EP2962976B1 - Crane system - Google Patents

Description

The invention relates to a crane system for transporting and possibly raising and lowering of loads, at least consisting of a crane longitudinal profile attachable to supports and a displaceable along the Kranlängsprofils chassis with means for receiving or holding loads, wherein the displacement of the chassis along the Kranlängsprofils by means of an electromotive Drive is carried out, wherein between the chassis and load receiving means a force receiving and power conversion unit is arranged, which is connected to control the electric motor drive with this, the at least one sensor for detecting the mechanical force pulses generated by an operator when manually moving an attached load for the direction of displacement and has the shift duration, which further comprises an electronic control that converts the detected force pulses into control signals for controlling the electric motor drive and the electromotive Drive according to the detected and converted force pulses controls.

Such crane systems that pick up loads and transport them in either one or two axes, are widely known in the art and widely used in the field.

Such crane systems are used in various industrial applications. Depending on the particular application purpose, the transport path of the load to be transported and optionally lifted may be from a few centimeters to many meters.

Many of the solutions known in the prior art remotely control the electromotive drives of such crane systems by means of wired or cordless remote controls. The remote controls each have switches for activating individual functions, such as forward, backward, left, right, up and down.

In another known in the prior art solution, a joystick is used to control the electromotive drives of the crane system. EP 0965556 A discloses a crane system according to the preamble of claim 1. In the solutions known in the prior art, it is disadvantageous that the operator in each case to control the electromotive drives of the crane system a control unit in the hand or must operate off the load, so that the controller done in the desired manner.

Due to the above-mentioned prior art, the present invention seeks to further develop a crane system of the type mentioned, in particular, for the control of an attached load no additional Control unit is required, in which the control of the electric motor drives by manually moving the attached load by the operator who detects the intended direction of the operator and controls the electric motor drives accordingly, in addition to detecting the desired direction of control acceleration or deceleration according to supported by the operator so that it is possible for the operator to move the attached load faster and more precisely to the destination and position it there.

To achieve this object, the invention proposes that the Kraftaufnahme- and force conversion unit has two in the non-use position approximately congruent plates, which are aligned approximately horizontally in the use position parallel to the ground, held together by means of a linear guide system and against each other in a parallel plane are linearly displaceable, between or at which the sensor and the electronic control are arranged, wherein the electronic control is arranged close to or on the sensor and the sensor of a on the first plate over the longitudinal course of the plate approximately centrally disposed magnet and one on the second Plate arranged contact rail, along which the magnet slides in the linear displacement of the plates consists.

By means of such a power take-off and force conversion unit according to the invention, an operator of such a crane system is able to to generate a displacement and deflection of the attached load in the desired direction of movement over the path. That means that the force absorption and Power conversion unit can record the mechanical impulses of the operator and implement in corresponding control commands for controlling the electric motor drive and can send to this drive. Thus, an operator merely has to push the load in the desired direction, thereby producing a force pulse which is detected by the sensor of the force absorption and power conversion unit and is passed through the electronic control of the power and force conversion unit in a control command to the electric motor drive of the crane system. In this case, the displacement of the operator generates a force pulse, which is detected by the sensor and the electric motor control and converted according to the desired direction, the speed and the desired path length in the control of the drive. Thus, by simply pushing the load, the operator can control both the desired displacement direction and the displacement speed and the displacement path length. This allows a particularly fast and also very precise positioning of the load towards and at the desired location, since the attached load always follows the desired displacement direction of the operator. To control the attached load in the direction of displacement thus no further controls must be operated by the operator.

Here, the force and force conversion unit sensor consists of a magnet running along a contact rail, whereby upon movement of an attached load by an operator, the first plate is linearly displaced with respect to the second plate and the magnet is displaced along the contact rail according to the desired operating direction. wherein the displacement of the magnet along the contact rail is detected lengthwise and transmitted by the electronic control of the power and force conversion unit in a corresponding control command to the electric motor drive of the landing gear, so that this controlled according to the displacement of the suspended load by the operator by an electric motor becomes. Thus follows the chassis with the attached load each of the displacement direction, which is determined by the operator by the manual pushing of the load. For example, by the operator no more manual pressure on the applied load exerted, the sensor recognizes this and sends a command to stop the electric motor drives by means of the controller to the drives. For example, if the user exerts only a slight pressure on the attached load, it will be evaluated as a control command for slow movement of the landing gear in the desired direction and transmitted to the electric motor drive. Thus, by exerting force on the attached load, the operator can determine both the direction of displacement and the speed of the desired displacement and travel. The arrangement of two approximately congruent plates, which are held together by means of a linear guide system and mutually displaceable against each other, the use of larger loads, for example, up to 500 KG trailer load in a crane system according to the invention is made possible.

Further, it may be particularly preferred that the linear guide system consists of a guide rail or a plurality of arranged on a plate guide rails and arranged on the other plate guide elements in which the guide rail or the guide rails is guided or are.

This also makes it possible to attach relatively high loads to a crane system with a force absorption and force conversion unit according to the invention.

In addition, it may be particularly preferred that between the plates suspension and / or Damping means are arranged which cushion or dampen the mutual linear displacement of the plates and limit the Linearverschiebeweg that hold the plates in their non-conducive position in their approximately congruent position.

By arranging appropriate suspension and / or damping means, in particular, an undesirably large displacement of the plates can be damped or cushioned against one another at high suspended loads, so that the displacement can be precisely converted into control signals for controlling the electronic drives.

As a damping means may be particularly preferably provided, for example, that on a plate a gas spring with gas cylinder and against the gas pressure cylinder longitudinally displaceable piston rod is fixed, the free end rests against a arranged on the other plate stop.

Such a damping means can avoid erroneous operation by pulse peaks both when accelerating and during braking, in that the plates can only be displaced against each other by the damping means at a low speed. Alternatively, the damping means may also comprise a gas pressure cylinder with piston rods protruding from the gas pressure cylinder on both sides, the free ends of which rest against a stop arranged on the other plate in order to damp a linear movement in both directions by the gas pressure damper.

In addition, it may be particularly preferably provided that a first abutment is arranged on a plate near the center of the plate and on the other plate each close to their front and rear side edge margin in the linear shift each a further abutment is arranged, in each case between the first and each other Abutment a spring element or a coil spring is arranged, wherein on the first and / or the further abutments a receiving mandrel is arranged as a guide means for the spring element or the coil spring.

The thus arranged spring elements or coil springs prevent unwanted and thus imprecise too fast displacement of the first plate relative to the second plate, whereby a misinterpretation of the force pulses of the operator is largely prevented by the sensor. Thus, the plates must be moved against each other against the force of a spring, thereby ensuring that pulse peaks are largely excluded, for example, during initial displacement by an operator.

In addition, spring elements or coil springs arranged in this way also serve to return the plates, which are displaced against each other during use, to the approximately congruent non-use position. For this purpose, both spring elements or coil springs about the same spring force.

It can also be particularly preferably provided that a travel limit stop is arranged on the first and / or the further abutments or on each receiving mandrel.

It can be particularly preferably provided that the travel limit stop of an elastic material, for example rubber.

As a result, in particular damage to parts of the power and force conversion unit when reaching the maximum displacement of the plates against each other largely prevented.

Furthermore, it can be particularly preferably provided that the force absorption and power conversion unit is arranged directly on or indirectly close to the chassis.

Here, for example, to the force absorption and power conversion unit, a further load-handling means such as a pulley or a motor-driven cable or chain hoist can be attached, by means of which the load to be transported can be raised and lowered.

Alternatively, it can be particularly preferably provided that a rigid axle is arranged between the chassis and the load-carrying means, wherein the force absorption and power conversion unit is arranged between the load-receiving means and the axle.

It can be particularly preferably provided that the rigid axle consists of a telescopic axis.

By arranging a telescopic axis between the chassis and load handling means on the one hand, the power and force conversion unit is located near the attached and transported load, and on the other hand allows quick and easy lifting of the attached load by operating the appropriate function on the telescopic axis.

Furthermore, it can be particularly preferred that the plates have a square or rectangular shape.

To solve the above object for a crane system for transporting and optionally raising and lowering of loads, consisting of a spaced apart, parallel cross members displaceable crane longitudinal profile and along the Kranlängsprofils displaceable chassis with means for receiving or holding loads, the displacement of the Chassis along the Kranlängsprofils and the displacement of the Kranlängsprofils along the parallel cross member by means of electromotive drives, the invention proposes that two mutually rotated by 90 degrees Kraftaufnahme- and power conversion units according to claim 1 consecutively or as a common unit connected to the crane system between the chassis and load handling means are arranged, wherein the one power take-up and power conversion unit, the electric motor drive along the cross member and the other Power absorption and power conversion unit controls the electric motor drive along the crane longitudinal profiles.

Even with a crane system with crane longitudinal profile displaceable on crossbeams, a force absorption and force conversion unit according to the invention can be used by combining two force absorption and force conversion units rotated by 90 ° to one another. The first power take-off and power conversion unit serves to control the crane system in the longitudinal direction and the second power take-up and power conversion unit for controlling the crane system in the transverse direction. Thus, an attached load can be made by simply shifting and thus generating force pulses by an operator both in the longitudinal direction and in the transverse direction respectively back and forth according to the operator's request without the aid of other operating means such as a remote control.

Embodiments of the invention are illustrated in the figures and described in more detail below.

Figur 1

ein erstes Ausführungsbeispiel eines erfindungsgemäßen Kransystems mit Kranlängsprofil, elektromotorischem Antrieb und Kraftaufnahme- und Kraftumwandlungseinheit von schräg unten gesehen;

Figur 2

die Kraftaufnahme- und Kraftumwandlungseinheit an Figur 1 von vorne gesehen;

Figur 3

desgleichen in Seitenansicht;

Figur 4

desgleichen von schräg unten gesehen;

Figur 5

desgleichen von schräg oben gesehen in Explosionsansicht;

Figur 6

eine erste Teilansicht einer erfindungsgemäßen Kraftaufnahme- und Kraftumwandlungseinheit von schräg oben gesehen;

Figur 7

eine weitere Teilansicht von schräg unten gesehen;

Figur 8

eine weitere Teilansicht von schräg oben gesehen;

Figur 9

eine Kombination zweier um 90° zueinander verdrehter Kraftaufnahme- und Kraftumwandlungseinheiten ohne Zwischenplatte.

It shows:

FIG. 1

a first embodiment of a crane system according to the invention with crane longitudinal profile, electric motor drive and power absorption and power conversion unit viewed obliquely from below;

FIG. 2

the force absorption and power conversion unit FIG. 1 seen from the front;

FIG. 3

likewise in side view;

FIG. 4

likewise seen from obliquely below;

FIG. 5

likewise seen obliquely from above in exploded view;

FIG. 6

a first partial view of a force-absorbing and power conversion unit according to the invention viewed obliquely from above;

FIG. 7

another partial view seen obliquely from below;

FIG. 8

another partial view seen obliquely from above;

FIG. 9

a combination of two mutually rotated by 90 ° force absorption and force conversion units without intermediate plate.

In the FIG. 1 a crane system is shown for transporting and optionally lifting and lowering loads. The crane system 1 consists at least of a crane longitudinal profile 2 which can be fastened to supports and a crane profile 2 which can be displaced along the crane longitudinal profile 2 Chassis 3. On the chassis 3 means 5 are arranged for receiving and holding loads. In this case, the displacement of the chassis 3 along the crane longitudinal profile 2 by means of an electric motor drive 4. According to the invention, a force absorption and power conversion unit 6 is arranged between the chassis 3 and the load-carrying means 5. The power absorption and power conversion unit 6 is connected to the control of the electric motor drive 4 with this. The connection is made by cables, which are not shown in the figures. The force-absorbing and power conversion unit 6 has a sensor 7 for detecting the mechanical force pulses for the direction of displacement generated by an operator during manual shifting of an attached load, the speed and the displacement. In addition, the force absorption and power conversion unit 6 has an electronic control which converts the detected force pulses into control signals for controlling the electromotive drive 4 and controls the electromotive drive 4 according to the detected and converted force pulses.

The electronic control also includes an evaluation unit which evaluates the force pulses detected by the sensor before converting them into control signals.

By arranging such a force absorption and power conversion unit 6 between the chassis 3 and the load receiving means 5, it is an operator allows the electromotive movement of the chassis 3 by simply pushing the to control attached load. The operator determines by the displacement of the load both the direction and the length of the displacement and the displacement speed. The operator can thus control the crane system by pushing the attached load. As soon as the operator ceases to generate force pulses in the displacement direction, this is detected by the sensor of the force absorption and force conversion unit 6 and the motorized displacement of the chassis is decelerated or stopped. In such a controlled crane system 1 so follows the electric motor driven chassis 3 of the load quasi unnoticed. The Kraftaufnahme- and power conversion unit 6 detects all the force pulses generated by the operator and converts them accordingly in control commands for controlling the electric motor drive 4. Thus, such a force-absorbing and power conversion unit 6 is capable of generating a displacement and / or deflection of an attached load via the detected push-up path.

As in particular the FIGS. 1 to 6 1, a first crane system 1 according to the invention has a force absorption and force conversion unit 6, consisting of two plates 8a, 8b which are approximately congruent with one another in the non-use position. The plates 8a, 8b are aligned in the position of use approximately horizontally parallel to the ground. The plates 8a, 8b are held together by means of a linear guide system and are linearly displaceable relative to one another in a parallel plane. In the exemplary embodiment, two parallel linear guide systems between the plates 8a, 8b arranged. Furthermore, the sensor 7 and the electronic control are arranged between the plates 8a, 8b. In this case, the electronic control is arranged on the sensor 7 in the exemplary embodiment. The sensor 7 consists of a magnet 9 arranged approximately centrally on the first plate 8a over the longitudinal course of the plate 8a and a contact rail 10 arranged on the second plate 8b. The magnet 9 slides during the linear displacement of the plate 8a relative to the plate 8b along the Contact rail 10, so that in this way the displacement and the displacement direction are detected and then separated by the electronic control in control signals to the electric motor drive 4.

Like from the FIGS. 5 to 8 it can be seen, the linear guide system consists of guide rails 11 which are arranged on a plate 8a and which engage in arranged on the other plate 8b guide members 12 and on which the guide rails 11 are each guided.

Alternatively, and not shown in the figures, the arrangement could also be such that on the second plate 8b, the guide rails 11 and the first plate 8a, the guide elements 12 are arranged.

The arrangement of such linear guides a recording of high loads in such a crane system 1 is possible. In addition, such linear guides only allow a unidirectional displacement of the plates against each other.

In order to avoid an undesirably large displacement of the plates 8a, 8b against each other, for example during the initial pushing of the load by an operator, suspension and / or damping means are arranged between the plates 8a, 8b. The suspension and / or damping means cushion the mutual linear displacement of the plates 8a, 8b or attenuate the Linearverschiebeweg and limit this during the displacement. In addition, the suspension and / or damping means keep the plates 8a, 8b in their congruent non-use position or put them back into the congruent non-use position after use.

Depending on the intended use of the crane system 1, both suspension and damping means or else merely suspension or merely damping means can be used on a force absorption and force conversion unit 6 of a crane system 1 according to the invention.

As in particular from FIG. 8 can be seen, on a plate 8b, a gas spring 13 with gas pressure cylinder 13a and opposite the gas pressure cylinder 13a longitudinally displaceable piston rod 13b attached. The free end of the piston rod 13b bears against a stop 14 arranged on the other plate 8a. Alternatively, the gas pressure damper 13 with gas pressure cylinder 13a and piston rod 13b and on the plate 8b of the stop 14 may be arranged on the plate 8a or a gas spring 13 with both sides outstanding piston rods 13b may be used.

As in particular from the Figures 5 and 6 it can be seen on a plate 8a near the center of the plate 8a, a first abutment 15 is arranged and other plate 8b each near their in
Linear displacement direction front and rear edge edge each have a further abutment 16 is arranged. In each case, between the first abutment 15 and each other abutment 16, a coil spring 17 is arranged. In addition, each receiving mandrels 18 are arranged as a guide means for the coil spring 17 at the abutments 15,16. By means of such an arrangement, the displacement of the second plate 8b relative to the first plate 8a takes place against the force of a spring. In addition, it is ensured by such an arrangement of the coil springs 17 that the plates 8a, 8b are returned to their approximately congruent position when not in use.

In order to avoid damage when reaching the path limiting stop 19, the travel limiting stop 19 is made of elastic material, in the exemplary embodiment made of rubber.

Such a force absorption and power conversion unit 6 according to the invention can be arranged directly on or indirectly close to the chassis 3 of a crane system 1 according to the invention. Thus, for example, another means for raising and lowering the load can be attached to the load-receiving means 5. This can be, for example, a pulley or an electromotive chain or cable.

Alternatively it can be arranged between the chassis 3 and load-receiving means 5 a rigid axle. In this case, the force absorption and force conversion unit 6 is arranged between the load-receiving means 5 and the rigid axle. In particular, in this case the use of a motor-driven telescopic axis is preferred as a rigid axis. Here, by means of the motor-driven telescopic axis by the operator directly to the load raising or lowering of the load can be generated, and then by the operator by manually moving the load in the desired displacement direction, a force pulse generated by the sensor 7 of the power and force conversion unit 6 is detected and is sent by the electronic control of the power and power conversion unit 6 as a control signal to the electric motor drive 4 of the chassis 3.

In the embodiments, the plates 8a, 8b have a square shape. Alternatively, other shapes, such as a right-angled shape, can be used.

For a crane system for transporting and possibly lifting and lowering of loads, consisting of a spaced apart, parallel cross beams displaceable crane longitudinal profile 2 and along the Kranlängsprofils 2 displaceable chassis 3 with means for receiving or holding loads, wherein the displacement of the chassis 3 along of crane longitudinal profile 2 and the Displacement of the crane longitudinal profile 2 takes place along the parallel cross member by means of electric motor drives can, as in particular in FIG. 9 shown, two mutually rotated by 90 ° to each other Kraftaufnahme- and power conversion units 6 consecutively or interconnected as a common unit, used and be arranged on the crane system between the chassis 3 and 5 load receiving means. By such a combination of two by 90 ° to each other twisted Kraftaufnahme- and force conversion units 6, the drive of the crane system is made possible both by the electric motor along the cross member and along the crane longitudinal profile 2. As a result, a control of the crane system in two axes following the force impulses of an operator by simply pushing it is also possible at the same time. It shows the FIG. 9 the combination of two inventive Kraftaufnahme- and force conversion units 6. For clarity, arranged in practice between the two power and force conversion units 6 intermediate plate in the FIG. 9 not shown because these parts would obscure.

By means of such Kraftaufnahme- and power conversion unit 6 according to the invention, the linear displacement of an attached load can be done in a quick and easy way by pushing the load by the operator. The combination of two mutually rotated by 90 ° force absorption and power conversion units 6 allows the operator to move the attached load in two axes by simply pushing the load in the desired direction.

LIST OF REFERENCE NUMBERS

• 1 crane system
• 2 crane longitudinal profile
• 3 landing gear
• 4 drive
• 5 means (for holding loads)
• 6 force absorption and force conversion unit
• 7 sensor
• 8 plates a / b
• 9 magnet
• 10 contact rail
• 11 guide rail
• 12 guide elements
• 13 gas spring
• 13a gas pressure cylinder
• 13b piston rod
• 14 stop for 13b
• 15 first abutment
• 16 more abutments
• 17 coil spring
• 18 mandrel
• 19 path limit stop

Claims (12)

1. A crane system (1) for transporting and, if applicable, lifting and lowering loads, at least comprised of a longitudinal profile (2) of the crane being fixable to supports and a carriage (3) being displaceable along the longitudinal profile (2) of the crane with means (5) for receiving or supporting loads, the displacement of the carriage (3) along the longitudinal profile (2) of the crane being effected by means of an electromotor drive (4), between carriage (3) and loading means (5) a force-receiving and force-converting unit (6) being disposed that is connected, for controlling the electromotor drive (4), to the latter, that includes at least one sensor (7) for detecting the mechanical force pulses produced by an operator when manually displacing a suspended load for the direction of displacement and the duration of displacement, that further includes an electronic controller which converts the detected force pulses into control signals for controlling the electromotor drive (4) and activates the electromotor drive (4) corresponding to the detected and converted force pulses, characterized by that the force-receiving and force-converting unit (6) includes two plates (8a, 8b) being, in the position of non-use, approximately congruent to each other, which plates, in the position of use, are approximately horizontal in parallel to the ground, which are held together by means of a linear guide system and are linearly displaceable relative to each other in a parallel plane, between or at which the sensor (7) and the electronic controller are disposed, the electronic controller being disposed close to or at the sensor (7) and the sensor (7) being comprised of a magnet (9) disposed at the first plate (8a) approximately centrally over the longitudinal extension of the plate (8a) and a contact rail (10) disposed at the second plate (8b), along which the magnet (9) slides when the plates (8a, 8b) are linearly displaced.
2. The crane system (1) according to claim 1, characterized by that the linear guide system is comprised of a guide rail (11) or several guide rails (11) disposed at one plate (8a, 8b), and guide elements (12) disposed at the other plate (8a, 8b), in which the guide rail (11) or the guide rails (11) is or are guided.
3. The crane system (1) according to claim 1 or 2, characterized by that between the plates (8a, 8b) cushioning and/or dampening means are disposed that cushion or dampen the mutual linear displacement of the plates (8a, 8b) and limit the linear displacement travel, and that, in the position of non-use, hold the plates (8a, 8b) in their approximately congruent position.
4. The crane system (1) according to one of claims 1 to 3, characterized by that at one plate (8a, 8b), a gas pressure damper (13) with a gas pressure cylinder (13a) and a, relative to the gas pressure cylinder (13a), longitudinally displaceable piston rod (13b) is fixed, the free end of which abuts against a stop (14) disposed at the other plate (8a, 8b).
5. The crane system (1) according to one of claims 1 to 4, characterized by that at one plate (8a, 8b) close to the center of the plate, a first abutment (15) is disposed, and at the other plate (8a, 8b) respectively close to its, in the linear displacement direction, front and rear-side marginal edge, respectively, one further abutment (16) each is disposed, between the first (15) and every further abutment (16) one spring element or one helical spring (17) each being disposed, at the first (15) and/or the further abutments (16), a receiving pin (18) as a guide means for the spring element or the helical spring (17) being disposed.
6. The crane system (1) according to claim 5, characterized by that at the first (15) and/or the further abutments (16) or at every receiving pin (18), a travel limitation stop (19) is disposed.
7. The crane system (1) according to claim 6, characterized by that the travel limitation stop (19) is comprised of an elastic material, for instance rubber.
8. The crane system (1) according to one of claims 1 to 7, characterized by that the force-receiving and force-converting unit (6) is disposed directly at or indirectly close to the carriage (3) .
9. The crane system (1) according to one of claims 1 to 7, characterized by that between carriage (3) and loading means (5), a rigid shaft is disposed, the force-receiving and force-converting unit (6) being disposed between the loading means (5) and the shaft.
10. The crane system (1) according to claim 9, characterized by that the rigid shaft is comprised of a telescopic shaft.
11. The crane system (1) according to one of claims 1 to 10, characterized by that the plates (8a, 8b) have a square or rectangular shape.
12. A crane system for transporting and, if applicable, lifting and lowering loads, comprised of a longitudinal profile (2) of the crane being displaceable at spaced, parallel cross members and a carriage (3) being displaceable along the longitudinal profile (2) of the crane with means (5) for receiving or supporting loads, the displacement of the carriage (3) along the longitudinal profile (2) of the crane and the displacement of the longitudinal profile (2) of the crane along the parallel cross members being effected by means of electromotor drives, characterized by that two force-receiving and force-converting units (6) offset by 90 degrees relative to each other according to one or several of the preceding claims are consecutively disposed or connected as a common unit at the crane system between carriage (3) and loading means (5), the one force-receiving and force-converting unit (6) activating the electromotor drive along the cross members and the other force-receiving and force-converting unit (6) activating the electromotor drive (4) along the longitudinal profiles of the crane.

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