DE102007042247A1 - Load's hand-guided movement device for e.g. pneumatic/hydraulic manipulator, has drive units for rotatable movement of arm around rotational axis, where usage of drive units is allowed by control person over operating unit during movement - Google Patents

Abstract

The device has a lift arm (4) rotatably supported around a rotational axis and with an operating unit over which a control person operates on the lift arm and loads are moved. Drive units (11) e.g. electric motors, are provided for rotatable movement of the lift arm around the rotational axis, where usage of the drive units is allowed by the control person over the operating unit during the hand-guided movement. The operating unit has sensor units for providing data with respect to an operation of the operating unit by the control person.

Description

State of the art:

In Handling technology are devices to the hand-held Lifting or moving loads already known. Such devices will be used to enable economic production, in particular ergonomic handling and provision of parts. Handheld equipment For example, pneumatic or hydraulic manipulators for changing Load weights make work easier and can ease the workload productivity noticeably increase. These devices avoid in particular lost time due to damage to the skeleton and muscular apparatus as a result of improper material movement or a improper handling.

For example come for this Knickarmhebezeuge or balancers and articulated arm manipulators used, with which a virtually load-free movement of loads is possible. These arrangements can individually adapted to respective tasks and for example, standing, hanging or be positioned movable.

Object and advantages of the invention:

task In the present invention, the device is the introductory one To improve genus in such a way, cost ergonomic handling device on to improve.

These The object is solved by claim 1. In the dependent claims are advantageous embodiments of the subject invention shown.

The The invention is based on a device for hand-guided movement of loads in the lateral direction, with one rotatable about an axis of rotation is stored basic arm and with a control unit, over which an operator acting on the base arm and thus the recorded Load can move. The essence of the invention is that drive means for one driven rotational movement of the base arm are provided about the axis of rotation, wherein use of the drive means by the operator via the Control unit in a hand-held Movement is specified. With the proposed device is an ergonomic handling device provided that a body sparing or ensures safe working in the hand-guided movement of loads. The invention relates, for. B. handling equipment or manipulators, with which by force of a person the movement of a on a holding system attached recorded load takes place. The load is in particular over one rigid and defined movable arrangement z. B. an articulated arm manipulator recorded, bringing unwanted Pendulum movements of the absorbed load are excluded. When Drive means come in different arrangements in question, for. As electric, pneumatic or hydraulic drives in particular Electric motors. Advantageously, with the drive means also a so-called automated return to one or different several positions are realized, for. B. after discontinuation of a moving load or even with recorded load.

Especially when manually guiding from comparatively heavy loads can with the driving force motion control done so that the applied by the operator manipulation force almost complete can be omitted or reduced to a minimum. Damage to skeleton or Musculature of the operator are thus avoided and lost work or accidents through overload the person can be prevented. In particular, with the device according to the invention the stress situation with a frequent movement or repeated Direction changes the hand-held Movement of heavy loads to be improved.

The proposed device for hand-held moving loads concerns in particular very different embodiments of articulated arm manipulators or hoists with balancing recorded load, which by hand guidance are movable in the lateral direction. Under a lateral movement The load is in particular a movement transverse to the axis of rotation of the base arm Understand, where usually the axis of rotation aligned vertically in space is and the lateral movement in particular in a horizontal Level takes place. With a simple arrangement of the proposed Device with exactly one non-adjustable arm the lateral movement takes place along a radius around the axis of rotation of the arm, wherein the radius of movement through the receiving position of the Load on the arm is fixed.

It is also preferred that the operating unit sensor means for providing of data regarding of the action on the operating unit by the operator. So can while guiding the Device over on the control unit suitable Einwirk- or actuating means, for. B. with a Handle element, deliberately or intuitively applied printing or tensile forces be captured and characterized and as a basis for control serve the drive means.

Advantageously, therefore, the sensor means are adapted to detect data via a force exerted by the operator on the operating unit force. Depending on the on the control unit or on a handle element applied force by the operator, the suspended load can be moved according to supported laterally or in a working plane supported. The operator merely has to apply a force to the grip element, which is comparatively low for hand-guided movement of the suspended load without driven rotary movement of the base arm, or is many times smaller. For example, this force can be applied over the hands, z. B. by grasping a handle by hand or with your fingers. The forces detected by the sensor means can be processed for the use of the drive means in a driven movement according to specifiable settings. In particular, the detected forces can be amplified to a necessary degree by the control of the drive means. In particular, in the further course of the hand-guided movement, almost no further relevant forces must be applied by the operator when moving the attached load.

Further It is proposed that the sensor means a pressure / force measuring arrangement include. With such a pressure or force measuring arrangement of Outside applied forces be detected particularly accurately and safely on the control unit. For example can this purpose a pressure cell or more particularly two pressure cells with each a displaceably guided guide carriage be provided. With two pressure cells can be particularly effective Compressive forces according to two vertical be taken to each other standing directions, z. B. according to x and y direction of a Cartesian coordinate system, with which a complete capture of compression or tensile force components in the x and y directions is possible. the x and y directions in particular defining the lateral plane, in which the attached Load driven is movable. With the detected forces in The x-y plane may be a force vector for the x-y plane from the system via z. B. one below still explained Computer unit to be determined. The amount and the direction of the Force vector serve as a control variable for the specification the speed and direction of the subsequently to be executed driven movement in the next Position derived from the action of the operator. For example, it becomes dependent the quantity of a vector the speed of movement proportional certainly.

It is also preferred that a computer unit for control and / or regulation the drive means is provided. To a desired driven movement the attached To enable load is a computer unit as a central unit, for example, a Provide computer or a processor. With a corresponding Computer unit can be all relevant data or information for control or regulation store the drive, program or process. About the Computing unit takes place in particular the coordination between the operating unit and drive means.

Further It is suggested that drive means for a powered height adjustment of the basic arm for a lifting and / or Lowering movement of the recorded load are present. For a motor or driven movement of the suspended load, in particular in parallel to the axis of rotation of the basic arm, for example in vertical Direction, for example, a lifting or adjusting move the base arm up or down. For example, can be the basic arm over pivoting a pneumatically adjustable parallelogram linkage that the alignment of the axis of rotation and the attached load is maintained and the attached Load driven is liftable and lowerable.

It is also preferred that the computer unit is formed, the Base arm dependent driven by the data provided by the operating unit to move. With the computer unit, a desired relation between the in particular detected and provided by the sensor means Data and the applied drive effect can be specified. In order to can be for different applications of the device respectively suitable movement patterns realize the drive movement.

Especially Advantageously, a boom is rotatable about another on the base arm Taken pivot axis, where the load is absorbed. This can in particular the advantages of a articulated arm handling device when moving hand-held be achieved by loads.

Especially it is advantageous that the boom on a third axis of rotation rotatably mounted receiving unit is attached, on which the load is receivable.

By the axes of rotation are realized more degrees of freedom. For example can with a maximum rotation angle of the base arm, the boom or the recording unit about the respective axis of rotation of 360 or Nearly 360 degrees almost every position of the attached load reached in the vicinity of the first axis of rotation in a lateral direction up to a maximum perimeter radius when stretched of basic arm, boom and receiving unit.

Preferably, drive means are provided for a driven rotary movement of the arm about the further axis of rotation, wherein an insert of the An operating means for the boom by the operator via the control unit in the hand-guided movement can be specified. Thus, the boom can be driven driven and controlled by the operator advantageous with the advantages already explained for the driven base arm. The base arm and the boom can be moved jointly and driven in a coordinated manner with one another via the computer unit, whereby in a maximum possible range of movement of the suspended load a driven movement support for the lateral movement of the load is possible. For a comfortable working, the use of the drive means of the base arm and boom via the one operating unit.

Basically the boom with a powered height adjustment for Example of a pneumatic or hydraulic lifting device for Pivoting the boom to provide a powered lifting and allow lowering of the load.

A embodiment of the subject invention is characterized in that the computer unit is formed, the boom depending on the by the operating unit powered data to move rotatably. As with the basic arm the action of the operator on the drive means of the Jib depending from the manual force control commands on the control unit.

It is also advantageous if position detection means are present, with which a rotational position of the rotatable at the respective axis of rotation recorded element of the device can be detected. So that correct support in the hand-guided Movement takes place, it is required that the respective position the rotatably received base arm, the jib or the receiving unit of the device the relevant respective axis of rotation for the computer unit always is known. Accordingly, it is preferred if suitable sensors especially for each the existing axes of rotation are provided, in particular incremental encoder.

In order to the computer unit is capable of known geometrical conditions the device, the position of the device and thus the load in to represent a coordinate system. Preferably, then in the coordinate system given a movement, for example, from point A to to reach a point B. In particular, the speed, Acceleration or deceleration of the moving load accordingly be realized a predetermined course. For characterization of points in the room can z. B. polar coordinates or Cartesian coordinates based become. Also can z. B. joint or rotational movements recorded in polar coordinates and for the absolute position of a recorded load is converted into Cartesian coordinates or the other way around.

For the implementation force sensing from sensor means to a control and / or control system, that the drive means or drive motors for the rotational movement operated the rotary axes, can specially made boards are used. This can advantageously relied on components of known PLC controls which makes a cost-effective solution is obtained.

It is also preferred that the computer unit is configured during a driven movement by the drive means by the operating unit currently provided by an operator action Data to adjust the control and / or regulation of the drive means. This can continuously or at predetermined time intervals a new drive effect or thereby achievable target position of the load be determined. These are currently applied by the operator personnel detected by the control unit or the sensor means and for an update of a previously determined drive effect processed in the computer unit. This allows corrections with regard to the direction or speed implement the driven movement. The computer unit can, for example already determined target coordinates for the driven movement the attached Correct load at any time.

in principle can additionally or alternatively to a manual guidance of the system, in particular in the area of recording or the release of the load, the motion guide an optical device z. B. done with a camera.

In an advantageous embodiment, the computer unit is designed to subdivide a possible three-dimensional movement space of the recorded load into zones, it being possible to specify predeterminable control and / or control variables for a zone. Thus, for example, via software settings a zone can be defined in which a dynamic or a maximum possible acceleration or speed of the driven moving load is limited comparatively low. This can be, for example, in a receiving or Absetz-area in which the load is to be moved very precisely or sensitively. In such a zone, the operator can not override or override the limiting specifications. In the case of transport paths or in zones concerned, on the other hand, a higher dynamic of the load movement can be defined by the drive means for quickly overcoming distances. A z. B. maximum possible drive speed of the load in this zone is to be understood that although this can be optionally achieved but not necessarily controlled, but can be exceeded by the operator at any time on the individual action on the control unit.

advantageously, the arithmetic unit is designed on the basis of that of the sensor means detected on the control unit forces, a lateral component of motion for one provide powered lateral movement of the load. It is but also conceivable that applied by the operator via the control unit personnel which are transverse to those for the lateral component of motion captured forces are directed to this z. For example a controlled or driven height adjustment of the recorded To process the load in the computer unit.

With This information can be a complex movement of the attached load Hand-held in three-dimensional space.

Finally will further proposed that control means are present in such a way that only with a simultaneous action with both hands of the operator on the control unit, the drive means are operable. Thus can be In a simple and safe way, prevent an operator during a driven movement of the attached Load can intervene in a danger zone and a pinch or risk of crushing is minimized. In addition, it can be excluded be that random Touch of controls or accidental exposure to the control unit leads to a drive movement.

It is moreover preferred that the computer unit is a parent processor and a coprocessor, the coprocessor receiving data from the sensor means processed. In this way, the organization of the computing unit or the processing of data acquired by the operating unit or detected by the sensor means detected forces effectively.

Brief Description:

Based an embodiment of the device according to the invention shown in the figures the invention will be explained in more detail by stating further advantages. in the Individual shows:

1 1 is a perspective side view of a device according to the invention of a handling device without a device for picking up and guiding a load,

2 and 3 two enlarged partial views of a section of the arrangement according to 1 in perspective view,

4 and 5 two enlarged partial views of another section of the arrangement according to 1 in perspective view,

6 and 7 a detail in front view of the arrangement according to the invention in the region of the device component of the arrangement, not shown, according to FIG 1 and

8th an enlarged partial views of another section of the arrangement according to 1 in perspective view.

In 1 is a perspective view of a part of a force-guided articulated arm manipulator according to the invention 1 shown with a bottom plate 2 which is fixed in a foundation, and an upright pillar fixed thereto 3 , a lift arm 4 and an articulated arm 5 , An assembly of the articulated arm manipulator 1 , located at the front of the articulated arm 5 connects, with an operating unit and a gripping device for gripping a load is not shown.

At the pillar 3 is the lift arm 4 about a first in the installed state in particular vertical axis F1 rotatably received. At the front of the lift arm 4 is the articulated arm 5 about a further axis F2, which is aligned in particular parallel to the axis F1, rotatably arranged. At the front of the articulated arm 5 is a hinge assembly 6 formed, with a flange 6a (please refer 8th ), not shown assembly of the articulated arm manipulator 1 in particular attachable by screwing and thus rotatably received about the third axis of rotation F3. All three axes of rotation F1, F2 and F3 preferably run parallel to each other.

Basically the basic column, which the forces absorbed by the recorded load, be shortened or possibly omitted altogether and the lift arm hanging be rotatably positioned, for example, firmly fixed or movable z. B. on a rail device with transverse and / or longitudinal rails be. With one or two mutually perpendicular linear Rails can also define a coordinate axis defined for the system If necessary, also two coordinate axes.

For a lifting movement one with the articulated arm manipulator 1 to be moved load is the lift arm 4 with a piston-cylinder unit 7 and a parallelogram linkage 8th Mistake. The piston-cylinder unit 7 is in particular pneumatically operated and allows depending on the travel position of the piston-cylinder unit 7 a pivoting of the Hu Barms 5 about an axis transverse to the axis F1. The lift arm 4 can z. B. from a nearly horizontal middle position according to 1 each be pivoted by about 50 degrees upward or downward. With the parallelogram linkage 8th The axis F2 remains in its particular vertical orientation.

At the lift arm 4 is a counterweight to increase the maximum load capacity via an intermediate piece 9 appropriate.

To the articulated arm manipulator 1 For example, to be able to transport or move with a forklift truck, are on an upper side of the bottom plate 2 recording shoes 10 provided for fitting a Hubstaplerarmen.

To support the movement of the guided by the operator and the articulated arm manipulator 1 attached load are drive motors for a powered rotary motion of the arm 4 around the axis F1 and the articulated arm 5 present around the axis F2. A geared drive motor 11 puts an unrecognizable pinion in rotation, which in a counter toothing of a fixed gear 12 at the top of the pedestal 3 intervenes. In addition, to specify a reversal of direction is a rotation stop 13 on the gear 12 educated. 3 also shows a position limit switch 16 for a 360 degrees executable rotational movement of the lifting arm 4 ,

After the same construction principle is the articulated arm 5 driven rotatable about the axis F2, which in the 4 and 5 shown closer, causing the articulated arm 5 Seen from above any bent positions to the lifting arm 4 can take. For this purpose, another drive motor is used 14 with gear, which drives a pinion, not shown, with a counter toothing of another gear 15 engaged. Here is the gear 15 firmly on the articulated arm 5 positioned, whereas the drive motor 14 at the front end of the lift arm 4 fixed attached. Also the arrangement for driving the articulated arm 5 has a position limit switch 17 on.

For smooth and gentle braking of a driven rotary motion of the lifting arm 4 or the articulated arm 5 suitable braking means may be arranged.

Thus, the axes represent F1 and F2 motor axes, whereas the third axis F3 is not driven, with the by the action of the operator, not shown assembly of the articulated arm manipulator 1 can perform a rotary motion. Optionally, a gripper on the assembly, not shown, still be rotatable about an axis perpendicular to the axis F3 axis. Described in detail are for all three axes F1, F2 and F3 sensors, z. As incremental encoder, for monitoring or detection of the respective rotational position. Exemplary is in 8th an integrated incremental encoder 6b the swivel assembly 6 shown.

For a hand-guided movement of the recorded load is in accordance with 6 and 7 designed control panel 18 with operating handles 19 set up on the control unit, not shown. The operating handles 19 are positioned so that a comfortable grasping each of a control handle 19 with one hand of the operator is possible. A driven movement of the lift arm 4 or the articulated arm 5 about the axes F1 and F2 is only possible if at the same time both hands of the operator the respective control handle 19 embrace. This can be done for example by a capacitive unit.

At the control panel 18 may be provided for the operator display or switching elements, z. As an emergency stop switch or a warning light or horn.

7 also shows two pressure gauges 20 . 21 with linear force transducers, z. B. pressure cells and linearly displaceable slide in mutually perpendicular arrangement in the rear area of the control panel 18 , These serve to absorb pressure or force quantities in the xy direction or, for example, relative to a longitudinal axis S (see FIG 6 ) of the two control handles 19 in parallel and perpendicular direction.

For an evaluation The linear force transducer is to be taken into account that at a exertion of force in one direction by the movement of the system in that direction the force normally decreases, causing a movement in the direction itself slows down and then comes to a halt. It can be in the Regulation the movement driving down a ramp to a zero point, where the slope of the ramp depends on the force input, d. H. size Power, smaller ramp. When a sign reversal of the force occurs, a maximum delay, i. H. a maximum steepness given the ramp.

advantageously, is in the computer unit at a sign change of the linear Force the size of the "retreat" or the "thrust" for the dynamics of the process of acceleration and deceleration taken into account.

1

Knickarmmanipulator

2

baseplate

3

pedestal

4

lifting arm

5

articulated

6

Universal joint assembly

6a

flange

6b

incremental encoder

7

Piston-cylinder unit

8th

Parallelogram linkage

9

counterweight

10

pick-up shoe

11

drive motor

12

gear

13

rotary stop

14

drive motor

15

gear

16

Position limit switch

17

Position limit switch

18

control panel

19

operating handle

20

Pressure measuring device

21

Pressure measuring device

Claims (15)

Device for manually moving loads in a lateral direction, with a base arm rotatably mounted about an axis of rotation ( 4 ) and with a control unit ( 18 ), by which an operator on the basic arm ( 4 ) and thus can move the received load, characterized in that drive means ( 11 ) for a driven rotary movement of the basic arm ( 4 ) are provided about the axis of rotation, wherein an insert of the drive means ( 11 ) by the operator via the operating unit ( 18 ) can be specified in a hand-guided movement. Apparatus according to claim 1, characterized in that the operating unit ( 18 ) Sensor means ( 20 . 21 ) for providing data concerning the action on the operating unit ( 18 ) by the operator. Device according to claim 1 or 2, characterized in that the sensor means ( 20 . 21 ) are formed, data on one of the operator on the control unit ( 18 ) applied force. Device according to one of the preceding claims, characterized in that the sensor means comprise a pressure / force measuring arrangement ( 20 . 21 ). Device according to one of the preceding claims, characterized in that a computer unit for controlling and / or regulating the drive means ( 7 . 11 . 14 ) is provided. Device according to one of the preceding claims, characterized in that drive means ( 7 ) for a powered height adjustment of the basic arm ( 4 ) are present for a lifting and / or lowering movement of the recorded load. Device according to one of the preceding claims, characterized in that the computer unit is formed, the basic arm ( 4 ) depending on the control unit ( 18 ) provided data to move. Device according to one of the preceding claims, characterized in that on the base arm ( 4 ) a boom ( 5 ) is received rotatably about a further axis of rotation, on which the load is receivable. Device according to one of the preceding claims, characterized in that on the boom ( 5 ) is mounted about a third axis of rotation rotatably receiving unit, to which the load is receivable. Device according to one of the preceding claims, characterized in that drive means ( 14 ) for a driven rotary movement of the boom ( 5 ) are provided around the further axis of rotation, wherein an insert of the drive means ( 14 ) for the boom ( 5 ) by the operator via the operating unit ( 18 ) can be specified in the hand-guided movement. Device according to one of the preceding claims, characterized in that the computer unit is designed, the boom ( 5 ) depending on the control unit ( 18 ) are rotatably driven by data provided. Device according to one of the preceding claims, characterized in that position detection means ( 6b ) are present, with which a rotational position of the rotatably received on the respective axis of rotation element of the device can be detected. Device according to one of the preceding claims, characterized in that the computer unit is designed during the driven movement by the drive means ( 11 . 14 ) by the operating unit ( 18 ) currently provided by an operator action of the operator control and / or regulation of the drive means ( 11 . 14 ). Device according to one of the preceding claims, characterized in that the comput Nereinheit is designed to divide a possible three-dimensional range of motion of the recorded load in zones, which can be specified for a zone predeterminable control and / or control variables. Device according to one of the preceding claims, characterized in that control means are present in such a way that only with a simultaneous action with both hands of the operator on the operating unit ( 19 ) the drive means ( 7 . 11 . 14 ) are operable.