EP1106563B1 - Trolley with rope hoisting gear having damped pendulum oscillations - Google Patents

Trolley with rope hoisting gear having damped pendulum oscillations Download PDF

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Publication number
EP1106563B1
EP1106563B1 EP00125547A EP00125547A EP1106563B1 EP 1106563 B1 EP1106563 B1 EP 1106563B1 EP 00125547 A EP00125547 A EP 00125547A EP 00125547 A EP00125547 A EP 00125547A EP 1106563 B1 EP1106563 B1 EP 1106563B1
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EP
European Patent Office
Prior art keywords
traction means
vehicle according
upper frame
lower frame
vehicle
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EP00125547A
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German (de)
French (fr)
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EP1106563A2 (en
EP1106563A3 (en
Inventor
Lothar Ing. Weiss
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Eisenmann Foerdertechnik GmbH and Co KG
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TMS Produktionssysteme GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the invention relates to a transport and positioning device for a vehicle Monorail, the device at least one attached to the vehicle Upper frame and a subframe arranged at a distance below it and the lower frame is held on the upper frame by means of band or rope-shaped traction means and can be moved vertically by means of a lifting drive, and for at least one of the Sections in which the traction means from the upper to the lower frame or vice versa are, to stabilize the position of the subframe, an angle with the vertical lock in.
  • Lifting devices are sufficiently known from the prior art.
  • GB 1 301 233 A, DD 141 817 A, US 5,150,799 A, US 4,949,855 A and DE 40 05 194 A1 disclose such devices for cranes.
  • Such a load lifting system is known from EP 325 555 A1 and DE 39 25 172.
  • DE 195 21 066 A1 shows such an arrangement for container pallet trucks.
  • EP 919 509 A1 shows a gantry crane for containers according to the preamble of claim 1, but the gantry crane cannot be regarded as a monorail due to its design with only one vehicle. All of these devices are mainly used for lifting loads and aim to prevent the load to swing and sway by an inclined arrangement of the traction means.
  • Overhead monorails such as monorail systems (EHB for short) with one or more rails, serve primarily to transport loads. However, they also become Carrying out assembly work on a monorail vehicle fixed load used, especially in production lines in the automotive industry.
  • EHB monorail systems
  • the load must be brought to different transport heights on routes.
  • the second solution is preferred in particular for larger loads.
  • the guide system either prevents the load from tipping over (this must then be correspondingly rigid) or by load suspension at four corner points, whereby a guidance system against lateral swinging is also required.
  • all traction means for at least one of the sections in which the traction means are guided from the upper to the lower frame or vice versa one Include angles with the vertical.
  • the Angle is the same.
  • a low-weight transport and positioning device is realized for overhead monorails by using band-shaped or rope-shaped traction means, such as ropes, belts, chains, belts or the like.
  • the inclined guidance of the traction means enables the horizontal stabilization of the lower frame and the load attached to it, for example by means of a hanger. This ensures personal safety by preventing the load from swinging.
  • the same angle for all traction devices is advantageous because all traction devices have the same run length.
  • traction device guides with different angles or only vertical traction device guides can also be combined, the traction devices then being assigned to corresponding lifting devices.
  • the invention provides that the angle of the weight force acting on the traction device and the maximum horizontal force acting in particular parallel to the plane of the inclined guide Work on the load attached to the subframe is intended. Doing so will large distance between the connection points selected.
  • the monorail the lifting height is approximately twice the distance between the connection points of the traction devices on the upper frame or lower frame. This results in a minimum force of 5% of the Dead weight, which must act at a corner point of the subframe in order to to achieve horizontal deflection of the lower frame in the lower lowered position.
  • Due to the fact that the subframe and a load handler (sling) is available, will with a lifting weight of For example, 1000 kg for empty bodies and slings a minimum force of 500 N. result. This force is usually not achieved in manual assembly processes.
  • the inclined Section of a first traction means lies in a plane that is at an angle with that plane includes which by the respective sloping section of two other traction means or is formed by the oblique sections of a further traction means.
  • this includes such as arrangements of traction means where the oblique sections are seen in plan view in Polygonal shape (triangle, square, pentagon, hexagon ...), or in a star shape - roughly along the room diagonals - run.
  • each traction mechanism is arranged that the oblique sections of the traction means essentially in one Lay level and the horizontal forces arising from the oblique guidance in opposite directions Act. The horizontal forces are equal and cancel each other out.
  • At least one additional pair of traction means A pair of traction means is provided, the inclined sections of the further pair of traction means essentially lie in a plane normal to the plane of the sloping sections of the first pair of traction devices is aligned.
  • two ropes each work in pairs levels offset by 90 degrees.
  • the traction means between the upper and lower frame are each guided on one level.
  • the feature that the linear actuator is arranged centrally with respect to the upper frame has the advantage that approximately the same length can be provided for each traction mechanism.
  • the greatest possible distance to the first deflection is given in this way, which causes the rope to move on the drum during the course of the results in the smallest possible deflection angle for the rope.
  • the linear actuator consists of several independent units, so This increases reliability and thus also personal security. This is especially the case when redundantly provided traction devices different units assigned.
  • the linear actuator can be designed as a linear linear actuator.
  • a linear linear actuator the is particularly useful for relatively low lifting heights, for example Lifting thread spindle or a hydraulic cylinder provided.
  • the relatively small linear linear actuator used, because of its mode of operation no additional Gearbox needs.
  • a device for length compensation of manufacturing tolerances represents the same Safe drainage length for all traction devices.
  • the vehicle can be particularly advantageous with such a transport and Positioning device in a monorail for transporting components between and / or use in workstations on a production line. Because the Transport and positioning device can be carried out more easily, the Vehicles of course also lighter, which means that the entire monorail is less stable and can therefore be built more cost-effectively.
  • the overhead conveyor is operated particularly cheaply when between or in work stations the production line simultaneously several vehicles for transporting Components are provided. It can thus multiple components in the Production line to be transported. This enables work processes to be optimized and ensure that there are no unnecessary delays in manufacturing comes.
  • a further increase in throughput times results if at least one Work station of the component transported by the vehicle directly on the vehicle is processed. This means that the component does not have to be in its own in the workstation Processing device brought, but can be edited directly on the vehicle what increases the cycle time of the workstation or the production line.
  • a additional increase in cycle time can be achieved by using the vehicle while the component is being processed, it is moved through the work station, thereby production-related downtimes of the vehicles can prevent.
  • a further improvement in lead times can be achieved if the vehicles the overhead conveyor in a raised position, possibly during the transport movement, be loaded with the components to be transported.
  • the components must So not automatically picked up by the vehicle, but will be for example by appropriate robots placed on the vehicles. Moreover can thus devices on the vehicle to automatically pick up the components can be saved, which in turn reduces the cost of the vehicle.
  • EMS electric monorail system
  • the drives 6 is provided for torsion on the rail 3 when the load 13 swings (e.g. when cornering).
  • the invention is not limited to EMS with a rail, but can also with EMS can be used with two rails.
  • Two lifting drives 5 are provided on the upper frame 4 for driving the cable drum 14, which contribute to personal safety due to their redundancy. However, it can also other security measures for personal security are provided, e.g. Centrifugal brakes, which is not excluded by the invention.
  • the subframe 7 is over eight pieces of hoisting ropes - two at the front 9a, 9b, two at the rear 10a, 10b, two on the left 11a, 11b, two right 12a, 12b - held on the upper frame 4.
  • Fig. 4 the diagram of the cable guide to Figs. 1-3 is shown.
  • the condition for the function of the invention is the same distance A between Seilumlenk- and Connection point for all eight ropes. This also gives the same rope drainage length.
  • the arrangement is exemplary, another arrangement of the cable drum 14 could also be used (2 rope drums driven synchronously are also possible).
  • the principle of the invention is that two ropes a, b are always the same inclined rope course stabilize in one direction in pairs. moreover the ropes offset by 90 degrees on both sides prevent the load from tipping over.
  • For certain applications may also require six ropes, e.g. can in Direction only a pair of ropes can be arranged in the middle.
  • the load in the upper end position is proportional (1/8 for eight Ropes) carried by a rope segment, so the speed changes in the strong lifting range, as well as the required lifting force increases sharply.
  • the load in the upper end position is proportional (1/8 for eight Ropes) carried by two rope segments, so the speed changes in the lower lifting range, and the required lifting power does not increase as much.
  • ropes, gears, drives, drive control according to the maximum rope force must be dimensioned is a constant speed or force curve at same required lifting work cheaper. 8-11 is thus in more advantageous in this respect than that according to FIGS. 1-7.
  • FIGs. 12-15 The effect of a broken rope on personal safety is shown in Figs. 12-15 shown.
  • the left part of each figure shows a side or front or Rear view of a device according to the invention with a pair of cables per rectangular side of the upper or lower frame.
  • the right side of the rectangle was 90 degrees tilted into the drawing plane and forms the right part of the respective illustration, whereby only one rope is in operation here.
  • the reference numerals have been shown for the Example set so that in the middle of each illustration the right front corner of the Device is shown and thus the right side view in the left part of each illustration and the front view is shown in the right part of each figure.
  • FIG. 14 which corresponds to FIGS. 8-11, and according to FIG. 15 is after given a rope break a more stable position after the remaining rope 9b (FIG. 14) or 9a (FIG. 15) causes a support force also on the second corner of the subframe 7.
  • 15 has the advantage over FIG. 14 that the vertical Running a rope at two corners can further increase stability.
  • the invention is not based on a central cable drum limited.
  • Fig. 16 shows a cable guide 12a, 12b, in which the lifting drive with the drivable Cable drum 14 is attached laterally above the upper frame.
  • Fig. 17 shows an example of that in addition to fixed drivable drums other lifting drive concepts can be used.
  • the drum 15 By moving the drum 15 horizontally, the subframe 7 is raised, whereby for the sloping rope sections the difference in the running length between sloping and vertical rope section is compensated by the deflection rollers 16a, 16b.
  • rockers are used on the one hand, via the two traction means each are guided and which deflect when a traction device fails, the traction device tear is detected via the rash.
  • the rope break detection can be done via disk spring packs on the rope connection be recognized.
  • the force on the disc spring package and changes hence its length, which makes a rope break detectable. Either it comes on
  • a plate spring package with monitoring is provided for each cable connection point or the ropes become a central point from their intended connection point Connection point redirected, where with monitoring several ropes at the same time are monitored, whereby the break of a rope is also detected.
  • Such vehicles are advantageous in transport systems, such as monorails, used as already described in the introduction to the description.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Vibration Prevention Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Automatic Assembly (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)

Abstract

Device has upper frame (4) attached to the vehicle and lower frame (7) at distance beneath it, held on it by traction elements (9a-12b) and vertically movable by lifting drive. Belt or cable traction elements are angled to the vertical in one section in which they pass between the lower and upper frames to stabilize the position of the lower frame, for performing work on a load (13) attached to lower frame. Independent claims are also included for the following: a suspension track with vehicles.

Description

Die Erfindung betrifft eine Transport- und Positioniereinrichtung für ein Fahrzeug einer Hängebahn, wobei die Einrichtung zumindest aus einem am Fahrzeug befestigten Oberrahmen und einem in einem Abstand darunter angeordneten Unterrahmen besteht und der Unterrahmen durch band- oder seilförmige Zugmittel am Oberrahmen gehalten und mittels Hubantrieb vertikal verfahrbar ist, und wobei für zumindest einen der Abschnitte, in dem die Zugmittel vom Ober- zum Unterrahmen oder umgekehrt geführt sind, zur Stabilisierung der Lage des Unterrahmens, einen Winkel mit der Vertikalen einschließen.The invention relates to a transport and positioning device for a vehicle Monorail, the device at least one attached to the vehicle Upper frame and a subframe arranged at a distance below it and the lower frame is held on the upper frame by means of band or rope-shaped traction means and can be moved vertically by means of a lifting drive, and for at least one of the Sections in which the traction means from the upper to the lower frame or vice versa are, to stabilize the position of the subframe, an angle with the vertical lock in.

Hubeinrichtungen sind aus dem Stand der Technik hinreichend bekannt. In der GB 1 301 233 A, der DD 141 817 A, der US 5,150,799 A, der US 4,949,855 A und der DE 40 05 194 A1 sind beispielsweise solche Einrichtungen für Kräne offenbart. Aus der EP 325 555 A1 und der DE 39 25 172 ist ein derartiges Lasthubsystem bekannt. Die DE 195 21 066 A1 zeigt eine derartige Anordnung für Containerhubwagen. Die EP 919 509 A1 zeigt einen Portalkran für Container gemäß dem Oberbegriff von Anspruch 1, wobei der Portalkran jedoch aufgrund seiner Ausbildung mit nur einem Fahrzeug nicht als Hängebahn angesehen werden kann. Alle diese Einrichtungen dienen hauptsächlich zum Heben von Lasten und zielen darauf ab, das Pendeln und Schwanken der zu hebenden Last durch eine schräge Anordnung der Zugmittel zu verhindern.Lifting devices are sufficiently known from the prior art. GB 1 301 233 A, DD 141 817 A, US 5,150,799 A, US 4,949,855 A and DE 40 05 194 A1, for example, disclose such devices for cranes. Such a load lifting system is known from EP 325 555 A1 and DE 39 25 172. DE 195 21 066 A1 shows such an arrangement for container pallet trucks. EP 919 509 A1 shows a gantry crane for containers according to the preamble of claim 1, but the gantry crane cannot be regarded as a monorail due to its design with only one vehicle. All of these devices are mainly used for lifting loads and aim to prevent the load to swing and sway by an inclined arrangement of the traction means.

Hängebahnen, wie Elektrohängebahnen (kurz EHB) mit einer oder mehreren Schienen, dienen vor allem dem Transport von Lasten. Sie werden jedoch auch gleichzeitig zur Durchführung von Montagearbeiten an der an einem Fahrzeug der Hängebahn befestigten Last eingesetzt, insbesondere in Fertigungsstraßen in der Kraftfahrzeug-Industrie.Overhead monorails, such as monorail systems (EHB for short) with one or more rails, serve primarily to transport loads. However, they also become Carrying out assembly work on a monorail vehicle fixed load used, especially in production lines in the automotive industry.

Für die verschiedenen erforderlichen Arbeitshöhen sowie für die Überquerung von Fahrstraßen muss die Last auf unterschiedliche Transporthöhen gebracht werden. Dazu werden entweder Fahrzeuge mit starrem Gehänge (=Lastaufnahmemittel) eingesetzt und die verschiedenen Höhen durch Steigungen und Gefälle im Streckenverlauf erreicht, oder es werden bei horizontalem Streckenverlauf mittels einer oder mehrerer an den Fahrzeugen angeordneten Hubeinrichtungen die Höhe der Gehänge und damit der Last verändert. Insbesondere bei größeren Lasten wird die zweite Lösung bevorzugt.For the various required working heights as well as for crossing The load must be brought to different transport heights on routes. To either vehicles with rigid hangers (= load suspension devices) are used and reached the different heights through inclines and descents in the course of the route, or in the case of a horizontal route, one or more are sent to the Vehicles arranged lifting devices the height of the hangers and thus the load changed. The second solution is preferred in particular for larger loads.

Bisherige Lösungen für solche Hubeinrichtungen besitzen beispielsweise eine Hubwinde und ein eigenes Führungssystem um die Last in horizontaler Richtung stabil zu halten. Previous solutions for such lifting devices have, for example, a lifting winch and its own guide system to keep the load stable in the horizontal direction.

Ein Kippen der Last wird entweder durch das Führungssystem verhindert (dieses muss dann entsprechend steif sein) oder durch Lastaufhängung an vier Eckpunkten, wobei auch dann ein Führungssystem gegen seitliches Auspendeln benötigt wird. Bevorzugt werden dafür verschiedene Arten von Scherenmechanismen oder Klapparme eingesetzt.The guide system either prevents the load from tipping over (this must then be correspondingly rigid) or by load suspension at four corner points, whereby a guidance system against lateral swinging is also required. Prefers Different types of scissor mechanisms or folding arms are used for this.

Nachteil solcher Mechanismen ist das Gewicht, das bei ausreichend steifer Konstruktion erforderlich ist. Dies bedingt eine höhere Leistung bei Hub- und Fahrantrieben und eine stärkere Stahlkonstruktion für den Streckenverlauf der Hängebahn.The disadvantage of such mechanisms is the weight, which is required with a sufficiently rigid construction is required. This requires a higher performance with lifting and travel drives and a stronger steel construction for the route of the monorail.

Auch muss auf die Personensicherheit Rücksicht genommen werden, die für Arbeiten an und unter der hängenden Last erforderlich ist.Personal safety must also be taken into account when working on and is required under the hanging load.

Eine Aufgabe der Erfindung ist es daher, eine ausreichend stabile, aber leichte Transportund Positionierungseinrichtung für Hängebahnen zur Verfügung zu stellen.It is therefore an object of the invention to provide a sufficiently stable but easy transport and To provide positioning device for monorails.

Die Lösung der Aufgabe ist in Anspruch 1 festgehalten.The solution to the problem is set out in claim 1.

Es kann dabei vorgesehen sein, dass alle Zugmittel für zumindest einen der Abschnitte, in dem die Zugmittel vom Ober- zum Unterrahmen oder umgekehrt geführt sind, einen Winkel mit der Vertikalen einschließen. Insbesondere kann vorgesehen sein, dass der Winkel gleich groß ist.It can be provided that all traction means for at least one of the sections in which the traction means are guided from the upper to the lower frame or vice versa, one Include angles with the vertical. In particular, it can be provided that the Angle is the same.

Neu an dieser Erfindung ist, dass durch die Verwendung von band- oder seilförmigen Zugmitteln, wie Seilen, Gurten, Ketten, Riemen oder ähnlichem, für Hängebahnen eine Transport- und Positionierungseinrichtung mit geringem Gewicht verwirklicht wird. Die schräge Führung der Zugmittel ermöglicht die horizontale Stabilisierung des Unterrahmens und der daran, beispielsweise mittels eines Gehänges, befestigten Last. Dies dient der Personensicherheit, indem das Pendeln der Last verhindert wird. Der gleiche Winkel für alle Zugmittel ist vorteilhaft, da eine gleiche Ablauflänge aller Zugmittel gegeben ist. Es können jedoch auch Zugmittelführungen mit verschiedenen Winkeln oder auch nur vertikalen Zugmittelführungen kombiniert werden, wobei die Zugmittel dann entsprechenden Hubeinrichtungen zugeordnet werden.What is new about this invention is that a low-weight transport and positioning device is realized for overhead monorails by using band-shaped or rope-shaped traction means, such as ropes, belts, chains, belts or the like. The inclined guidance of the traction means enables the horizontal stabilization of the lower frame and the load attached to it, for example by means of a hanger. This ensures personal safety by preventing the load from swinging. The same angle for all traction devices is advantageous because all traction devices have the same run length. However, traction device guides with different angles or only vertical traction device guides can also be combined, the traction devices then being assigned to corresponding lifting devices.

Eine Lösung durch schräge Führung von Tragseilen wie bei Kränen wurde bisher für Hängebahnen nicht in Betracht gezogen. Es war davon auszugehen, dass diese Ausführung für Hängebahnen zu instabil ist aufgrund der Elastizität der Tragseile und dem Ausweichen der Last bei größeren Horizontalkräften. Auch die Rückstellkraft bei Auslenkung ist lastabhängig, d.h. es ist keine stabile Lage bei geringen Lasten gegeben. Erst bei näherer Untersuchung der Gegebenheiten bei Hängebahnen zeigte sich überraschenderweise, dass trotz des begrenzten möglichen Anbindungsabstandes der Hubseile durch geeignete schräge Führung der Hubseile, in Zusammenwirken mit der beim Einsatz von Hängebahnen auftretenden begrenzten Hubhöhe und ständigem Vorhandensein von ausreichender Last eine stabile Lage des Unterrahmens erreicht werden kann. Auch eine Erhöhung der Personensicherheit im Hinblick auf einen Schutz bei einem Ausfall eines Zugmittels, die bei Kränen nicht erforderlich ist, kann durch redundante Anordnung von Zugmitteln erreicht werden.So far, a solution through the inclined guidance of suspension ropes as with cranes was for Monorails not considered. It was assumed that this Execution for monorails is too unstable due to the elasticity of the suspension cables and the Dodge the load with larger horizontal forces. Also the restoring force at Deflection depends on the load, i.e. there is no stable position at low loads. It was only after a closer examination of the situation with monorails that it became apparent Surprisingly, that despite the limited possible connection distance the Lifting ropes through suitable inclined guidance of the lifting ropes, in cooperation with the when using overhead conveyors limited lifting height and constant Presence of sufficient load reaches a stable position of the subframe can be. Also an increase in personal security in terms of protection in the event of a failure of a traction device, which is not required for cranes, by redundant arrangement of traction devices can be achieved.

Zur entsprechenden Dimensionierung der Einrichtung ist erfindungsgemäß vorgesehen, dass der Winkel von der auf die Zugmittel wirkenden Gewichtskraft und der maximal, insbesondere parallel zur Ebene der Schrägführung, wirkenden horizontalen Kraft bei Arbeit an der am Unterrahmen befestigten Last bestimmt ist. Dabei wird ein möglichst großer Abstand der Anbindungspunkte gewählt. Im gegenständlichen Fall der Hängebahn beträgt die Hubhöhe etwa das 2-fache vom Abstand der Anbindungspunkte der Zugmittel am Oberrahmen bzw. Unterrahmen. Daraus ergibt sich eine Mindestkraft von 5% des Eigengewichtes, die an einem Eckpunkt des Unterrahmens wirken muss, um eine horizontale Auslenkung des Unterrahmens in unterer abgesenkter Stellung zu erreichen. Aufgrund der Tatsache, dass bei dem vorgesehenen Einsatz immer der Unterrahmen und ein Lastaufnahmemittel (Gehänge) vorhanden sind, wird sich bei einem Hubgewicht von beispielsweise 1000 kg für Leerkarosse und Gehänge eine Mindestkraft von 500 N ergeben. Diese Kraft wird bei manuellen Montagevorgängen üblicherweise nicht erreicht.For appropriate dimensioning of the device, the invention provides that the angle of the weight force acting on the traction device and the maximum horizontal force acting in particular parallel to the plane of the inclined guide Work on the load attached to the subframe is intended. Doing so will large distance between the connection points selected. In the present case, the monorail the lifting height is approximately twice the distance between the connection points of the traction devices on the upper frame or lower frame. This results in a minimum force of 5% of the Dead weight, which must act at a corner point of the subframe in order to to achieve horizontal deflection of the lower frame in the lower lowered position. Due to the fact that the subframe and a load handler (sling) is available, will with a lifting weight of For example, 1000 kg for empty bodies and slings a minimum force of 500 N. result. This force is usually not achieved in manual assembly processes.

Eine gute Stabilität gegenüber Horizontalkräften kann erzielt werden, wenn der schräge Abschnitt eines ersten Zugmittels in einer Ebene liegt, die einen Winkel mit jener Ebene einschließt, welche durch den jeweils schrägen Abschnitt von zwei weiteren Zugmitteln oder durch die schrägen Abschnitte eines weiteren Zugmittels gebildet wird. Dies umfasst etwa Anordnungen von Zugmitteln, wo die schrägen Abschnitte in Draufsicht gesehen in Mehreckform (Dreieck, Viereck, Fünfeck, Sechseck...), oder in Sternform - etwa entlang der Raumdiagonalen - verlaufen.Good stability against horizontal forces can be achieved if the inclined Section of a first traction means lies in a plane that is at an angle with that plane includes which by the respective sloping section of two other traction means or is formed by the oblique sections of a further traction means. this includes such as arrangements of traction means where the oblique sections are seen in plan view in Polygonal shape (triangle, square, pentagon, hexagon ...), or in a star shape - roughly along the room diagonals - run.

In der Ruhelage heben die durch die schräge Zugmittelführung auftretenden Horizontalkräfte einander auf. Wenn am Unterrahmen oder der Last von außen eine Horizontalkraft angreift, so kann bei nur in parallelen Ebenen angeordneten schrägen Zugmittelabschnitten der Unterrahmen parallel zu diesen Ebenen pendeln, wobei die schrägen Abschnitte gespannt bleiben und die horizontale Lage des Unterrahmens nicht mehr gesichert ist. Die Rückstellkraft in die horizontale Ruhelage wäre gering. Wird hingegen ein weiteres Zugmittel beispielsweise normal zu den beiden Zugmitteln angeordnet, so tritt eine größere Rückstellkraft auf. Die Zugmittel, die durch die auf den Unterrahmen bzw. die Last wirkende Horizontalkraft entlastet werden, erschlaffen, sodass nur jene Zugmittel gespannt bleiben, die der Horizontalkraft entgegenwirken. Ein Pendeln des Unterrahmens wird vermieden, dieser bleibt in der Ruhelage bzw. kehrt rasch in diese zurück.In the rest position, those that occur due to the inclined traction mechanism lift Horizontal forces on each other. If there is one on the subframe or the load from the outside Horizontal force attacks, so can be arranged with inclined only in parallel planes Pendulum sections of the subframe oscillate parallel to these levels, the sloping sections remain taut and the horizontal position of the subframe is not is more secured. The restoring force in the horizontal rest position would be low. Becomes however, another traction device, for example normal to the two traction devices arranged, a greater restoring force occurs. The traction means by the on the Subframe or the load acting horizontal force are relaxed, so that only those traction devices that counteract the horizontal force remain tensioned. A commute of the subframe is avoided, it remains in the rest position or quickly returns to it back.

Insbesondere kann vorgesehen werden, dass zu jedem Zugmittel ein zweites Zugmittel so angeordnet ist, dass die schrägen Abschnitte der Zugmittel im Wesentlichen in einer Ebene liegen und die durch die Schrägführung entstehenden Horizontalkräfte gegensinnig wirken. Die Horizontalkräfte sind gleich groß und heben einander auf.In particular, it can be provided that a second traction mechanism is provided for each traction mechanism is arranged that the oblique sections of the traction means essentially in one Lay level and the horizontal forces arising from the oblique guidance in opposite directions Act. The horizontal forces are equal and cancel each other out.

Besonders vorteilhaft ist, wenn zu jedem Zugmittelpaar zumindest ein weiteres Zugmittelpaar vorgesehen ist, wobei die schrägen Abschnitte des weiteren Zugmittelpaars im Wesentlichen in einer Ebene liegen, die normal zur Ebene der schrägen Abschnitte des ersten Zugmittelpaars ausgerichtet ist. Beispielsweise wirken je zwei Seile paarweise in um 90 Grad versetzten Ebenen.It is particularly advantageous if at least one additional pair of traction means A pair of traction means is provided, the inclined sections of the further pair of traction means essentially lie in a plane normal to the plane of the sloping sections of the first pair of traction devices is aligned. For example, two ropes each work in pairs levels offset by 90 degrees.

Um eine möglichst einfache Führung der Zugmittel zu erreichen, kann vorgesehen sein, dass die Zugmittel zwischen Ober- und Unterrahmen jeweils in einer Ebene geführt sind.In order to achieve the simplest possible guidance of the traction means, it can be provided that that the traction means between the upper and lower frame are each guided on one level.

Entsprechende Ausführungen der Erfindung sind den Unteransprüchen zu entnehmen und werden in der Figurenbeschreibung näher erläutert. Die Anordnung der Umlenkungen bzw. Befestigungen am jeweils äußerst möglichen Punkt der Ober- und Unterrahmen dient der Stabilität. Die redundante Verwendung von zwei Zugmitteln pro Rechteckseite (und somit acht Zugmitteln pro Einrichtung) bringt Stabilität in der gesamten Horizontalebene und stellt sicher, dass das an der Last des Unterrahmens arbeitende Personal im Fall eines Zugmittelrisses nicht gefährdet wird, da durch das zweite bzw. die weiteren vorhandenen Zugmittel die Last noch gehalten wird.Corresponding embodiments of the invention can be found in the subclaims and are explained in more detail in the description of the figures. The arrangement of the diversions or fastenings at the most possible point of the upper and lower frames serves stability. The redundant use of two traction devices per rectangular side (and thus eight traction devices per facility) brings stability in the whole Horizontal plane and ensures that the one working on the load of the subframe Personnel in the event of a traction device tear is not endangered because of the second or other existing traction devices the load is still held.

Das Merkmal, dass der Hubantrieb zentral bezüglich des Oberrahmens angeordnet ist, hat den Vorteil, dass für jedes Zugmittel etwa die gleiche Länge vorgesehen werden kann. Überdies ist auf diese Weise der größtmögliche Abstand zur ersten Umlenkung gegeben, wodurch sich bei der Seilwanderung des Seils an der Trommel während des Ablaufs der kleinstmögliche Ablenkwinkel für das Seil ergibt.The feature that the linear actuator is arranged centrally with respect to the upper frame, has the advantage that approximately the same length can be provided for each traction mechanism. In addition, the greatest possible distance to the first deflection is given in this way, which causes the rope to move on the drum during the course of the results in the smallest possible deflection angle for the rope.

Wird vorgesehen, dass der Hubantrieb aus mehreren unabhängigen Einheiten besteht, so wird dadurch die Ausfallsicherheit und damit auch die Personensicherheit erhöht. Dies ist vor allem dann der Fall, wenn redundant vorgesehene Zugmittel verschiedenen Einheiten zugeordnet sind. If it is provided that the linear actuator consists of several independent units, so This increases reliability and thus also personal security. This is especially the case when redundantly provided traction devices different units assigned.

Der Hubantrieb kann als linearer Hubantrieb ausgebildet sein. Als linearer Hubantrieb, der besonders für relativ geringe Hubhöhen verwendbar ist, ist beispielsweise eine Hubgewindespindel oder ein Hydraulikzylinder vorgesehen. Dabei wird statt einer Seiltrommel, die zur Erzielung von geringer Hubgeschwindigkeit und hohem Lastmoment mit einem dementsprechenden Getriebe verbunden werden muss, der relativ kleine lineare Hubantrieb eingesetzt, der aufgrund seiner Funktionsweise kein zusätzliches Getriebe braucht.The linear actuator can be designed as a linear linear actuator. As a linear linear actuator, the is particularly useful for relatively low lifting heights, for example Lifting thread spindle or a hydraulic cylinder provided. Instead of one Rope drum used to achieve low lifting speed and high load moment must be connected to a corresponding gear, the relatively small linear linear actuator used, because of its mode of operation no additional Gearbox needs.

Um sofort entsprechende Maßnahmen treffen zu können, kann eine Einrichtung zur Überwachung von Zugmittelrissen vorgesehen werden.In order to be able to take appropriate measures immediately, a facility for Monitoring of traction device cracks can be provided.

Eine Einrichtung zum Längenausgleich von Fertigungstoleranzen stellt die gleiche Ablauflänge für alle Zugmittel sicher.A device for length compensation of manufacturing tolerances represents the same Safe drainage length for all traction devices.

Ganz besonders vorteilhaft lässt sich das Fahrzeug mit einer solchen Transport-, und Positioniereinrichtung in einer Hängebahn zum Transportieren von Bauteilen zwischen und/oder in Arbeitsstationen einer Fertigungsstrasse anwenden. Dadurch, dass die Transport- und Positioniereinrichtung leichter ausgeführt werden kann, werden die Fahrzeuge natürlich ebenfalls leichter, wodurch auch die gesamte Hängebahn weniger stabil und dadurch kostengünstiger gebaut werden kann.The vehicle can be particularly advantageous with such a transport and Positioning device in a monorail for transporting components between and / or use in workstations on a production line. Because the Transport and positioning device can be carried out more easily, the Vehicles of course also lighter, which means that the entire monorail is less stable and can therefore be built more cost-effectively.

Die Hängebahn wird besonders günstig betrieben, wenn zwischen bzw. in Arbeitsstationen der Fertigungsstrasse gleichzeitig mehrere Fahrzeugen zum Transportieren von Bauteile vorgesehen sind. Es können somit gleichzeitig mehrere Bauteile in der Fertigungsstrasse transportiert werden. Damit können Arbeitsabläufe optimiert werden und dafür gesorgt werden, dass es zu keinen unnötigen Verzögerungen in der Fertigung kommt.The overhead conveyor is operated particularly cheaply when between or in work stations the production line simultaneously several vehicles for transporting Components are provided. It can thus multiple components in the Production line to be transported. This enables work processes to be optimized and ensure that there are no unnecessary delays in manufacturing comes.

Eine weitere Steigerung der Durchlaufzeiten ergibt sich, wenn in zumindest einer Arbeitsstation der mit dem Fahrzeug transportierte Bauteil direkt auf dem Fahrzeug bearbeitet wird. Somit muss der Bauteil in der Arbeitsstation nicht in eine eigene Bearbeitungsvorrichtung gebracht werden, sondern kann direkt am Fahrzeug bearbeitet werden was die Taktzeit der Arbeitsstation bzw. der Fertigungsstraße erhöht. Eine zusätzliche Steigerung der Taktzeit kann dadurch erreicht werden, dass das Fahrzeug während der Bauteil bearbeitet wird, durch die Arbeitsstation bewegt wird, wodurch man fertigungsbedingte Stehzeiten der Fahrzeuge verhindern kann.A further increase in throughput times results if at least one Work station of the component transported by the vehicle directly on the vehicle is processed. This means that the component does not have to be in its own in the workstation Processing device brought, but can be edited directly on the vehicle what increases the cycle time of the workstation or the production line. A additional increase in cycle time can be achieved by using the vehicle while the component is being processed, it is moved through the work station, thereby production-related downtimes of the vehicles can prevent.

Wenn der auf dem Fahrzeug befindliche Bauteil zwischen den Arbeitsstationen in vollständig angehobener Position transportiert wird und in der Arbeitsstation in eine Arbeitsposition absenkt wird, vermeidet man von Haus aus mögliche Kollisionen mit Hindernissen. Wird hingegen der auf dem Fahrzeug befindliche Bauteil zwischen den Arbeitsstationen in abgesenkter Position, vorzugsweise die Arbeitsposition, transportiert und bei Bedarf angehoben, wirkt sich das günstig auf die Taktzeit aus, da in der Arbeitsstation nicht mehr abgesenkt werden muss. Beispielsweise kann man "intelligente" Fahrzeuge, ausgestattet mit Sensoren, wie beispielsweise Kameras, Infrarot oder Akustische Sensoren, zum Wahrnehmen ihrer Umwelt, vorsehen, die selbstständig Hindernissen ausweichen.If the component on the vehicle is between the workstations in fully raised position is transported and in the workstation in a If the working position is lowered, potential collisions are avoided Obstacles. However, if the component on the vehicle is between the Work stations in the lowered position, preferably the work position, transported and raised if necessary, this has a favorable effect on the cycle time, because in the Workstation no longer needs to be lowered. For example, you can "intelligent" Vehicles equipped with sensors such as cameras, infrared or Acoustic sensors, to perceive their environment, provide that independently Avoid obstacles.

Eine weitere Verbesserung der Durchlaufzeiten kann erzielt werden, wenn die Fahrzeuge der Hängebahn in einer gehobenen Position, gegebenenfalls während der Transportbewegung, mit den zu transportierenden Bauteilen beladen werden. Die Bauteile müssen also nicht eigens vom Fahrzeug selbsttätig aufgenommen werden, sondern werden, beispielsweise von entsprechenden Robotern, auf die Fahrzeuge platziert. Außerdem können damit Vorrichtungen am Fahrzeug zum selbsttätigen Aufnehmen der Bauteile eingespart werden, was wiederum die Kosten des Fahrzeuges verringert.A further improvement in lead times can be achieved if the vehicles the overhead conveyor in a raised position, possibly during the transport movement, be loaded with the components to be transported. The components must So not automatically picked up by the vehicle, but will be for example by appropriate robots placed on the vehicles. Moreover can thus devices on the vehicle to automatically pick up the components can be saved, which in turn reduces the cost of the vehicle.

Die Erfindung ist in den Figuren 1 bis 17 beispielhaft, schematisch und nicht einschränkend dargestellt.

  • Die Fig. 1, 2, und 3 zeigen die Seitenansicht, die Rückansicht und die Draufsicht eines EHB-Fahrzeugs mit einer Transport- und Positioniereinrichtung mit zwei Zugmittelumlenkungen pro Zugmittel.
  • Die Fig. 4 und 5 zeigen die den Fig. 1 und 2 entsprechenden Seilführungen.
  • Fig. 6 zeigt die Seilführung gemäß Fig. 4 bzw. Fig. 5 in Draufsicht.
  • Fig. 7 zeigt die Seitenansicht gemäß Fig. 5 bei hochgefahrenem Unterrahmen.
  • Fig. 8, 9 und 10 zeigen die Seitenansicht, die Rückansicht und die Draufsicht eines Fahrzeugs mit einer Transport - und Positioniereinrichtung mit drei Seilumlenkungen pro Zugmittel.
  • Fig. 11 zeigt die Seitenansicht gemäß Fig. 9 bei hochgefahrenem Unterrahmen.
  • Fig. 12 bis 15 zeigen verschiedene Seilführungen bei Ausfall eines Seils.
  • Fig. 16 zeigt eine Transport - und Positioniereinrichtung mit seitlich angeordnetem Hubantrieb.
  • Fig. 17 zeigt eine Transport - und Positioniereinrichtung mit linearem Hubantrieb.
    • The invention is shown in FIGS. 1 to 17 by way of example, schematically and not restrictively.
  • 1, 2 and 3 show the side view, the rear view and the top view of an EMS carrier with a transport and positioning device with two traction device deflections per traction device.
  • 4 and 5 show the cable guides corresponding to FIGS. 1 and 2.
  • FIG. 6 shows the cable guide according to FIG. 4 or FIG. 5 in a top view.
  • FIG. 7 shows the side view according to FIG. 5 with the subframe raised.
  • 8, 9 and 10 show the side view, the rear view and the top view of a vehicle with a transport and positioning device with three cable deflections per traction means.
  • FIG. 11 shows the side view according to FIG. 9 with the subframe raised.
  • 12 to 15 show different rope guides in the event of a rope failure.
  • 16 shows a transport and positioning device with a laterally arranged lifting drive.
  • 17 shows a transport and positioning device with a linear stroke drive.

    • In den Fig. 1 bis 3 ist das gesamte Fahrzeug einer Elektrohängebahn (EHB) dargestellt, welches auf einer Schiene 3 läuft und wobei üblicherweise eine gelenkige Anbindung 1 an die Laufwerke 6 vorgesehen ist, um Torsion an der Schiene 3 bei Pendeln der Last 13 (z.B. bei Kurvenfahrt) zu vermeiden. Zur Stabilisierung in den Montagelinien wird eine Pendelstütze 2 (=seitliche Führung) am Oberrahmen 4 vorgesehen. Selbstverständlich ist die Erfindung nicht auf EHB mit einer Schiene beschränkt, sondern kann auch bei EHB mit zwei Schienen verwendet werden.1 to 3, the entire vehicle of an electric monorail system (EMS) is shown, which runs on a rail 3 and usually has an articulated connection 1 the drives 6 is provided for torsion on the rail 3 when the load 13 swings (e.g. when cornering). To stabilize the assembly lines, a Pendulum support 2 (= lateral guidance) provided on the upper frame 4. It goes without saying the invention is not limited to EMS with a rail, but can also with EMS can be used with two rails.

    Am Oberrahmen 4 sind zwei Hubantriebe 5 zum Antrieb der Seiltrommel 14 vorgesehen, die aufgrund ihrer Redundanz zur Personensicherheit beitragen. Es können jedoch auch andere Sicherheitsvorkehrungen zur Personensicherheit vorgesehen werden, wie z.B. Fliehkraftbremsen, was durch die Erfindung nicht ausgeschlossen wird. Der Unterrahmen 7 ist über acht Stück Hubseile - zwei vorne 9a, 9b, zwei hinten 10a, 10b, zwei links 11a, 11b, zwei rechts 12a, 12b - am Oberrahmen 4 gehalten. Das Gehänge (=Lastaufnahme) 8 trägt die Last 13.Two lifting drives 5 are provided on the upper frame 4 for driving the cable drum 14, which contribute to personal safety due to their redundancy. However, it can also other security measures for personal security are provided, e.g. Centrifugal brakes, which is not excluded by the invention. The subframe 7 is over eight pieces of hoisting ropes - two at the front 9a, 9b, two at the rear 10a, 10b, two on the left 11a, 11b, two right 12a, 12b - held on the upper frame 4. The hanger (= load suspension) 8 carries the load 13.

    In Fig. 4 ist das Schema der Seilführung zu den Fig. 1-3 dargestellt. Die Vorraussetzung für die Funktion der Erfindung ist der gleiche Abstand A zwischen Seilumlenk- und Anbindungspunkt bei allen acht Seilen. Damit ist auch gleiche Seilablauflänge gegeben. Die Anordnung ist beispielhaft, ebenso könnte eine andere Anordnung der Seiltrommel 14 (auch 2 Seiltrommeln synchron angetrieben sind möglich) verwirklicht werden.In Fig. 4 the diagram of the cable guide to Figs. 1-3 is shown. The condition for the function of the invention is the same distance A between Seilumlenk- and Connection point for all eight ropes. This also gives the same rope drainage length. The arrangement is exemplary, another arrangement of the cable drum 14 could also be used (2 rope drums driven synchronously are also possible).

    Das Prinzip der Erfindung besteht darin, dass immer zwei Seile a, b durch gegengleichen schrägen Seilverlauf paarweise eine Stabilisierung für eine Richtung bewirken. Überdies verhindern die beidseitig um 90 Grad versetzten Seile ein Abkippen der Last. Für bestimmte Anwendungen genügen gegebenenfalls auch sechs Seile, z.B. kann in Fahrtrichtung nur ein Paar Seile mittig angeordnet werden.The principle of the invention is that two ropes a, b are always the same inclined rope course stabilize in one direction in pairs. moreover the ropes offset by 90 degrees on both sides prevent the load from tipping over. For certain applications may also require six ropes, e.g. can in Direction only a pair of ropes can be arranged in the middle.

    Die Seilkraft FS pro Seil beträgt bei der Gewichtskraft FG (Anteil je Anbindungspunkt) und bei gegebenem Winkel α des Seilabschnitts gegenüber der Vertikalen im Gleichgewichtszustand: FGunten = FS (1 + cos α) und ändert sich während des Hubes.The rope force FS per rope with the weight force FG (share per connection point) and with a given angle α of the rope section relative to the vertical in the state of equilibrium: FG below = FS (1 + cos α) and changes during the stroke.

    Im gegenständlichen Beispiel entspricht der oberen Endlage (siehe Fig. 7), wo das schräge Seilsegment annähernd horizontal liegt, näherungsweise α=90°, sodass FG = FS. In der unteren Endlage beträgt der Winkel α ca. 26°, was mit cos α = 0,9 ein Kraftverhältnis von FSoben =FG sowie FSunten =FG/1,9 ergibt. Daraus folgt: FSoben = 1,9 x FSunten In the example at hand, the upper end position (see Fig. 7), where the sloping cable segment is approximately horizontal, corresponds approximately to α = 90 °, so that FG = FS. In the lower end position, the angle α is approx. 26 °, which with cos α = 0.9 is a force ratio of FS above = FG and FS below = FG / 1.9 results. It follows: FS above = 1.9 x FS below

    Bei dieser Ausführung wird die Last in der oberen Endlage anteilsmäßig (1/8 bei acht Seilen) von einem Seilsegment getragen, damit ändert sich die Geschwindigkeit im oberen Hubbereich stark, ebenso steigt die erforderliche Hubkraft stark an.In this version, the load in the upper end position is proportional (1/8 for eight Ropes) carried by a rope segment, so the speed changes in the strong lifting range, as well as the required lifting force increases sharply.

    In den Fig. 8-11 ist das Schema einer Seilführung mit drei Umlenkungen pro Seil dargestellt. Der Gleichgewichtszustand in der unteren Endlage des Unterrahmens ist gegeben durch: FGunten = FS (2 + cos α) 8-11 the diagram of a cable guide with three deflections per cable is shown. The state of equilibrium in the lower end position of the subframe is given by: FG below = FS (2 + cos α)

    Im gegenständlichen Beispiel ergibt sich mit den analogen Berechnungen und Winkelangaben für die obere (Fig. 11) und untere (Fig. 8 und 9) Endlage: FSoben = FG/2 sowie FSunten = FG/2,9 In the example at hand, the analog calculations and angle information for the upper (Fig. 11) and lower (Fig. 8 and 9) end position result: FS above = FG / 2 and FS below = FG / 2.9

    Daraus folgt: FSoben = 1,45 x FSunten It follows: FS above = 1.45 x FS below

    Bei dieser Ausführung wird die Last in der oberen Endlage anteilsmäßig (1/8 bei acht Seilen) von zwei Seilsegmenten getragen, damit ändert sich die Geschwindigkeit im oberen Hubbereich geringer, ebenso steigt die erforderliche Hubkraft nicht so stark an. Nachdem Seile, Getriebe, Antriebe, Antriebssteuerung nach der maximalen Seilkraft dimensioniert werden müssen, ist ein konstanter Geschwindigkeits- bzw. Kraftverlauf bei gleicher erforderlicher Hubarbeit günstiger. Die Ausführung nach den Fig. 8-11 ist somit in dieser Hinsicht vorteilhafter als jene nach den Fig. 1-7.In this version, the load in the upper end position is proportional (1/8 for eight Ropes) carried by two rope segments, so the speed changes in the lower lifting range, and the required lifting power does not increase as much. After ropes, gears, drives, drive control according to the maximum rope force must be dimensioned, is a constant speed or force curve at same required lifting work cheaper. 8-11 is thus in more advantageous in this respect than that according to FIGS. 1-7.

    Die Auswirkung eines gerissenen Seiles auf die Personensicherheit ist in den Fig. 12-15 dargestellt. Der linke Teil jeder Abbildung zeigt eine Seiten- bzw. Vorder- oder Rückansicht einer erfindungsgemäßen Einrichtung mit einem Seilpaar pro Rechteckseite des Ober- bzw. Unterrahmens. Die rechts angrenzende Rechteckseite wurde um 90 Grad in die Zeichenebene gekippt und bildet den rechten Teil der jeweiligen Abbildung, wobei hier nur mehr ein Seil in Funktion ist. Die Bezugszeichen wurden für das dargestellte Beispiel so gesetzt, dass in der Mitte jeder Abbildung die rechte vordere Ecke der Einrichtung dargestellt ist und somit im linken Teil jeder Abbildung die rechte Seitenansicht und im rechten Teil jeder Abbildung die Vorderansicht gezeigt ist.The effect of a broken rope on personal safety is shown in Figs. 12-15 shown. The left part of each figure shows a side or front or Rear view of a device according to the invention with a pair of cables per rectangular side of the upper or lower frame. The right side of the rectangle was 90 degrees tilted into the drawing plane and forms the right part of the respective illustration, whereby only one rope is in operation here. The reference numerals have been shown for the Example set so that in the middle of each illustration the right front corner of the Device is shown and thus the right side view in the left part of each illustration and the front view is shown in the right part of each figure.

    Reißt durch Fertigungsfehler oder äußere Gewalteinwirkung ein Seil 9b, sodass für diese Rechteckseite nur mehr ein Seil 9a verbleibt, so hat bei der Ausführung der Fig. 12, die den Fig. 1-7 entspricht, die Last die Tendenz seitlich auszuweichen, sobald der Schwerpunkt der Last außermittig, zur Ecke des fehlenden Seiles 9b hin, liegt.Tears a rope 9b due to manufacturing defects or external force, so that for this Rectangular side only one rope 9a remains, so in the embodiment of FIG 1-7 corresponds to the load the tendency to dodge laterally as soon as the The center of gravity of the load is off-center, towards the corner of the missing rope 9b.

    Die Seilführung nach Fig. 13 hat den Vorteil, dass aufgrund der doppelten vertikalen Seilführung eine bessere Stabilisierung der Ecken als bei Fig. 12 erzielt werden kann. Zudem bewirkt der doppelte vertikale Seilstrang eine günstigere Lastveränderung über den Hub. Bei Ausfall eines Seils 9b tritt jedoch der gleiche Effekt wie bei Fig. 12 auf.13 has the advantage that due to the double vertical Rope guidance a better stabilization of the corners than in Fig. 12 can be achieved. In addition, the double vertical rope strand causes a more favorable change in load the hub. If a rope 9b fails, however, the same effect occurs as in FIG. 12.

    Wenn beide in einer Ecke des Unterrahmens geführte oder befestigte Seile 9b, 12a reißen, ist bei der Ausführung der Fig. 12 und 13 keinerlei Stützkraft in dieser Ecke vorhanden.If both ropes 9b, 12a tear, there is no supporting force in this embodiment in FIGS. 12 and 13 available.

    Bei der Ausführung nach Fig. 14, die den Fig. 8-11 entspricht, und nach Fig. 15 ist nach einem Seilriss eine stabilere Lage gegeben, nachdem das verbleibende Seil 9b (Fig. 14) bzw. 9a (Fig. 15) eine Stützkraft auch auf der zweiten Ecke des Unterrahmens 7 bewirkt. Die Seilführung nach Fig. 15 hat gegenüber Fig. 14 den Vorteil, dass durch die vertikale Führung eines Seils an zwei Ecken die Stabilität weiter erhöht werden kann.14, which corresponds to FIGS. 8-11, and according to FIG. 15 is after given a rope break a more stable position after the remaining rope 9b (FIG. 14) or 9a (FIG. 15) causes a support force also on the second corner of the subframe 7. 15 has the advantage over FIG. 14 that the vertical Running a rope at two corners can further increase stability.

    Selbst wenn von den vier an einer Ecke des Unterrahmens 7 angreifenden Seilen zwei reißen, bleibt eine Mindest-Restkraft von 2 x FS x cos α bei Fig. 14 bzw. 2 x FS bei Fig. 15. Mit dieser Kraft kann eine Schwerpunktsverlagerung der Last zur Ecke hin abgefangen werden, ohne dass es zu einem Abkippen der Ecke kommt.Even if two of the four ropes attacking a corner of the subframe 7 are two tear, there remains a minimum residual force of 2 x FS x cos α in Fig. 14 or 2 x FS in Fig. 15. With this force, the center of gravity of the load can be shifted towards the corner be intercepted without the corner tipping over.

    Die Erfindung ist bezüglich des Hubantriebskonzepts nicht auf eine zentrale Seiltrommel beschränkt.With regard to the lifting drive concept, the invention is not based on a central cable drum limited.

    Fig. 16 zeigt eine Seilführung 12a, 12b, bei der der Hubantrieb mit der antreibbaren Seiltrommel 14 seitlich oberhalb des Oberrahmens angebracht ist.Fig. 16 shows a cable guide 12a, 12b, in which the lifting drive with the drivable Cable drum 14 is attached laterally above the upper frame.

    Fig. 17 zeigt ein Beispiel dafür, dass neben feststehenden antreibbaren Trommeln auch andere Hubantriebskonzepte zur Anwendung kommen können. Im dargestellten Fall sind beide Enden eines Seils 12a, 12b am Unterrahmen 7 befestigt, wobei die dadurch entstehende Schlaufe über eine am hier nicht dargestellten Oberrahmen befestigte verfahrbare Trommel 15 geführt und an einer weiteren Umlenkrolle 16a, 16b umgelenkt. Durch waagrechtes Verfahren der Trommel 15 wird der Unterrahmen 7 angehoben, wobei für die schrägen Seilabschnitte der Unterschied in der Lauflänge zwischen schrägem und vertikalem Seilabschnitt durch die Umlenkrollen 16a, 16b ausgeglichen wird.Fig. 17 shows an example of that in addition to fixed drivable drums other lifting drive concepts can be used. In the case shown both ends of a rope 12a, 12b attached to the subframe 7, the thereby resulting loop attached to an upper frame, not shown here movable drum 15 guided and deflected on a further deflection roller 16a, 16b. By moving the drum 15 horizontally, the subframe 7 is raised, whereby for the sloping rope sections the difference in the running length between sloping and vertical rope section is compensated by the deflection rollers 16a, 16b.

    Zur Seilrisserkennung kommen einerseits Wippen zum Einsatz, über die je zwei Zugmittel geführt sind und die bei Ausfall eines Zugmittels ausschlagen, wobei der Zugmittelriss über den Ausschlag detektiert wird. For rope break detection, rockers are used on the one hand, via the two traction means each are guided and which deflect when a traction device fails, the traction device tear is detected via the rash.

    Andererseits kann die Seilrisserkennung über Tellerfederpakete an der Seilanbindung erkannt werden. Bei einem Seilriss ändert sich die Kraft auf das Tellerfedernpaket und damit dessen Länge, was einen Seilriss detektierbar macht. Entweder wird dabei an jedem Seilanbindungspunkt je ein Tellerfedernpaket mit Überwachung vorgesehen oder die Seile werden von ihrem vorgesehenen Anbindungspunkt zu einem zentralen Anbindungspunkt umgelenkt, wo mit einer Überwachung mehrere Seile gleichzeitig überwacht werden, wobei auch der Riss eines Seiles detektiert wird.On the other hand, the rope break detection can be done via disk spring packs on the rope connection be recognized. In the event of a rope break, the force on the disc spring package and changes hence its length, which makes a rope break detectable. Either it comes on A plate spring package with monitoring is provided for each cable connection point or the ropes become a central point from their intended connection point Connection point redirected, where with monitoring several ropes at the same time are monitored, whereby the break of a rope is also detected.

    Hervorgerufen durch Fertigungstoleranzen in Seil- und Trommeldurchmesser kann es zu geringen Unterschieden in der Seilablauflänge kommen. Hier bietet eine gefederte Anbindung eine günstige Möglichkeit eines Ausgleichs. Selbstverständlich können auch andere Mittel des Längenausgleichs (z.B. eine gefederte Spannrolle) zum Einsatz kommen.It can be caused by manufacturing tolerances in rope and drum diameters slight differences in the length of the cable drain. Here offers a sprung Connection a cheap way of compensation. Of course you can too other means of length compensation (e.g. a sprung tension roller) are used come.

    Anstelle des in den obigen Ausführungsbeispielen angeführten Seiles kann auch jedes andere eingangs erwähnte Zugmittel (z.B. Gurt) Verwendung finden.Instead of the rope mentioned in the above exemplary embodiments, each can also other traction devices mentioned above (e.g. belt) are used.

    Solche Fahrzeuge werden vorteilhaft bei Transportsystemen, wie Hängebahnen, verwendet, wie in der Beschreibungseinleitung bereits beschrieben.Such vehicles are advantageous in transport systems, such as monorails, used as already described in the introduction to the description.

    Claims (25)

    1. Vehicle of a telpher line, with a transporting and positioning apparatus, wherein the said apparatus consists at least of an upper frame (4) fastened to the vehicle and a lower frame (7) disposed at a distance below it, and the lower frame (7) is held on the upper frame (4) by traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) in band or cable form and is capable of vertical travel by means of a lifting drive (5, 14, 15), and wherein for at least one of the sections, in which the traction means are guided from the upper frame to the lower frame or vice versa, for stabilising the position of the lower frame (7) form an angle (α) with the vertical, characterised in that, for performing work on a load (13) fastened to the lower frame (7), the upper frame (4) is fastened to the vehicle of a telpher line of a production line, the said telpher line having a number of vehicles.
    2. Vehicle according to claim 1, characterised in that all the traction means for at least one of the sections, in which the traction means are guided from the upper to the lower frame or vice versa, form an angle (α) with the vertical.
    3. Vehicle according to claim 1 or 2, characterised in that the angle (α) is of equal size.
    4. Vehicle according to one of claims 1 to 3, characterised in that the angle (α) of the weight acting upon the traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) and of the maximum horizontal force acting in the course of work on the load (13) fastened to the lower frame (7) is predetermined.
    5. Vehicle according to one of claims 1 to 4, characterised in that the oblique section of a first traction means (9a 9b; 10a, 10b) lies in a plane which forms an angle with that plane which is formed by the oblique section, in each case, of two further traction means (11a, 11b; 12a, 12b) or by the oblique sections of a further traction means.
    6. Vehicle according to one of claims 1 to 5, characterised in that, for each traction means (9a, 10a, 11a, 12a), a second traction means (9b, 10b, 11b, 12b) is disposed in such a way that the oblique sections of the traction means lie substantially in one plane and the horizontal forces occurring as a result of the oblique guidance act in opposite directions.
    7. Vehicle according to claim 6, characterised in that, for each pair of traction means (9a, 9b; 10a, 10b; 11a, 11b; 12a, 12b), there is provided at least one further pair of traction means, the oblique sections of the said further pair of traction means lying substantially in a plane which is orientated normally to the plane of the oblique sections of the first pair of traction means.
    8. Vehicle according to one of claims 1 to 7, characterised in that the traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) between the upper and lower frames (4, 7) are guided in one plane in each case.
    9. Vehicle according to claim 7 or 8, characterised in that the upper and lower frames (4, 7) are of substantially rectangular design and identically oriented, and a pair of traction means (9a, 9b; 10a, 10b; 11a, 11b; 12a, 12b) is provided for each side of the rectangle of the upper and lower frames (4, 7) respectively.
    10. Vehicle according to claim 8 or 9, characterised in that each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is guided by a lifting drive (5, 14, 15) disposed on the upper frame (4) into the outer region of the said upper frame (4) via a first deflecting arrangement, vertically downwards from the latter, on the lower frame (7) via a second deflecting arrangement, and obliquely upwards from the latter to the upper frame (4), and is anchored in a fastening arrangement.
    11. Vehicle according to claim 8 or 9, characterised in that each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is guided by a lifting drive (5, 14, 15) disposed on the upper frame (4) into the outer region of the said upper frame (4) via a first deflecting arrangement, obliquely downwards from the latter to the lower frame (7), on the said lower frame (7) via a second deflecting arrangement, vertically upwards from the latter, on the upper frame (4) by a third deflecting arrangement, and vertically downwards from the latter to the lower frame (7), and is anchored in a fastening arrangement.
    12. Vehicle according to claim 8 or 9, characterised in that, in order to increase personal safety, each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is guided by a lifting drive (5, 14, 15) disposed on the upper frame (4) into the outer region of the said upper frame (4) via a first deflecting arrangement, vertically downwards from the latter, on the lower frame (7) via a second deflecting arrangement, vertically upwards from the latter, on the upper frame (4) by a third deflecting arrangement, and obliquely downwards from the latter to the lower frame (7), and is anchored in a fastening arrangement.
    13. Vehicle according to claim 8 or 9, characterised in that, in order to increase personal safety, each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is guided by a lifting drive (5, 14, 15) disposed on the upper frame (4) into the outer region of the said upper frame (4) via a first deflecting arrangement, vertically downwards from the latter, on the lower frame (7) via a second deflecting arrangement, obliquely upwards from the latter, on the upper frame (4) by a third deflecting arrangement, and vertically downwards from the latter to the lower frame (7), and is anchored in a fastening arrangement.
    14. Vehicle according to one of claims 1 to 13, characterised in that the lifting drive (5, 14, 15) is disposed centrally with respect to the upper frame (4).
    15. Vehicle according to one of claims 1 to 14, characterised in that the lifting drive (5, 14, 15) consists of a number of independent units.
    16. Vehicle according to one of claims 1 to 15, characterised in that the lifting drive is constructed as a linear lifting drive (15).
    17. Vehicle according to one of claims 1 to 16, characterised in that an apparatus for monitoring tears in the traction means is provided.
    18. Vehicle according to one of claims 1 to 17, characterised in that an apparatus for offsetting the length of production tolerances is provided.
    19. Telpher line with a number of vehicles, which is equipped, at least partially, with a transporting and positioning apparatus according to one of claims 1 to 18, for transporting components between and/or in work stations of a production line.
    20. Telpher line according to claim 19, characterised in that, in at least one work station, the component transported with the aid of the vehicle can be machined on the latter.
    21. Telpher line according to claim 20, characterised in that the vehicle can be moved through the work station while the component is being machined.
    22. Telpher line according to claim 20 or 21, characterised in that the component located on the vehicle can be transported between the work stations in the completely lifted position and lowered into a working position in the work station.
    23. Telpher line according to claim 20 or 21, characterised in that the component located on the vehicle can be transported between the work stations in the lowered position and lifted when necessary.
    24. Telpher line according to one of claims 19 to 23, characterised in that the vehicles can be loaded, in a raised position, with the components to be transported.
    25. Use of a vehicle according to one of claims 1 to 18 for a telpher line of a production line, wherein the said telpher line has a number of vehicles, for performing work on a load (13) fastened to the lower frame (7).
    EP00125547A 1999-11-30 2000-11-22 Trolley with rope hoisting gear having damped pendulum oscillations Expired - Lifetime EP1106563B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    AT201599 1999-11-30
    AT201599 1999-11-30

    Publications (3)

    Publication Number Publication Date
    EP1106563A2 EP1106563A2 (en) 2001-06-13
    EP1106563A3 EP1106563A3 (en) 2001-07-11
    EP1106563B1 true EP1106563B1 (en) 2003-05-07

    Family

    ID=3525990

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP00125547A Expired - Lifetime EP1106563B1 (en) 1999-11-30 2000-11-22 Trolley with rope hoisting gear having damped pendulum oscillations

    Country Status (4)

    Country Link
    EP (1) EP1106563B1 (en)
    AT (1) ATE239665T1 (en)
    DE (2) DE50002056D1 (en)
    ES (1) ES2193031T3 (en)

    Cited By (1)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    AT502741B1 (en) * 2005-10-28 2008-06-15 Ehrenleitner Franz Gravity-inertia motor structure used in ships, has looped and cross-looped chains to transfer multi-directional momentum of mass to toothed wheels fixed on drive shafts, to impart uni-directional propulsive rotation to drive shafts

    Families Citing this family (9)

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    Publication number Priority date Publication date Assignee Title
    DE10132350B4 (en) * 2001-07-04 2005-11-10 Eisenmann Maschinenbau Gmbh & Co. Kg lifting device
    DE10257108B4 (en) * 2002-12-05 2008-05-21 Eisenmann Anlagenbau Gmbh & Co. Kg Mobile lifting device
    AT502864A3 (en) 2004-10-11 2008-08-15 Ehrenleitner Franz PARALLEL KINEMATIC ROBOT
    DE102005034339B4 (en) * 2005-07-22 2009-01-15 Eisenmann Anlagenbau Gmbh & Co. Kg lifting device
    DE102005038820B4 (en) * 2005-08-17 2009-12-03 Eisenmann Anlagenbau Gmbh & Co. Kg Mobile lifting device
    DE102009034121A1 (en) * 2009-07-20 2011-01-27 Thyssenkrupp Millservices & Systems Gmbh Lifting unit for crane, has ropes continuously changed in direction to trolley after rotation at distance between rope sections and guided rope section, where rope sections are fastened to trolley and guided back to trolley
    ES2809152T3 (en) 2017-09-28 2021-03-03 Mohr Lizenz Verwaltungs Gmbh Lifting device for raising and lowering heavy objects
    CN111055855B (en) * 2019-12-31 2021-02-26 中车长江车辆有限公司 Lifting frame and air transport vehicle
    CA3229723A1 (en) 2021-09-22 2023-03-30 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering loads

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    US3081884A (en) * 1961-06-09 1963-03-19 Manning Maxwell & Moore Inc Crane with anti-sway mechanism
    CH578995A5 (en) * 1974-12-20 1976-08-31 Bbc Brown Boveri & Cie
    DE19521066A1 (en) * 1995-06-09 1996-12-12 Tax Ingenieurgesellschaft Mbh Load lifting system
    FR2771396B1 (en) * 1997-11-26 2000-02-04 Nfm Tech CONTAINER HANDLING DEVICE

    Cited By (1)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    AT502741B1 (en) * 2005-10-28 2008-06-15 Ehrenleitner Franz Gravity-inertia motor structure used in ships, has looped and cross-looped chains to transfer multi-directional momentum of mass to toothed wheels fixed on drive shafts, to impart uni-directional propulsive rotation to drive shafts

    Also Published As

    Publication number Publication date
    ES2193031T3 (en) 2003-11-01
    EP1106563A2 (en) 2001-06-13
    EP1106563A3 (en) 2001-07-11
    DE50002056D1 (en) 2003-06-12
    DE20023016U1 (en) 2002-11-14
    ATE239665T1 (en) 2003-05-15

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