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The constructions of telescopic loading cranes of fork lift trucks have been taken as the basis. The grasp of the load with the additional degrees of liberty of pitchforks was fastened to the carriage. The construction of the grasp was taken from six research work patented by author. The simplicity of construction, universality and technological approval of assembling were taken into account at the analysis of constructions. The best chosen construction became a basis for creation of universal manipulator of load handling, which in future would pass total model researches. The researches of the work efficiency of load handling by universal manipulator were carried out on the basis of fork lift truck model 40928 with carrying capacity 1600 kg.
Except load handling the manipulator provided centring of load cross longitudinal plane of symmetry of fork lift truck. The principle of comparison of tensions on chains was used for centring (fig. 1).
Fig. 1. Device for load centring Fig.2. Electro-hydraulic block
The method of positioning is based on the determination of difference of tensions in the chains of the movement of carriage. The device developed on this method, contains a lift load frame and freight carriage fixed on it by means of the chains . The carriage can move vertically. A pare of forks are mounted on the carriage with their possible shift by hydrocylinders. The patented device differs from ordinary on by the special suppliers of mechanical tensions which are switched to the electronic block control. The outputs of electronic block control are connected to the electromagneted relays of hydraulic deviding devices, that make electrodeviding block.
Take load is taken and lifted. In case of the asymmetric placing of the weight centre of the load, in relation to right or left chains of lofting, their tensions would be different. The signals from the suppliers would be sent to electronic block control, and then to electromagnets of electro-hydraulic block.
Electromagnets are commuted by hydraulic devider in the way that pitchforks together with a load would move to the left or to the right to the remove the unevenness of loading.
The construction of the carriage of lateral displacement of pitchforks, and electro-hydraulic part differ from the carriage and its driver, described in a patent. The carriage of the lateral displacement of pitchforks was changed for the holder of lateral displacement of each fork. The hydraulic chart of a new electro-hydraulic block (fig.2) was developed under the universal manipulator of load handling. The change of these elements allowed to extend the range of application of the device without serious change in cost.
The carriage of lateral displacement of pitchforks of universal manipulator together with the three electro-hydraulic devices can do such operations:
displacement of right paw to the right or to the left
displacement of left paw to the right or to the left
parallel motion of paws to the right or to the left
moving to and apart of paws
The use of these operations would simplify the work of the driver.
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