeugung des Arbeitsdruckes und werden dort eingesetzt, wo sehr hohe Hebe- und Senkkräfte notwendig sind.DE-A-4447019 describes a handling device for the manual movement of Known loads. This is between a crane device and one Gripping device arranged and should remove the load from the operator. The handling device works with traction devices that are guided over several rollers, where the lifting effect via a working cylinder with piston and piston rod as well as the pressure of a medium is reached. Such handling devices are in the Manufacturing very expensive, additionally require a device for production of the working pressure and are used wherever very high lifting and Lowering forces are necessary.
Es sind auch einfache Handhabungsgeräte bekannt, die lediglich aus einer Standsäule und einem.daran axial verschiebbaren Querarm bestehen. Ein Nachteil dieser bekannten einfachen Handhabungsgeräte ist darin zu sehen, daß diese aufgrund ihres Aufbaus nur geringe Arbeitskräfte aufnehmen können, bzw. bei der Aufnahme größerer Arbeitskräfte instabil sind und zum Kippen oder Schwingen neigen. Ein solches Handhabungsgerät ist beispielsweise in dem DE-U-9418725.8 beschrieben.Simple handling devices are also known which only consist of one Stand column and a axially displaceable cross arm. A disadvantage of these known simple handling devices can be seen in the fact that these due to their structure can only take on small workers, or at Larger workers are unstable and tipping or swinging tend. Such a handling device is for example in DE-U-9418725.8 described.
Aus der DE-A-26 40 447 ist eine Vorrichtung zum gewichtsentlasteten Halten eines Handschraubers bekannt. Diese besteht aus einem Schwenkarm der an einem Träger befestigt ist. Der Schwenkarm wird über ein Zugseil gehalten. Solche Handhabungsgeräte dienen dazu Werkzeuge an bestimmten Stellen zu positionieren dabei wird eine sehr hohe Genauigkeit der Werkzeugposition und der Werkzeuglage gefordert. Der Nachteil der aus dem Stand der Technik bekannten Vorrichtung liegt darin, dass eine präzise Führung des Werkzeuges mit der beschriebenen Technik nicht möglich ist. Das Werkzeug kann verkanten oder von der Vertikalen abweichen.From DE-A-26 40 447 is a device for weight-free holding a Handheld screwdriver known. This consists of a swivel arm on one Carrier is attached. The swivel arm is held by a pull rope. Such Handling devices are used to position tools at certain points this results in a very high accuracy of the tool position and the tool position required. The disadvantage of the device known from the prior art lies in that a precise guidance of the tool with the technique described not possible. The tool can tilt or deviate from the vertical.
Es ist weiterhin aus der US-A-4 969 625 eine Einrichtung zum Halten eines Werkzeuges bekannt. Auch diese Einrichtung arbeitet hinsichtlich der exakten Ausrichtung nicht zuverlässig.It is also a device for holding a from US-A-4,969,625 Tool known. This facility also works with regard to the exact Alignment not reliable.
Ferner beschreibt die DE-B-1150789 eine Absaugvorrichtung für Steinmetzarbeiten. Dort ist an einem Ausleger eine Saugeinrichtung angeordnet. Es versteht sich von selbst, dass dort eine präzise vertikale Ausrichtung nicht gefordert wird und mit dieser Vorrichtung auch nicht erzielt werden kann.Furthermore, DE-B-1150789 describes a suction device for stonework. A suction device is arranged there on a boom. It goes without saying even that a precise vertical alignment is not required there and with this device can also not be achieved.
Der Erfindung liegt die Aufgabe zugrunde, ein Handhabungsgerät für das manuelle Bewegen von Lasten zu schaffen, welches eine hohe Stabilität aufweist und gleichzeitig zuverlässig und sicher arbeitet.The invention has for its object a handling device for manual To move loads, which has a high stability and works reliably and safely at the same time.
Diese Aufgabe wird durch die Merkmale des unabhängigen Anspruchs 1 gelöst.This object is achieved by the features of independent claim 1.
Der wesentliche Vorteil der Erfindung liegt darin, daß die Stabilität des Handhabungsgerätes dadurch optimiert wird, daß die jeweilige Linearlagereinheit ein Rohr ist das an seinen Enden Kugelbüchsen aufweist. Dies hat den Vorteil, daß der Abstand der Kugelbüchsen auf die, auf den Querarm einwirkenden Kräfte abgestimmt werden kann. Der Querarm wird über wenigstens ein Kreuzklemmstück mit der Standsäule verbunden.The main advantage of the invention is that the stability of the Handling device is optimized in that the respective linear bearing unit is a tube which has ball bushings at its ends. This has the advantage that the distance the ball bushings to the forces acting on the cross arm can. The cross arm is connected to the pedestal using at least one cross clamp connected.
Gemäß einer Ausgestaltung der Erfindung besteht der Querarm aus 2 Wellen. Beide Wellen sind jeweils in einer Linearlagereinheit angeordnet. Diese Wellen sind voneinander beabstandet, der Achsabstand ist zweckmäßigerweise größer als der fünffache Wellendurchmesser. Auch durch diese Anordnung wird die Stabilität des Handhabungsgeräts wesentlich erhöht. Der große Abstand der Wellen führt dazu, daß hohe Torsionskräfte aufgenommen werden können. According to one embodiment of the invention, the cross arm consists of 2 shafts. Both Shafts are each arranged in a linear bearing unit. These waves are spaced apart, the center distance is advantageously larger than that five times the shaft diameter. This arrangement also improves the stability of the Handling device significantly increased. The large distance between the waves means that high torsional forces can be absorbed.
Werden 2 Wellen an der Standsäule angeordnet, so läßt sich jede Welle über ein einzelnes Kreuzklemmstück an der Standsäule befestigen, durch den Aufbau mit einzelnen Kreuzklemmstücken ist der Abstand der beiden Querarmwellen variabel bzw. kann auch hier an die aufzunehmenden Momente angepaßt werden.If two shafts are arranged on the column, each shaft can be connected to one Fasten the individual cross clamp to the stand column by assembling with individual cross clamps, the distance between the two cross arm shafts is variable or can also be adapted here to the moments to be recorded.
Ein vorteilhaftes Fertigungsverfahren für die Rohre zur Aufnahme der Kugelbüchsen besteht darin, daß ein sogenanntes Präzisionsrohr verwendet wird. Dieses weist bereits die erforderliche Genauigkeit für die Aufnahme in dem entsprechenden Kreuzklemmstück auf und wird lediglich auf ein bestimmtes Längenmaß abgeschnitten.An advantageous manufacturing process for the tubes for receiving the ball bushings is that a so-called precision tube is used. This points already the required accuracy for inclusion in the corresponding Cross clamp on and is only to a certain length cut off.
Der Gewichtsausgleich des Handhabungsgerätes erfolgt über ein federbelastetes Zugseil. Bei der Anwendung dieses Zugseils können handelsübliche Geräte zum Einsatz gelangen.The weight of the handling device is balanced by a spring-loaded device Rope. When using this pull rope, commercially available devices for Get involved.
Eine weitere Ausgestaltung der Erfindung sieht vor, sowohl die Linearlagereinheit des Querarms als auch die Linearlagereinheit an der Standsäule in Bezug auf den Querarm längs verschieb- und arretierbar anzuordnen. Dadurch läßt sich der Arbeitsbereich des Handhabungsgeräts variieren und an die jeweilige Umgebung anpassen.Another embodiment of the invention provides both the linear bearing unit of the cross arm as well as the linear bearing unit on the pedestal in relation to the To arrange the cross arm longitudinally displaceable and lockable. This allows the Working range of the handling device vary and to the respective environment to adjust.
Diese und weitere Merkmale von bevorzugten Weiterbildungen der Erfindung gehen außer aus den Ansprüchen auch aus der Beschreibung und den Zeichnungen hervor.These and other features of preferred developments of the invention go in addition to the claims and the description and drawings out.
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden im folgenden näher erläutert.Embodiments of the invention are shown in the drawings and are explained in more detail below.
Die Zeichnungen zeigen:
- Fig. 1)
- die Seitenansicht eines Handhabungsgeräts
- Fig. 2)
- die Detaildarstellung eines Kreuzklemmstücks
- Fig. 3)
- das Kreuzklemmstück in der Seitendarstellung
- Fig. 4)
- das Kreuzklemmstück in der Draufsicht.
- Fig. 5)
- die Detaildarstellung der Verbindung zwischen Standsäule und Querarm
- Fig. 1)
- the side view of a handling device
- Fig. 2)
- the detailed representation of a cross clamp
- Fig. 3)
- the cross clamp in the side view
- Fig. 4)
- the cross clamp in top view.
- Fig. 5)
- the detailed representation of the connection between the pedestal and cross arm
Das Handhabungsgerät gemäß Fig. 1 besteht aus einem Standfuß 10 an dem eine
Standsäule 11 befestigt ist. Die Standsäule trägt an ihrem oberen Ende eine
Seilzugeinrichtung 12 die ein federbelastetes Zugseil 13 aufweist. Das Zugseil ist an
einer ersten Linearlagereinheit 14 befestigt. Diese Linearlagereinheit 14 besteht aus
einem Rohr 15 das an seinen Enden Kugelbüchsen 16,17 trägt und damit
längsbeweglich und schwenkbar an der Standsäule 11 geführt ist. An dem Rohr 15
sind zwei Kreuzklemmstücke 18,19 befestigt. Jedes Kreuzklemmstück trägt ein
rechtwinklig zu der Standsäule 11 angeordnetes Rohr 20,21. In jedem Rohr sind
ebenfalls an dessen Enden Kugelbüchsen 22,23,24,25 angeordnet, so daß 2
Linearlagereinheiten für die beiden Querarme 26, 27 gebildet werden.1 consists of a
Die beiden Querarme bzw. die in den Kugelbüchsen 22-25 laufenden Wellen sind an
ihren Enden mit Stabilisatoren 28, 29 verbunden. Am Stabilisator 29 ist eine
Aufnahmevorrichtung 30 für ein hier nicht dargestelltes, aufzunehmendes Werkzeug
wie beispielsweise ein Schrauber, eine Bohrmaschine oder eine
Gewindeschneideinrichtung angeordnet. Die Zugkraft der Seilzugeinrichtung 12 ist
derart eingestellt, daß das entsprechende Werkzeug nahezu kräftefrei längs der
Standsäule bewegt werden kann.The two cross arms and the shafts running in the ball bushings 22-25 are on
their ends connected to
Die Figuren 2- 4 zeigen ein Kreuzklemmstück 18. Dieses weist eine erste Bohrung
31 auf. Zum Klemmen eines in die Bohrung einzuführenden Rohres ist das
Kreuzklemmstück mit einem Schlitz 32 versehen. Rechtwinklig zu der Bohrung 31 ist
eine weitere Bohrung 33 angeordnet. In dieser Bohrung wird ebenfalls ein Rohr
angeordnet. Zwei Schraubgewinde 34, 35 dienen zur Aufnahme zweier
Spannschrauben. Durch diese beiden Spannschrauben wird gleichzeitig sowohl ein
in der Bohrung 31, als auch ein in der Bohrung 33 angeordnetes Rohr verspannt und
befestigt. FIGS. 2-4 show a
Eine Detaildarstellung des Klemmstücks in Verbindung mit der Standsäule und
einem Querarm zeigt Fig. 5. Die Standsäule 11 ist über die Kugelbüchse 16 und das
Rohr 15 in dem Kreuzklemmstück 18 befestigt. Ebenso ist das Rohr 20 in das
Kreuzklemmstück 18 eingespannt. Das Rohr 20 trägt über die Kugelbüchsen 22, 23
den Querarm 26. Zum Verschieben des Rohres 20 in dem Kreuzklemmstück und
zum Verschieben des Kreuzklemmstücks in Bezug auf das Rohr 15 wird die
Schraubverbindung 36 geöffnet und die entsprechende Lageänderung durchgeführt.A detailed representation of the clamping piece in connection with the pedestal and
a cross arm is shown in Fig. 5. The
Durch die Verwendung eines einzelnen Kreuzklemmstücks für jeden Querarm läßt sich der Abstand der Querarme entsprechend variieren. Es hat sich als zweckmäßig erwiesen, diesen Abstand so zu wählen, daß er mindestens das fünffache des Durchmessers der Querarmwelle beträgt.By using a single cross clamp for each cross arm the distance between the cross arms vary accordingly. It has come in handy proved to choose this distance so that it is at least five times the Diameter of the cross arm shaft.
Claims (7)
- Handling device for manually moving of loads, especially of tools, build of a column (11) and an axially slidable transverse arm (26, 27) arranged thereon, with a tool holder (30), the transverse arm being arranged via at least one clamping element (18, 19) on a first linear bearing unit (14) that is arranged on the column, the said unit being build of a pipe (15) on which ends ball bushes (16, 17) are arranged , the transverse arm being build of at least one longitudinally slidable axle (26, 27) that is guided in a second linear bearing unit, this linear bearing unit being build of a pipe (20, 21) that features on its ends ball bushes (22, 23, 24, 25); the column (11) bearing on its upper end a weight compensation unit (12, 13) that is linked via an attachement point to the first linear bearing unit (14).
- Handling device according to claim 1, characterized in that the transverse arm is build of 2 axles (26, 27) that are arranged respectively in a second linear bearing unit , the center distance between the axles being five times superior to the diameter of the axle.
- Handling device according to one of the previous claims, characterized in that one or more of the pipes for receiving the ball bushes (22 - 25) is a precision pipe which is raw on the external diameter.
- Handling device according to one of the previous claims, characterized in that the weight compensation unit is a linkage device (12) that features a spring-loaded pull rope .
- Handling device according to one of the previous claims, characterized in that the second linear bearing unit of the transverse arm is fixed on the column (11) to move slidably and locked continously .
- Handling device according to one of the previous claims, characterized in that the first linear bearing unit (14) is fixed so as to slide longitudinally in respect to the transverse arm (26) and so as to lock continously on the column (11).
- Handling device according to one of the claims 1 to 6 with a clamping element for mounting two axles or pipes at an angle of 90 degree in respect to each other; the clamping element featuring a slot (32) perpendicular in respect to an axle and at least a clamping screw (34, 35) for clamping simultaneously both the axles and pipes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19728638A DE19728638A1 (en) | 1997-07-04 | 1997-07-04 | Handling device |
| DE19728638 | 1997-07-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0888852A1 EP0888852A1 (en) | 1999-01-07 |
| EP0888852B1 true EP0888852B1 (en) | 2002-12-11 |
Family
ID=7834674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP98110873A Expired - Lifetime EP0888852B1 (en) | 1997-07-04 | 1998-06-15 | Manipulator |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0888852B1 (en) |
| AT (1) | ATE229409T1 (en) |
| DE (2) | DE19728638A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2511784B (en) * | 2013-03-13 | 2016-05-25 | Airbus Operations Ltd | A support apparatus for supporting a device for expanding a sleeve |
| CN104925639A (en) * | 2015-05-18 | 2015-09-23 | 苏州派迪动力科技有限公司 | Zero-gravity linear counterforce arm |
| CN110919871A (en) * | 2019-11-30 | 2020-03-27 | 江苏刘一刀精密机械有限公司 | Electric hand drill tool bit positioning device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1150789B (en) * | 1957-10-30 | 1963-06-27 | Georg Moessmer Dipl Ing | Extraction device for stone masonry |
| US4969625A (en) * | 1988-05-26 | 1990-11-13 | Nasco Industries, Inc. | Torque reaction tool support apparatus |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB292227A (en) * | 1927-03-14 | 1928-06-14 | Percy Arthur Stedman | Improvements in devices for supporting portable power driven tools, such as drills, riveting apparatus and the like |
| US3048360A (en) * | 1959-07-14 | 1962-08-07 | United Medical Products Co Inc | Suspension device for intravenous fluid supply containers |
| US3031566A (en) * | 1960-02-15 | 1962-04-24 | Pandjiris Weldment Company | Welding manipulator with reciprocating boom |
| DE2640447C3 (en) * | 1976-09-08 | 1979-08-09 | Weber Schraubautomaten Gmbh & Co Kg, 8190 Wolfratshausen | Device for weight-relieved holding of a handheld screwdriver |
| US4566819A (en) * | 1982-03-01 | 1986-01-28 | Aluma Systems, Incorporated | Clamp for shoring and scaffolding frames |
| US5096151A (en) * | 1989-05-09 | 1992-03-17 | Sylvan R. Shemitz Associates, Inc. | Mounted cantilever bracket |
| DE69215959T2 (en) * | 1991-05-22 | 1997-07-24 | Kokuho Yokosuka Kk | Support arm for machine |
| FR2749788B1 (en) * | 1996-06-12 | 1998-09-04 | Chaffoteaux Et Maury | AUTOMATIC WORKSHOP SCREWDRIVER |
-
1997
- 1997-07-04 DE DE19728638A patent/DE19728638A1/en not_active Withdrawn
-
1998
- 1998-06-15 AT AT98110873T patent/ATE229409T1/en not_active IP Right Cessation
- 1998-06-15 DE DE59806591T patent/DE59806591D1/en not_active Expired - Fee Related
- 1998-06-15 EP EP98110873A patent/EP0888852B1/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1150789B (en) * | 1957-10-30 | 1963-06-27 | Georg Moessmer Dipl Ing | Extraction device for stone masonry |
| US4969625A (en) * | 1988-05-26 | 1990-11-13 | Nasco Industries, Inc. | Torque reaction tool support apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0888852A1 (en) | 1999-01-07 |
| ATE229409T1 (en) | 2002-12-15 |
| DE59806591D1 (en) | 2003-01-23 |
| DE19728638A1 (en) | 1999-01-07 |
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