DE102007058996A1 - Suspension gear, particularly for moving, lifting, lowering or rotating loads, particularly work pieces or car bodies, has multiple modules, which are operated automatically, and are combined with each other - Google Patents

Abstract

The suspension gear has multiple modules that are operated automatically and combined with each other, particularly mounted on one another. The suspension gear is assembled in modular manner. Each module is arranged to manipulate a load in rotatory or translative manner. The load is mounted directly or indirectly over another module. One of the two modules is formed as a moving hub, particularly lifting transverse rotation module. The transverse rotation module has upper frame in a moving or stationary guide (13).

Description

The The invention relates to a mobile hanger, in particular Drehhubgehänge, in particular for the process, lifting and lowering and rotating loads such as workpieces, Bodies or the like.

Known are rotary swivel hangers listed as prior art below for moving, lifting, lowering and uniaxial turning of loads such as z. As workpieces, especially cars, bodies or car parts in the various industries and areas of the automotive industry, Conveyor technology, logistics, warehouse technology, etc.

Known is a Drehhubgehänge with bow guide from the DE 102 07 956 A1 . 47 . 48 . 49 (ROFA GmbH, Rosenheim). It is a sturdy complex construction with bow guide and complicated drive train with tilt angle + -60 degrees. The circular guide rollers are at the same time carrying rollers.

Furthermore, some further disclosure documents of the company EISENMANN Böblingen are known. ( DE 10 2005 038 820 A1 2/22/2007, DE 10 2005 038 843 A1 2/22/2007, DE 10 2005 038 844 A1 2007.02. 22).

The The latter 3 inventions are very light and elegant, tilting / turning around the longitudinal axis is not possible, this Hangers are for smaller longitudinal accelerations designed in the direction of travel, as the obstruction of the deflections Based on the Zugmittelvorspannung due to its own weight happens.

Also known is a device according to WO 2006/039730 on a parallel kinematics basis. For tilting, lifting / lowering 3 ropes and 3 linear axes (cylinders) are used. This complex construction requires 3 cardan joints and expensive rope rewind drums and control for 6 actuators. ( 52 ). Spatial rotation is limited due to the use of universal joints and possible collisions possible.

Also known is a device according to WO 2006/047798 A1 , The subframe hangs on 6 ropes, which have to be attached with great effort. Furthermore, pulleys and some rope rewinding drums are needed. Optionally, ropes are replaced by hydraulic cylinders with pressure accumulator. ( 51 ).

50 shows a Drehhubgehänge with complex 4-fold telescopic support from Fredenhagen. This rotary lift can raise / lower the load and turn it around the longitudinal axis.

task The invention is a simple stable reliable and universally buildable hangers, in particular Drehhubgehänge with simple drive train to create, which at the same time Movement, lifting, lowering and simultaneous biaxial turning one or more loads around 2 axes and with large angles of rotation allows.

These Aufgage is achieved according to the invention, that the hanger is modular composable and at least one module of a set of several independently operable and combinable, in particular fastened together Modules, each of the modules is set to a directly or indirectly via at least one other Modules attached load rotationally and / or translatorily manipulate.

Already This modular design results in a great universality a hanger, as it meets the requirements of any can be composed of several modules, for. B. preferred as Drehhubgehänge with 2 independent modules.

• 1. ein Hubquerdrehmodul zum Heben, Senken und zumindest bereichsweisen Drehen einer Last um deren Querachse;
• 2. ein Längsdrehmodul zum Drehen einer Last um deren Längsachse;
• 3. ein Hublängsdrehmodul zum Heben, Senken und Drehen einer Last um deren Längsdrehachse;
• 4. ein Fahrmodul zum Bewegen einer Last entlang einer Führung.

It may preferably be provided that the amount of combinable modules comprises at least two of the following modules:

• 1. a Hubquerdrehmodul for lifting, lowering and at least partially rotating a load about its transverse axis;
• 2. a longitudinal turning module for rotating a load about its longitudinal axis;
• 3. a Hublängsdrehmodul for lifting, lowering and turning a load about its longitudinal axis of rotation;
• 4. a driving module for moving a load along a guide.

to preferred embodiment of a Drehhubgehänges with two independent, in particular, mutually perpendicular axes of rotation it can be provided that the hanger at least two such Module comprises, wherein at least one module as a, in particular movable Hubquerdrehmodul is formed and at least one Module is designed as a, in particular movable Längsdrehmodul.

It So can a Drehhubgehänge from at least 2 or more independently working modules spatially in exactly the task be composed of modified order and thus different and do a variety of tasks.

Under Reference to the figures, but without limitation Generality are the modules and formed hanger further described. It is with respect to all To conclude that the embodiments in conjunction with an execution mentioned technical features not only at the specific execution can be used but also in the other versions. All disclosed technical features of this invention description are classified as essential to the invention and can be combined with each other as desired or used alone.

Such an inventive hanger can be a modular structure, in particular along a guide ( 13 ) movable rotary lifting hanger ( 1 . 4 ) for the process, lifting, lowering, rotating loads around the longitudinal axis and the transverse axis, in particular with a large angle. For rotations about the longitudinal axis, which may be oriented in the direction of the travel axis, multiple rotations z. B. + -720 degrees possible.

For rotations about the transverse axis, which are oriented perpendicular to the longitudinal axis, rotations of up to 70 degrees are possible. The Drehhubgehänge is z. B. from the modules Hubquerdrehmodul ( 17 ), Longitudinal turning module ( 11 . 14 ), Stroke Torsion Module ( 7 ).

For assembling a mobile Drehhubgehänges are preferably at least three basic modules that can be spatially combined and arranged spatially according to the task, available. ( 35 to 46 ) A Hubquerdirhmodul ( 17 ) is a module designed to lift and lower the load and rotate the load about its transverse axis. The stabilization of the transverse axis against unwanted movements can be achieved with at least 2 or more 1 1/2 half-scissor pairs ( 3 . 4 ) respectively. Characteristic are large strokes, which are achieved in that the push joints ( 9 ) of the opposite shears can slide past each other without collision, in particular in spaced-apart parallel guides.

A longitudinal turning module ( 11 . 14 ) is a module that is intended for the rotational movements of the load about its longitudinal axis. Also multiple turns (+ -720 degrees) in both directions are possible. A longitudinal turning module comprises at least one drive ( 6 ) with winding shaft ( 7 ) to which the load-carrying traction means ( 5 ) are wound up.

A stroke-length rotary module ( 7 ) is a special case of the longitudinal turning module ( 11 . 14 ). A Hublängsdrehmodul arises because the traction means on two independent winding shafts ( 7B ) are wound, thus in addition to a rotational movement and a lifting movement is possible.

All modules have in common that the entire load on traction means ( 5 ), thus the stabilization mechanics, in particular scissor systems ( 3 . 4 ), Forced circulation systems ( 13a . 13b ) for rotary movements or pivot bearings ( 34 ) are little stressed for rotary movements and so the mobile Drehhubgehänge can be designed as a lightweight construction. The positive displacement guidance systems include guide rollers ( 23 . 24 . 25 ) which has an at least partially circular load-bearing frame ( 21 ) lead circular but do not wear.

The characteristics of the mobile turntable are as follows:
Lightweight construction whose essential elements are attached to the traction means, large rotations about the longitudinal axis and transverse axis, large strokes by shear system ( 3 . 4 ), whose push joints ( 9 ) can slide past one another without collision, modular design through any spatial multiple combination and arrangement of the modules -> Hub transverse module, longitudinal turning module, longitudinal stroke module.

This mobile modular rotary lifting hanger can when handling the bodies in the automotive industry and other handling tasks and automation tasks in the general engineering industry and used in conveyor technology.

One mobile rotary lift with all the above mentioned Properties, mainly meant at the same time biaxial rotation about 2 axes, multiple rotations about the longitudinal axis, large Strokes, building from independent spatially Assemblable modules, possibility of multiple loads (workpieces, Car bodies or similar) in several modules at the same time is not known and available on the market.

All modules have in common that the respective load-carrying frame with the load on the traction means ( 5 ), z. B. straps and z. B. in the modules with rotation possibility forced rotational movements by pivot bearing ( 34 ), Forced circulation systems ( 13a . 13b . 14 ), is enforced with the guide rollers and a stabilization against unwanted movements z. B. with at least two or more scissor mechanisms, in particular "1 1/2" pairs of scissors ( 3 . 4 ) is ensured. The spatial modular structure in various variations is in the 1 . 4 . 35 . 36 . 37 . 38 . 39 . 40 . 41 shown.

The used 1 1/2 scissors mechanism has 2 functions, once the stabilization against unwanted movements and the enforcement of Drehbe movement around the transverse axis.

there under Scherenmechaniken in particular such arrangements of intersecting, rotatably attached to each other at the intersection Understood poor, where two opposite ends displaceable by two different arms in a leadership are. Under the mentioned "1 1/2" pair of scissors is then one understood, in which one of the arms ends at the intersection and only one of the ends, especially one of the long arm in a leadership is displaceable.

A frequent application is the simultaneous raising / lowering and biaxial turning of a load. The rotary lift that two rotations about the longitudinal axis and transverse axis and lifting and lowering the load thus comprises two independent Modules. The vector of the longitudinal axis is identical to the Travel direction, the transverse axis is perpendicular to the longitudinal axis.

A Hubquerdrehmodul (often also referred to simply as Hubquerdrehachse) is provided, lifting and lowering the load and rotating the load about the transverse axis ( 16 . 17 ), and if necessary also for the procedure

A longitudinal turning module (often also referred to simply as a longitudinal axis of rotation) is provided for rotating the load about the longitudinal axis (FIG. 10 . 11 . 14 . 15 ) and, if necessary, also for the procedure.

A Drehhubgehänge with these characteristics (2 turns + stroke) is in the 1 . 2 . 3 . 4 . 5 . 6 presented in various views. In this Drehhubgehänge the Längsdrehmodul is attached to the subframe of the Hubquerdrehmoduls.

An independent longitudinal turning module in different versions is in the 10 . 11 . 12 . 13a . 13b . 14 . 15 shown. The independent Hubquerdrehmodul is in the 16 . 17 . 20 . 21 shown.

The independent longitudinal turning module can be extended with simple modification to a longitudinal stroke module. After this extension of the longitudinal turning module, a module is created that can lift the load, lower it and turn it around the longitudinal module and if necessary also move it ( 7 . 8th ). The extension to a Hublängsdrehmodul takes place in that the traction means on two independently driven winding shafts ( 7B ) are wound up and unwound.

The kinematic principle of a longitudinal torque module is in 13b shown schematically. A possible constructive implementation of this principle is in the 13b shown. The entire independent longitudinal turning module is in 9 . 10 . 11 . 12 shown.

The modules Hubquerdrehmodul, longitudinal torque, Hublängsdrehmodul are combined in number and Annordnung together according to the task, they can be spatially combined several times to move one or more loads. See the 35 . 36 . 37 . 38 . 39 . 40 . 41 , In the 35 . 36 . 37 . 38 . 39 . 40 . 41 were drawn as loads of bodies, of course, other z. B. be very small or very large heavy workpieces.

The longitudinal turning module comprises one or more load-bearing frames. The load-bearing frame can be circular ( 1 . 4 . 7 ), arcuate ( 24 . 25 ) or as a rectangular frame ( 30 . 31 ). The rotational movement of the load receiving frame is characterized by at least one pivot bearing ( 34 ) or at least one forced circulation ( 13a . 13b ) enforced.

Compared with the prior art, all variants shown in the figures have the advantage that the entire load is applied to traction means (eg straps) and not to support rollers. The rotational movement is enforced by rollers, which are, however, only slightly loaded guide rollers, so that the entire construction of guide roller holder ( 22 ), Roll ( 23 . 24 . 25 ), Pivot bearing ( 34 ), etc. can be carried out inexpensively, since the power flow is optimal.

The circular load-carrying frame ( 21 . 48 ) is guided in a circle with a coercive force guide device. Please refer 11 . 12 . 13a and 13b , The two or more traction means loop around once or in the closed circular frame several times the circular frame. ( 13a ).

With multiple wraps, multiple rotations of the circular load receiving frame are possible. The two traction means ( 5 ) via the pulleys ( 29 ) to a winding shaft located in the middle ( 7 ) guided. During rotary movement of the winding shaft ( 7 ) to the left, the left traction means ( 5L ), the right traction means ( 5R ) is wound up.

On the left side, a longitudinal turning module with the load in a horizontal basic position is shown. On the right side, the load-bearing frame with load is rotated by the angle alpha. When comparing the horizontal basic position (left image) and the inclined position (right image) is It can be seen that the diameters (dL, dR) on which the traction means (eg belt) are wound up and down are of different sizes.

Since the left and right belts are wound up and unwound to different diameters, the circle center of the circular load-bearing frame does not remain at rest but travels vertically. In order to enable the vertical movement of the circle center point, here the coercive force guide can be guided vertically in order to avoid distortion of the straps. The short vertical movement of the positive displacement guide device is combined with the vertical guide ( 37 ) intercepted.

at the rotational movement, the traction means preferably slip without slip at the circuit guide of the circular load-bearing frame from.

The positive displacement guide device can be designed as a kinematic device with bilateral radial binding of the circle. The roll holder ( 22 ) can have several radial outer and inner rollers ( 23 . 24 ) that guide the circle bearer (circular frame). The additional axial rollers ( 25 ) stabilize the circle frame ( 21 ) in the axial direction.

The winding shaft ( 7 ), Geared motor ( 6 ), Coercive force control, vertical guidance ( 37 ) Are on the upper frame ( 1D ) of the longitudinal turning module.

The upper frame ( 1D ) of the longitudinal torque module can be attached to any other structure. When Drehhubgehänge with two rotations about the longitudinal and transverse axis of the subframe ( 2 ) of the Hubquerdirhmodul for the attachment of the longitudinal torque module belonging components such as winding shaft ( 7 ), Geared motor ( 6 ), Kreiszwansführung, vertical guidance ( 37 ) used. In this case, duplicate functionality results.

The subframe ( 2 ) of the Hubquerdirhmodul may preferably simultaneously the upper frame ( 1D ) form the Längsdrehmodul.

Another possible embodiment of the longitudinal rotary module is in the 12 and 14 to see. The rotational movement of the load-carrying frame ( 21 ) by a pivot bearing ( 34 ) enforced. The bearing of the pivot bearing is on a support ( 36 ) on the subframe ( 2 ) to be led.

The circular load-carrying frame has the advantage that the traction means always roll symmetrically to each other on their guides, thus resulting in only low reaction forces on the guide rollers ( 23 . 24 ).

Another application is a narrow Drehhubgehänge with a small circular load-carrying frame ( 32 ), which can dip into extended workpieces. Please refer 32 . 33 . 34 ,

The Load (workpiece, eg a large expanded Frame) does not have to be inserted through a circular frame, but the small circular frame can dip into the extended workpiece. Thus, the Drehhubgehänge can be small, very narrow and inexpensive be built

Another embodiment is in the 22 . 23 to see. Through the pivot bearing ( 34 ) in the upper area, a circular pivoting movement of the load receiving frame is enforced. This embodiment is for smaller rotational movements of z. B. + -30 degrees well suited. Advantage is a simple frame, possibly an additional intentional pivoting movement. The disadvantage is that an additional reaction force is created by the different inclination of the traction means and this the pivot bearing ( 34 ) charged.

To achieve larger angles of rotation, balance weights ( 45 ). The balance weights shift the resultant force from the load and the balance weight to the center of rotation. Please refer 30 and 31 ,

A compromise solution is also a Drehhubgehänge after 24 . 25 , Here an arcuate frame is used and the swivel joint is moved downwards, whereby the center of gravity moves into the vicinity of the swivel joint and thus the swivel bearing load is reduced.

The stroke-length-turn module ( 7 . 8th . 15 ) arises from the longitudinal turning module characterized in that the short-stroke vertical guide ( 37 ) by a shear system or similar system, which prevents the unwanted movements of the hanging on the traction means load-bearing frame in the direction of travel or transverse to the direction of travel is replaced. It will be used instead of a two independent winding shafts. With equal lengths of traction means as a result of the pulling means winding up and down on two winding shafts ( 5 ) results in a lifting or lowering operation of the load. In unequal lengths of the traction means is a rotational movement of the load-carrying frame with the load.

The angle of rotation with an open circular load-carrying frame ( 38 ) is limited by the opening (slot in the circular carrier). By attaching additional pulleys ( 46 ) to the roll holder, the angle of rotation can be increased, in particular up to 110 degrees, 15 ,

The Hubquerdirhmodul the load ( 20 ) move, lift, lower and turn around the transverse axis. The Hubquerdrehmodul is in the 16 . 17 shown. The Hubquerdirhmodul comprises the upper frame ( 1 ), Subframes ( 2 ), 2 or more, e.g. B. 1 1/2 pairs of scissors. A load-carrying frame or an independent longitudinal turning module ( 11 . 14 ) are attached. The subframe ( 2 ) of the Hubquerdirhmodul can be designed so that it simultaneously as a top frame ( 1D ) of the longitudinal turning module (eg 1 ).

The traction means ( 5 ) can be positively locked with the swivel joints ( 47 ), the scissors mechanism, z. B. the "1 1/2 scissors" be connected and by shortening or extension comes a transverse rotation or a lifting or lowering movement.

If both traction means are currently the same length then the load is raised or lowered, the traction medium lengths are different lengths then the load is rotated about the transverse axis. The rotary push joints can optionally be attached to the upper frame ( 1 ) or on the subframe ( 2 ) slide. The design of the frame is such that the rotary thrust joints can slip past each other without collision, so that a large stroke is achieved.

If the upper or lower frame designed as a carrier, then the guides ( 12 ) are located on opposite sides of the carrier. Both 16 . 17 are the guides ( 12 ) for rotary joints on the upper frame.

The 23 shows an embodiment of the Hubquerdrehmoduls in which the rotary thrust joints are attached to the subframe.

The 1 shows a 2 axes (longitudinal axis and transverse axis) deflected Drehhubgehänge with a closed circular load-carrying carrier ( 21 ) with load 20 , here a body. The Drehhubgehänge in the 1 can move the load, lift and lower and rotate around the longitudinal axis and around the transverse axis. Shown is a 3D-ISO representation.

The 2 is with the content of 1 identical. Shown is the side view.

The 3 is with the content of 1 identical. Shown is the front view.

The 4 shows a 2 axes (longitudinal axis and transverse axis) deflected Drehhubgehänge with 2 closed circular load-carrying carriers ( 32 ) with load 20 , a body.

The body (it can also be another workpiece) is located between the 2 load carriers and is easily accessible from all sides. The Drehhubgehänge in the 4 can lift and lower the load and rotate around the longitudinal axis and around the transverse axis. Shown is a 3D-ISO representation.

The 5 is with the content of 4 identical. Shown is the side view.

The 6 is with the content of 4 identical. Shown is the front view.

The 7 shows a Drehhubgehänge with a deflected about the longitudinal axis load 20 , in this case a body. This Drehhubgehänge has an open circular load-bearing frame. This 2-belt turntable can move, raise and lower the load and rotate around the longitudinal axis.

The 8th is with the content of 7 identical. Shown is the front view.

The 9 shows a self-contained rotary module that can be attached to another structure. This rotary module is also referred to as a longitudinal torque module or axle. The illustrated variant allows multiple rotations of the recorded by a closed frame load, eg. B. by + -720 degrees, so-called multiple rotations.

The 10 is with the content of 9 identical. Shown is a 3D-ISO representation.

The 11 shows an independent longitudinal turning module without load (eg workpiece or body). Shown is a 3D-ISO representation.

The 12 shows a self-contained rotary module that can be attached to another structure. This rotary module comprises 2 closed load-carrying frames ( 32 ). The load (workpiece, body) is fastened between these 2 load carriers so that the workpiece is easily accessible for mounting from all sides. Multiple turns in both directions are thus possible. Shown is a 3D-ISO representation.

The 13a shows a basic kinematic sketch of a longitudinal turning module in a horizontal basic position (left) and a rotated position by the angle alpha. The traction means, in this illustration are straps ( 5 ), are offset to a winding shaft ( 7 ) wound up and unwound. The belt displacement on the winding shaft ( 7 ) is in the 13b . 14 visible, noticeable.

The 13b shows the 3D CAD constructive implementation of the 13a ,

The 14 shows a self-contained rotary module that can be attached to another structure. This longitudinal turning module is shown without load. Highly visible are the T-shaped beams that serve to accommodate the load. Shown is a 3D-ISO representation.

The 15 shows an independent rotary module, with an open circular load-receiving frame ( 38 ), which is the load ( 20 ) can rotate about the longitudinal axis at an angle + -110 degrees. The rotation angle extension is achieved by the use of additional pulley deflection rollers ( 39 ) reached.

The 16 shows two deflected in opposite directions independent Hubquerdrehmodule. The Hubquerdrehmodule can lift the load lifting and lowering and about the transverse axis. Shown is a side view.

The 17 is with the content of 16 identical. Shown is ISO representation.

The 18 shows 2 scissors whose turn thrust joints ( 9 ) can move past each other on the opposite sides of the upper and lower beams without collision. It is an almost retracted and an extended position shown in side view.

The 19 is with the content of 18 identical. Shown is a 3D-ISO representation.

The 20 shows an independent Hubquerdrehmodul in an almost retracted and an extended position without inclination. Shown is a 3D-ISO representation.

The 21 is with the content of 20 identical. Shown is the side view.

The 22 shows a Drehhubgehänge in the deflected position. This rotary lift can lift and lower the load and rotate around the longitudinal axis, which coincides with the pivot bearing ( 34 ) is fixed. Shown is the front view.

The 23 is with the content of 22 identical. Shown is a 3D-ISO representation.

The 24 shows a Drehhubgehänge shown in a deflected position with an arcuately designed load-carrying frame ( 43 ) and an offset in the direction of the load center pivot bearing ( 34 ). Shown is the front view The 25 is with the content of 24 identical. Shown is a 3D-ISO representation.

The 26 1 shows a rotary lifting hanger deflected about the longitudinal axis with a closed circular load carrying carrier (FIG. 21 ) with load ( 20 , here body). The Drehhubgehänge in the 1 can lift and lower the load and rotate around the longitudinal axis and around the transverse axis. The Drehhubgehänge is shown in the middle position without rotation of the transverse axis. Shown is a 3D-ISO representation.

The 27 is with the content of 26 identical. Shown is the front view.

The 28 shows a deflected about the longitudinal axis Drehhubgehänge with 2 closed circular load-carrying carriers with the load (body).

The Body (it may be another workpiece) is located yourself between the 2 load carriers and is from all Pages easily accessible. The Drehhubgehänge is shown in the middle position without rotation of the transverse axis. Shown becomes a 3D ISO representation.

The 29 is with the content of 28 identical. Shown is the front view.

The 30 shows a deflected about the longitudinal axis Drehhubgehänge with a balance weight ( 45 ) with a rectangular load-bearing frame ( 42 ).

The 31 is with the content of 30 identical. Shown is a 3D-ISO representation.

The 32 shows a pivoted about the longitudinal axis Drehhubgehänge with a small closed circular load-carrying carrier can easily dip into extended workpieces. That is, the large extended load is not pushed through the circular load receiving carrier, thus the load receiving carrier can be made small and inexpensive. Shown is a 3D-ISO representation.

The 33 shows a pivoted about the longitudinal axis Drehhubgehänge with a small closed circular load-carrying carrier can easily dip into extended workpieces. The representation is without drawn load.

The 34 is with the content of 32 identical. The deflection takes place in a different direction. Shown is a front view.

The 35 shows schematically tabular some possibilities of composition of Mo dule longitudinal turning module, stroke-length-modulating module, vertical lifting module and application as individual modules.

The 36 shows 2 assembled Hubquerdrehmodule. This assembly achieves a double stroke and double rotation about the transverse axis. Shown is a side view.

The 37 shows 2 assembled Hubquerdrehmodule. This assembly achieves a double stroke and a double turn around the transverse axis. Shown is a 3D-ISO representation.

The 38 shows a module combination Hubquerdrehmodul and 2 longitudinal turning modules. This allows 2 workpieces to be rotated independently. Shown is a side view. The 39 shows a module combination Hubquerdrehmodul and 2 longitudinal turning modules. This allows 2 workpieces to be rotated independently. Shown is a 3D-ISO representation.

The 39 shows a module combination Hubquerdrehmodul and 2 longitudinal turning modules. This allows 2 workpieces to be moved independently. Shown here is a 3D-ISO presentation.

The 40 shows a module combination of 2 Hubquerdrehmodulen and a longitudinal turning module. As a result, a large stroke and a large angle of rotation about the transverse axis is achieved. Shown is a side view.

The 41 shows a module combination of 2 Hubquerdrehmodulen and a longitudinal turning module. As a result, a large stroke and a large angle of rotation about the transverse axis is achieved. Shown is a 3D-ISO representation.

The 42 shows a spatial combination of a Hubquerdrehmodul and two perpendicular to one another longitudinal modules. This Drehhubgehänge composed of 3 modules can simultaneously move two loads spatially and rotate biaxial.

The 43 is from the module structure with 42 identical. We show a vertical stroke without transverse rotation. Shown is an ISO representation.

The 44 is with 43 identical. Shown is view from above.

The 45 shows a Drehhubgehänge comprising 5 independent modules namely 3 Hubquerdrehmodule and 2 longitudinal torque with 2 loads.

1

top frame

1D

top frame of the longitudinal turning module

2

subframe

3

scissors short

4

scissors long

5

traction means (eg straps, ribbons, chains, ropes etc.)

6

gearmotor

7

winding shaft

7B

winding shaft of the stroke longitudinal torque module

8th

swivel

9

Turning and sliding joint,

10

Swivel, Scissors, middle

11

winding shaft

12

guide

13

guide for the method of Drehhubgehänges, z. B. electric monorail or similar

20

Load, z. B. workpiece, body

21

closed circular load-bearing frame

22

Roll holder carrier

23

Radial roles Outside

24

Radial roles Inside

25

Axial Bearings

26

vertical guide

27

gearmotor

28

winding shaft

29

Zugmittelumlenkrollen

30

Load handling carrier

31

Verfahrrollen

32

smaller closed load carrying carrier

33

radial beams for receiving the pivot bearing

34

pivot bearing

35

Umlenkrollenhalter

36

Support for receiving the pivot bearing ( 34 )

37

Vertical compensation management

38

open (slotted) circular load-carrying carrier

39

Zugmittelumlenkrollen to increase the angle of rotation on the roll holder

40

Zugmittelbefestigung

41

wave

42

out Straight profiles welded together load carrying carrier

43

arc executed load-carrying frame

44

very small inexpensive circular load-bearing frame for immersion in spatially extended workpieces

45

counterweight

46

Scissor hinge on the Hubquerdirhmodul

48

circle guide or bowing

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10207956 A1 [0003]
• - DE 102005038820 A1 [0004]
• DE 102005038843 A1 [0004]
• DE 102005038844 A1 [0004]
• WO 2006/039730 [0006]
• WO 2006/047798 A1 [0007]

Claims (25)

Hangers, in particular for the method, lifting, lowering and / or rotating loads, in particular of workpieces, car bodies or the like, characterized in that it is modularly assembled and at least one module of several independently operable and combinable, in particular fastened to each other modules, wherein each of the modules is arranged to rotationally and / or translatorily manipulate a load attached thereto directly or indirectly via at least one other module. Hanger according to claim 1, characterized that the amount of combinable modules at least two of the following modular types include: a. a Hubquerdrehmodul for lifting, lowering and at least partially rotating a load around its transverse axis; b. a longitudinal turning module for turning a load about its longitudinal axis; c. a stroke-length rotary module for lifting, lowering and turning a load about its longitudinal axis of rotation; d. a driving module for moving a load along a guide. Hanger according to one of the preceding claims, characterized in that it comprises at least two such modules, wherein at least one module as a, in particular movable Hubquerdrehmodul is formed and at least one module is formed as a, in particular movable longitudinal turning module. Hanger according to one of the preceding claims, characterized in that a longitudinal turning module in a guide ( 13 ) movable or stationary upper frame ( 1D ), which has at least one drive arranged thereon, in particular a geared motor, with at least one winding shaft for winding and unwinding at least one traction means and at least one load-carrying frame ((3)) carried by the at least one traction means 21 . 32 . 38 . 42 . 43 . 44 ) having. A hanger according to claim 4, characterized in that one of a load-bearing frame (16) belonging to the longitudinal turning module ( 21 . 32 . 38 . 42 . 43 . 44 ) recorded load ( 20 ) of at least two or more traction means ( 5 ) is supported and the rotational movement by at least one circular positive guide or at least one pivot bearing ( 34 ) is forced, which is connected to the upper frame. Hanger according to one of the preceding claims, characterized in that the traction means ( 5 ) of the longitudinal rotary module by means of a vertical compensation guide ( 37 ) tension-free on a winding shaft ( 7 ) are arranged symmetrically parallel and that by winding one and unwinding of another traction means a rotational movement can be generated. Hanger according to one of the preceding claims, characterized in that the circumferential positive guide of the longitudinal rotary module, in particular comprising roller holder ( 22 ), Outer rollers ( 23 ), Inner rolls ( 24 ), Axial rollers ( 25 ), a circular load-bearing frame ( 21 . 32 . 38 ) leads circularly and at the same time even from one on the upper frame ( 1D ) mounted vertical guide ( 37 ) is guided for Zugmittellängenausgleich as a result of a winding process. Hanger according to one of the preceding claims, characterized in that the traction means ( 5 ) of the longitudinal torque module when a circular load carrying frame this partially or multiply offset in parallel, preferably wrap around symmetrically to each other and thus allow multiple rotations in both directions of rotation. A hanger according to one of the preceding claims, characterized in that a load-carrying frame (21) belonging to the longitudinal turning module has a circular design. 21 . 32 . 38 ), of the traction means ( 5 ) is supported, during the rotational movement by simultaneous extension or shortening of the opposite traction means ( 5 ) is due to the winding process, on the traction means ( 5 ) rolls without slip. A hanger according to one of the preceding claims, characterized in that when using an open, slotted, circular load-bearing frame ( 38 ) the angle of rotation of the longitudinal rotary module by the use of the roll holder ( 22 ) mounted additional Zugmittelumlenkrollen ( 39 ) is enlargeable. Hanger according to one of the preceding claims, characterized in that the rotational movement of the longitudinal turning module ( 10 . 11 . 12 . 13 ) through a preferably centrally to a circular load-receiving frame ( 21 ) arranged pivot bearing ( 34 ), which is at the same time attached to a vertical upper frame ( 1D ) guided carrier ( 36 ) is attached. Hanger according to one of the preceding claims, characterized in that a longitudinal turning module ( 10 . 11 . 12 . 13 ) an arcuately designed load-carrying frame ( 43 ) or a load-bearing frame composed of profiles ( 22 ) having. Hanger according to one of the preceding Ansprü che, characterized in that in the longitudinal turning module ( 10 . 11 . 12 . 13 ) the traction means are secured without wrapping around the load-receiving frame, whereby a pivot-shaped rotary movement of the load about a pivot bearing ( 34 ). Hanger according to the preceding claims, characterized in that in the longitudinal turning module ( 10 . 11 . 12 . 13 ) the load can be pushed through it when using a circular load-bearing frame or when using 2 circular load-bearing frames ( 21 ) weight ( 20 ) is attachable between these two load-receiving frame. Hanger according to one of the preceding claims, characterized in that a longitudinal turning module ( 10 . 11 . 12 . 13 ) by replacing the one winding shaft ( 7 ) by 2 independent winding shafts ( 7B ) a movable or stationary Stublängsdrehmodul is formed, by means of which a load ( 20 ) Move, raise and lower and is rotatable about the longitudinal axis. A hanger according to one of the preceding claims, characterized in that, to increase the stroke of a longitudinal stroke module, two or more opposing shear systems ( 3 . 4 ), whose rotary thrust joints ( 9 ) can slip past each other without collision or other stabilization systems are used. A hanger according to one of the preceding claims, characterized in that, in the case of a longitudinally-suspended lifting module, the traction means are arranged on two independent winding shafts ( 7B ) are wound or unwound, which in addition to the rotation of the possibility of the stroke, that is, the lifting and lowering of the load ( 20 ). Hanger according to one of the preceding claims, characterized in that a Hubquerdrehmodul a top frame ( 1 ), a subframe ( 2 ), at least 2 or more scissor mechanisms connecting these, in particular "1 1/2" pairs of scissors ( 3 . 4 ) as well as 2 drives ( 27 ), Winding shafts ( 7 ) and at least 2 or more traction means ( 5 ), which connect the upper frame and subframe, includes. Hanger according to one of the preceding claims, characterized in that it is for enlargement the stroke and the angle of rotation at least two, in particular directly Having attached Hubquerdrehmodule. Hanger according to one of the preceding claims, characterized in that a Hubquerdrehmodul belonging to Load-bearing frame, in particular the subframe with a load hanging on the traction means, in particular straps and at least two 1 1/2 scissors system for stabilization against unwanted movements due to the inertial forces and outer imprinted forces is provided. Hanger according to one of the preceding claims, characterized in that a lifting operation in the Hubquerdrehmodul comes about by the fact that during the winding process all traction means ( 5 ) currently have the same length and the Drehhubvorgang the wound or unwound traction means used have different instantaneous lengths. Hanger according to one of the preceding claims, characterized in that the rotary thrust joints ( 9 ) of the scissor mechanisms, in particular the "1 1/2" pair of scissors ( 3 . 4 ) either on the upper frame ( 1 ) or on the subframe ( 2 ) are attached. Hanger according to one of the preceding claims, characterized in that the upper frame ( 1 ) and / or the subframe ( 2 ) of the Hubquerdrehmoduls two opposing guides ( 12 ) for the attachment of the rotary thrust joints ( 9 ) exhibit. Hanger according to one of the preceding claims, characterized in that the rotary thrust joints ( 9 ) Scissors mechanisms, in particular the "1 1/2" pair of scissors ( 3 . 4 ) in the opposite guides ( 12 ) can slip past each other without collision, in particular, whereby a large stroke is achieved. Hanger according to one of the preceding claims, characterized in that the modules, in particular Hubquerdrehmodule, Longitudinal stroke modules and longitudinal turning modules with each other spatially combined and can be arranged, so that they to each other with the help of additional guides and power sources, in particular of drives, relative movements can execute.