DE102018101609B4 - Hangers, especially for an EMS (electric monorail) - Google Patents

Abstract

Hangers (1) for a monorail or multi-rail system with an upper frame (5) mounted on the carriage or formed from it with a direction of travel (F), a lower frame (6) attached to the upper frame (5) by means of a traction device hanger (16), with on Subframe (6) permanently mounted hangers (10), the support devices (14) for the goods (15), preferably car bodies, and a stabilization kinematics (2) provided between the upper frame (5) and the subframe (6), the one purely vertical relative movement between the upper frame (5) and lower frame (6) ensures, the cables (13) of the cable suspension (16) being articulated in the lower region of the hangers (10), and that the rotation of the goods (15) by one Stabilizing kinematics (2) preventing axis parallel to the direction of travel (F) eithera. is detachable, so that the lower frame (6) is held and guided in its angular position exclusively by the ropes (13) of the rope suspension (16), orb. the angular position of the stabilization kinematics (2) in the lower frame (6) by a gear defines the angular position of the stabilization kinematics (2) in the upper frame (5), orc. the angular position of the stabilization kinematics (2) in the lower frame (6) by a gear defines the lateral position of the stabilization kinematics (2) in the upper frame (5), or d. a drive in one of the frames (5, 6) determines the angular position or the lateral position of the stabilization kinematics (2) and thus defines the angular position or the lateral position of the stabilization kinematics (2) in the other frame (6, 5), characterized in that the stabilization kinematics (2) on the upper frame (5) and on the lower frame (6) each have a crossbar (17, 18) running in the direction of travel (F), which is rotatably connected to one another and to the crossbars (17, 18) by means of two arms (7 , 8) that the three arm axes run normal to the direction of travel (F) and that the rotatability of these arms can be blocked by means of a releasable holding means (9).

Description

The invention relates to a sling, also called a traction sling, in particular for an EMS (electric monorail train) and in particular for transporting bodies (motor vehicles or trucks) and for rotating them around a horizontal axis, in accordance with the preamble of claim 1. This traction sling can be used on one, two or more rail tracks, in the following it is usually simply referred to as an EMS and a sling. The term traction hanger is used variously as a generalization of rope hanger to make it clear that the type of traction device is not important.

The publication DE 10 2007 058 996 A1 discloses a hanger according to the preamble of claim 1.

The publication EP 2 055 447 A1 discloses a suspension track with stabilization kinematics between an upper and lower frame, which is only a combination of three linearly effective actuators.

The publication WO 2006/047798 A1 discloses a stabilization kinematics, which consists of ropes, and is pivoted about an axis parallel to the direction of travel.

The publication US 3,241,686 A discloses stabilizing devices that must under no circumstances be released and, because there is no need for them, cannot be released.

In the course of the production of goods, in particular vehicles (vehicles or trucks), their bodies (workpieces) are moved by means of an EMS and rotated at the various workplaces around an axis that is essentially parallel to the direction of travel and mostly in the area of the overall center of gravity parts to be rotated, including the rotating parts of the hanger.

In the prior art, various lifting mechanisms and rotating mechanisms arranged in series, for example in the manner of a ring gear, are used, for example in accordance with WO 2007/048 152 A1 by the applicant. It is irrelevant that any additional changes in height caused by the rotation can occur. When the traction means is turned, the traction means are inclined, and the associated change in height and change in geometry are irrelevant; these geometric, kinematic and dynamic phenomena are easy to master in the prior art. The problem is the extent of the twisting, which should be as large as possible to facilitate work on the body and is currently 45 ° to a maximum of 50 °, which is considered unsatisfactory. Another problem in the prior art is that transverse forces cannot be absorbed or can only be absorbed unsatisfactorily during twisting and in the twisted state, so that oscillating movements of the workpiece can occur during work.

• • möglichst einfach und kostengünstig im Aufbau, soll es sowohl Heben als auch Drehen der Last um mehr als 70° in beide Richtungen um eine Achse parallel zur Bahnachse (Fahrtrichtung) zulassen und dabei den Lastschwerpunkt möglichst wenig quer zur Fahrtrichtung verschieben;
• • Dabei und bei der Arbeit an der Karosse soll es eventuell auftretende Querkräfte aufnehmen können;
• • Da die Karosse durch das EHB Gehänge aufgenommen und abgegeben werden muss (in vielen Anlagenlayouts sogar mehrfach), soll, um den Ablauf der zahlreichen Übergaben möglichst einfach, zuverlässig und störungsfrei zu gewährleisten, das Gehänge in einer Ausgestaltung so gestaltet sein, dass dies einfach ermöglicht wird
• • Des Weiteren soll in einer Ausgestaltung als besondere Herausforderung die Relativbewegung der beteiligten Elemente bei der Hochzeit von Motor und Getriebe mit der Karosse (EHB und sogenannter Geoskid) so gestaltet werden, dass eine Systemverspannung (Überbestimmtheit) durch die zu synchronisierenden Antriebe sicher auszuschließen ist.

It is therefore the aim and object of the invention to provide a traction device suspension that meets the following requirements:

• • As simple and inexpensive as possible to set up, it should allow both lifting and rotating the load by more than 70 ° in both directions around an axis parallel to the path axis (direction of travel) and thereby shifting the center of gravity as little as possible transversely to the direction of travel;
• • When doing this and when working on the body, it should be able to absorb any transverse forces that may occur;
• • Since the body has to be picked up and handed over by the EMS builder (in many plant layouts even several times), in order to ensure that the numerous handovers are as simple, reliable and trouble-free as possible, the buckets should be designed so that this is easy is made possible
• • Furthermore, in one configuration, the relative movement of the elements involved in the marriage of the engine and transmission with the body (EMS and so-called Geoskid) should be designed as a particular challenge so that system tension (overdetermination) can be reliably ruled out by the drives to be synchronized.

1. A) lösbar ist, sodass der untere Rahmen in seiner Winkellage ausschließlich durch die Seile des Seilgehänges gehalten und geführt ist, oder
2. B) die Winkellage der Stabilisierungskinematik im unteren Rahmen durch ein Getriebe die Winkellage der Stabilisierungskinematik im oberen Rahmen definiert, oder
3. C) die Winkellage der Stabilisierungskinematik im unteren Rahmen durch ein Getriebe die seitliche Lage der Stabilisierungskinematik im oberen Rahmen definiert, oder
4. D) ein Antrieb in einem der Rahmen die Winkellage oder die seitliche Lage der Stabilisierungskinematik bestimmt und damit die Winkellage oder die seitliche Lage der Stabilisierungskinematik im anderen Rahmen definiert.

According to the invention, these objectives are achieved by the features specified in the characterizing part of claim 1 in conjunction with the features of the preamble, in other words: in the case of a hanger for a monorail or multi-rail system with an upper frame mounted on or made from it with a direction of travel, a subframe attached to the upper frame by means of a traction device suspension, with hangers fixedly mounted on the lower frame, which, preferably in their lower area, have the support devices for the goods, preferably motor vehicle bodies, and a stabilization kinematics provided between the upper frame and the lower frame, which purely vertical relative movement between Upper frame and lower frame ensures that the ropes of the rope sling in the lower area of the hangers are preferred one to the direction of travel F parallel axis, are articulated and that the rotation of the goods one to the direction of travel F parallel axis preventing stabilization kinematics either

1. A) is detachable, so that the lower frame is held and guided in its angular position exclusively by the ropes of the rope suspension, or
2. B) the angular position of the stabilization kinematics in the lower frame by a gearbox defines the angular position of the stabilization kinematics in the upper frame, or
3. C) the angular position of the stabilization kinematics in the lower frame by a gearbox defines the lateral position of the stabilization kinematics in the upper frame, or
4. D) a drive in one of the frames determines the angular position or the lateral position of the stabilization kinematics and thus defines the angular position or the lateral position of the stabilization kinematics in the other frame.

In case A), if the stabilization kinematics, hereinafter often referred to as “kinematics” for short, is released, the lower frame and the goods can swing sideways, since this can be eliminated by fixing it to the body during manipulation only applicable during twisting.

This does not occur in cases B) and C); also not in case D). It must always be taken into account, and especially in case D), that the movement and twisting takes place in a known and precisely defined manner and that the brakes, clutches and / or drives to be actuated are defined in detail before the start of operation, so that it only applies to them arrives to select and use the cheapest and most reliable components with knowledge of the invention and the field of application. If an overdetermination is to be avoided in B) to D) when picking up the goods and the wedding, only the gears or drives are to be released so that the lower platform can hang freely on the ropes. For special cases, a separate, single release in the direction of travel and transverse direction is of course also possible. The basis of the heavy-duty monorail with lift should be a simple traction device, preferably a 4-leg suspension, which is used both as a monorail and as a two-rail monorail can. Such a 4-leg sling enables the lifting movement and binds three degrees of freedom in the room.

• die 1 den prinzipiellen Aufbau eines erfindungsgemäß verwendbaren 4-Seil Gehänges,
• die 2 eine erfindungsgemäß verwendbare Stabilisierungskinematik,
• die 3 die Anbindung von Abhängern und den Seiltrieb am Unterrahmen,
• die 4 ein erfindungsgemäßes Gehänge in seiner Gesamtheit,
• die 5 das Gehänge der 4 mit verdrehter Lage des Unterrahmens und einer Karosse,
• die 6 eine Variante einer Stabilisierungskinematik,
• die 7a-7c weitere Varianten von Stabilisierungskinematiken,
• die 8 ein Gehänge mit einer Stabilisierungskinematik entsprechend der 7b in verdrehter Lage und
• die 9 ein 2-Strang-Gehänge.

The invention is explained in more detail below with reference to the drawing. Here shows, or show, purely schematically:

• the 1 the basic structure of a 4-rope sling that can be used according to the invention,
• the 2nd stabilization kinematics which can be used according to the invention,
• the 3rd the connection of hangers and the cable drive to the subframe,
• the 4th a hanger according to the invention in its entirety,
• the 5 the hanger of the 4th with the subframe twisted and a body,
• the 6 a variant of stabilization kinematics,
• the 7a-7c further variants of stabilization kinematics,
• the 8th a hanger with stabilization kinematics according to the 7b in a twisted position and
• the 9 a 2-leg sling.

A base, the 4-strand hanger 16 according to the 1 , either has a vehicle (not shown) for the intended train or is suitably connected to such a vehicle (not shown). The hanger 16 essentially comprises the motors for the winches on the upper frame, their rollers, the ropes 13 who have favourited Pulleys 12th on the subframe, and, depending on the point of view, also the folding bars explained later 11 . This is state of the art and requires no explanation here.

• Eine erfindungsgemäß verwendbare Stabilisierungskinematik 2 (2) wird oben durch Scharniergelenke 3, deren Achse in Fahrtrichtung F verläuft und unten durch Scharniergelenke 4, deren Achse ebenfalls in Fahrtrichtung F verläuft, mit dem Oberrahmen 5 bzw. dem Unterrahmen 6 verbunden. Unter Scharniergelenken werden in der Beschreibung und den Ansprüchen reine Drehgelenke mit der Möglichkeit der Drehung um eine Achse verstanden. Die Kinematik weist Traversen 17, 18 auf, die direkt in den Scharniergelenken 3, 4 gelenkig mit den Rahmen 5, 6 verbunden sind, und gleich lange Arme 7, 8, die, um Armachsen drehbar, die beiden Traversen verbinden. Die Armachsen verlaufen in ungedrehter Lage des unteren Rahmens 6 in Querrichtung Q.

This hanger 1 is now combined with kinematics that bind the three open degrees of freedom that are still open, as defined above:

• Stabilization kinematics that can be used according to the invention 2nd ( 2nd ) is hinged at the top 3rd whose axis is in the direction of travel F runs and below through hinge joints 4th whose axis is also in the direction of travel F runs, with the upper frame 5 or the subframe 6 connected. In the description and claims, hinge joints are understood as pure swivel joints with the possibility of rotation about an axis. The kinematics have trusses 17th , 18th on that right in the hinge joints 3rd , 4th articulated with the frame 5 , 6 are connected, and arms of equal length 7 , 8th which, rotatable about arm axes, connect the two cross members. The arm axes run in the non-rotated position of the lower frame 6 in the transverse direction Q .

When twisting the lower frame by changing the lengths of the ropes 13 ( 5 ) the lower frame rotates 6 from its position, which is regarded as horizontal without restricting the general public. The lower traverse 18th don't just change theirs Position (approximately rotation about an axis parallel to F through the overall center of gravity of the rotated masses), but also their angular position with respect to their own longitudinal axis, so that the kinematics as a whole emerge from their original vertical plane and inevitably twist the upper cross member 17th about their longitudinal axis. The designer is familiar with the angular dependencies of the entire system described, including the dependence on the altitude.

By releasing a brake in the bearings 3rd and or 4th can the situation described above with A) be created; by providing a gearbox, for example a flexible shaft with a corresponding transmission ratio (the angle difference on the two crossbeams is in 5 good to see) situation B) can be created by a drive (not shown) in the upper or lower frame (probably not well synchronized in both) situation D). Use case C) is over 8th clearly visible, a corresponding gear and / or drive leads to C) or again to D).

A blocking device 9 the stabilization kinematics 2nd , the forces in the direction of travel F transmits, is constructed as follows: a rope, or another traction device 21 , wraps around an upper pulley 19th on the upper frame 17th and a lower pulley 20th on the lower arm 8th . The upper pulley 19th has twice the diameter of the lower pulley 20th . Longitudinal forces that change the angle of the position of the arms 7 , 8th entail, according to the fixation of the angular position on the upper frame 5 transferred and do not lead to a change in the position of the goods due to its fixed positioning.

If both the rotation in the upper and / or lower hinge joints in the appropriate angular position of the trusses 17th , 18th is blocked as well as the rotatability of the upper pulley 19th and / or the lower pulley 20th is blocked, so performed with arms of equal length 7 , 8th the lower frame 6 opposite the top frame 5 a pure vertical movement. There will be any relative movement in the direction F and Q and the rotation around the vertical axis H from the blocked stabilization kinematics 2nd prevented. This is generally the state both when starting, driving and braking and corresponds to what is permanent in the prior art. The greatest forces occur when accelerating in the direction of travel F on, including derived moments.

The blocking device 9 can be replaced by gears / segments or the like, it is important that they release or block the rotation as desired, as explained below.

The stabilization kinematics 2nd can be replaced by other kinematics explained later.

• • eine nicht dargestellte Motor- Getriebe Einheit aktiv geschwenkt wird;
• • oder durch eine Übersetzung zwischen Unterrahmen und Stabilisierungskinematik geschwenkt wird, wobei die relative Winkellage des Unterrahmens zum Oberrahmen zur Definition der Winkelstellung der Stabilisierungskinematik verwendet wird;
• • oder, als weitere Alternative, die Drehung der Stabilisierungskinematik, wenn Querkräfte auftreten, durch ein Bremssystem blockiert wird. Dabei wird die Bremse beim gewollten Schwenken der Last bewusst frei gegeben und die Last aktiv geschwenkt.

The lateral forces to be controlled and the moments about the vertical axis are primarily initiated by the assembly line employee and are small compared to those in the direction of travel. These forces are exerted by bending and torsional forces from the subframe 6 to the top frame 5 headed, the stabilization kinematics 2nd against the top frame 5 about that as outlined above

• • a motor-gear unit, not shown, is actively pivoted;
• • or is pivoted by a translation between the subframe and stabilization kinematics, the relative angular position of the subframe to the upper frame being used to define the angular position of the stabilization kinematics;
• • or, as a further alternative, the rotation of the stabilization kinematics, when lateral forces occur, is blocked by a braking system. The brake is deliberately released when the load is swiveled and the load is actively swiveled.

The derivation of forces in the direction of travel (both directions), which in the first approximation consists of acceleration and braking forces, is achieved by the synchronization of the two movement arms 7 , 8th by means of the traction mechanism 9 enables, as explained above.

To turn the load, especially a car body 15 to more than 70 ° to two sides by one to the direction of travel F To enable parallel axis, the following is provided: As in 5 shown is the subframe 6 with four hangers 10th (Poor) to hold a body 15 fitted. At the bottom of this hanger 10th becomes a staff 11 or generally a traction device with a swivel joint 22 (Axis parallel to F ) connected. In doing so this rod 11 or this traction device on the opposite side (above) with a rope pulley 12th (Axis parallel to F ) fitted ( 3rd and 4th ). The rope is around this pulley 13 of the hanger 1 looped. The term "underside of the hangers" is to be understood broadly, it applies to all articulation points that are lower than the center of gravity of the masses to be twisted.

With this connection, it's like 4th and 5 visible, possible the subframe 6 on two sides by more than 70 ° parallel to an axis F to rotate, and through the combination with the described stabilization kinematics 2nd both the driving and the lateral forces are transmitted safely. Due to the high swivel angle the assembly of all types of components in the body is made considerably easier and the accessibility is significantly increased.

Other variants of connecting the ropes 13 that make this possible are explained below.

In this way, a simple, light and inexpensive to manufacture and maintainable EMS bucket with lifting and turning function with a swivel angle greater than 70 ° on both sides is created, which also solves the problems with the transfer of the body to the EMS and also the over-determination in the wedding station:

• Dazu wird, der Unterrahmen 6 gegenüber dem oberen Rahmen 5 in den zwei horizontalen, linearen Freiheitsgraden durch Lösen der Scharniergelenke 3 und 4 und Lösen der Blockierung der Umlenkrollen 19 und 20 entkoppelt und kann sich sodann flächig wie eine „Schwimmplatte“ frei bewegen. Nun kann sich der Unterrahmen, welcher mit dem Georahmen verbunden wird-ist, relativ zum Oberrahmen ohne zwängen in Fahrtrichtung F und quer dazu bewegen. Dadurch wird erreicht, dass die Toleranz betreffend die Montagegenauigkeit zwischen EHB-Schiene und den Elementen für die Führung der Geoskids am Boden deutlich größer ist als im Stand der Technik, was sowohl bei der Herstellung als auch bei der Wartung große Vorteile mit sich bringt. Auch Änderungen in diesem Bereich durch Wärmedehnungen im Jahreszyklus zwischen der EHB-Schiene am Stahlbau und den Bodeneinbauten führen dadurch zu keinerlei Problemen.

Optimizing the body loading and unloading, this is usually done without moving the vehicle:

• To do this, the subframe 6 opposite the top frame 5 in the two horizontal, linear degrees of freedom by loosening the hinge joints 3rd and 4th and releasing the blocking of the deflection rollers 19th and 20th decouples and can then move freely like a "floating plate". Now the lower frame, which is connected to the housing frame, can move relative to the upper frame without being forced in the direction of travel F and move across. This ensures that the tolerance regarding the mounting accuracy between the EMS rail and the elements for guiding the geoskids on the ground is significantly greater than in the prior art, which has great advantages in both production and maintenance. Changes in this area due to thermal expansion in the annual cycle between the EMS rail on the steel structure and the floor installations do not lead to any problems.

By decoupling in two directions, the transfer and removal of the body into / from the hanger is extremely simplified. Since, after uncoupling the stabilization kinematics, the lower frame can swing freely in two orthogonal directions to the upper frame (the height difference that occurs is negligible), the so-called "floating plate" is created, which means that the body can be pre-positioned without constraint and then inserted into the hanger be removed from it.

• Bei der Hochzeit wird der Antriebsstrang mit der Karosse verheiratet - dabei wird der Antriebsstrang durch einen bodengeführten Skid (Geoskid) und die Karosse auf der EHB transportiert, wobei die beiden Systeme sich bei der Hochzeit in Fahrt mechanisch vereinigen - dadurch ist der Antrieb vom Antriebsstrang zum Antrieb von der EHB überdefiniert. Um dies zu vermeiden, wird in einer Ausgestaltung der Erfindung dieses soeben erläuterte Prinzip der Schwimmplatte auch gezielt dazu genutzt, um die geometrische-kinematische-dynamische Überbestimmung bei der Hochzeit zu eliminieren.

Optimizing the wedding, in which the two movements and positions have to be synchronized:

• At the wedding, the drive train is married to the body - the drive train is transported by a floor-guided skid (geoskid) and the body on the EMS, whereby the two systems combine mechanically during the wedding - this drives the drive from the drive train to Drive defined by the EMS. In order to avoid this, in an embodiment of the invention, this principle of the floating plate, which has just been explained, is also used specifically to eliminate the geometric-kinematic-dynamic over-determination at the wedding.

When the geoskid frame is coupled to the EMS, both the traction mechanism transmission (consisting of 3, 4) and the lateral force stabilization (consisting of 2, 9) are released. Now the lower frame, which is and is connected to the body frame, can move relative to the upper frame again without being forced like a floating plate. Thus, the subframe is moved synchronously by the geoskid without coupling to the upper frame. The upper frame is still moved by the EMS carrier, which moves at the same speed as the gate frame. To compensate for any deviations, e.g. the clutch position checked by a potentiometer or the like. If the clutch and thus the potentiometer connected to this clutch is deflected, this deflection is measured and used to accelerate or decelerate the speed of the EMS drive (and / or the geoskid).

The movement of the EMS over the geoskid frame is thus decoupled and there are no constraining forces, e.g. practically always arise during electrical synchronization.

The drives necessary for variant D) are not shown in the description, these are well known to the person skilled in the field of in-house transport and, knowing the invention and the respective field of application, he can choose from a large number of possibilities. Only spindle drives for longitudinal displacements or changes in length and motor-gear units and worm drives for rotary movements should be mentioned here as an overview. The releasable brakes or clutches according to the invention can act on rotatable parts radially (shoe brakes) or axially (disc brakes), and can be equipped with all known additional functions, such as resilient elements for smooth engagement and / or for compensating for axial misalignment and the like. Linearly displaceable components can be releasably held via disengageable racks, radially movable and thus releasable cone elements and the like.

• Da der Blockierhebel 9b jeweils gelenkig an Dreharmen 23, die drehfest mit den ihnen zugeordneten beiden oberen Armen 7 verbunden ist, können sich diese annähernd (exakt wäre es, wenn dies mit einem 1:1 übersetzten Getriebe geschieht) nur um denselben Betrag, aber gegenläufig, bewegen. Da der Unterrahmen 6 (5) zusätzlich dazu mit den vier Zugmitteln 13 mit dem oberen Rahmen 5 verbunden ist und die Bewegung um die Achse 3 blockiert ist, werden Bewegungen in Richtung Q und die Rotation um die Hochachse H (oder eine dazu parallele Achse) über die Torsionssteifigkeit der Armelemente 7, 8 gebunden, einzig die lineare Bewegung in Richtung F scheint noch frei. Bei einer Bewegung in Richtung F würde aber ein unterer Arm 8 der Kinematik 2 den damit verbundenen oberen Arm 7 in eine bestimmte Richtung verdrehen und der andere untere Arm den damit verbundenen oberen Arm ebenfalls in die gleiche Richtung verdrehen. Da diese oberen Armelemente über den Stab (oder ein Getriebe) sich nur gegenläufig drehen können, ist auch die Bewegung in Q gesperrt.

Other types of stabilization kinematics are in the 6 and 7 shown, wherein analog parts are provided with the same reference numerals. The kinematics 2nd of the 6 consists of two opposing arm pairs arranged side by side, which together around the hinge joints 3rd , 4th are rotatable. A blocking device 9b is arranged in the form of a locking lever between the two upper arms:

• Because the locking lever 9b each articulated on swivel arms 23 , the non-rotatable with the two upper arms assigned to them 7 connected, they can move approximately (it would be exact if this was done with a 1: 1 gear ratio) only by the same amount, but in opposite directions. Because the subframe 6 ( 5 ) additionally with the four traction devices 13 with the top frame 5 is connected and the movement around the axis 3rd is blocked, movements in the direction Q and the rotation around the vertical axis H (or an axis parallel to it) about the torsional stiffness of the arm elements 7 , 8th bound, only the linear movement in the direction F still seems free. When moving in the direction F but would become a lower arm 8th the kinematics 2nd the associated upper arm 7 twist in a certain direction and the other lower arm also twists the connected upper arm in the same direction. Since these upper arm elements can only turn in opposite directions via the rod (or a gear), the movement is also in Q blocked.

To swim in both directions at the wedding or other occasions, F and Q To enable it is only necessary due to the different diameter of the rod 9b indicated possibility to use a change in length and to release it, for example, whereby the fixation ends in the F direction. By actively influencing the length (spindle drive), an active influencing of the position is made possible. The same applies in the transverse direction Q : By fixing the joints 3rd and or 4th Forces are absorbed in this direction, when released, swimming occurs, with targeted rotation (e.g. motor with gearbox) targeted positional influence.

The 7 shows three variants, the variant 7a a swiveling kinematics with releasable fixation by a in the upper crossbar 17th movable additional rod 7b who is firm and immobile (quasi extension) with the lower arm 8th connected is; variant 7b is similar to the variant 7a , but replaces the rotation of the kinematics in the upper frame by moving the upper crossbar 17th in the upper frame 5 , indicated by two sliding pins, as well 8th clearly visible: Here is the rotated position of the lower frame 6 the upper traverse 17th completely pushed to the edge of the upper frame, the additional rod 7b is in its leadership in the upper crossbar 17th pushed far to the "front" (if the lower frame hangs "at the front" on the upper frame). Here, too, it is possible to achieve swimming by releasing the movement, actively determining the position of the lower frame by actively determining the angular position or the lateral position.

The variant 7c , a scissor lattice, is also capable of moments around the transverse axis Q transferred to.

The 9 shows a 2-rope suspension, in which the stabilization kinematics 2nd similar to that of 7c is trained and in the upper frame 5 in the direction of the transverse axis Q can be moved back and forth, but also absorbs moments about the transverse axis. This is done by training in the manner of scissors kinematics, which ensures that the position of the upper crossbar 17th always parallel to the position of the lower traverse 18th is, even if these trusses with twisted lower frame 6 are twisted to each other about their longitudinal axis.

• Einerseits so, wie z.B. in 5 dargestellt, mit den Klappstäben 11, die natürlich nur Zugkräfte aufnehmen müssen und daher durch Seile, Gurten, Ketten, kurz: Zugmittel ersetzt werden können.

Regarding the variants of the cable connection on the lower frame 6, it must be said in principle that to achieve the large tipping angles, it is essentially a matter of the “shorter” cable (multiplications left-right, front-rear and cable for cable pull are not mentioned separately here ) as low as possible under the lower frame 6 in the area of the lower ends of the hangers 10th to attack. This can be done in different ways:

• On the one hand, such as in 5 shown with the folding bars 11 which of course only have to absorb tensile forces and can therefore be replaced by ropes, belts, chains, in short: traction means.

Then it is possible on the pulleys 12th to waive and the ropes 13 (if necessary doubled) each directly in the lower area of the hangers 10th to fix. Then only care must be taken to ensure that it remains in the danger zone even under the most unfavorable circumstances G (for illustration in 5 drawn, but is fictional there, because of the use of a folding stick 11 can pose no danger in this embodiment) not to slide the rope 13 and rolling through the lower frame 6 including good 15 can come if the stabilization kinematics still intervenes.

The invention thus creates a heavy-duty hanger (vehicle) with a parallel lifting and swiveling function, by which is meant in parallel that not a hoist and a swiveling mechanism are provided in a serial arrangement, but that these elements are arranged in the manner of parallel kinematics. Through the special connection of the ropes 11 on the lower frame 6 in connection with the detachable stabilization kinematics, the high angle of rotation as well as the reliable and gentle loading, unloading and wedding is possible.

The advantages of this technology, in addition to its low weight, simple and very inexpensive construction, are above all that the lower frame can be completely decoupled from the upper frame (floating plate effect).

• • die Auf und Abgabe des Fahrzeuges an die Schwerlast EHB kann sehr einfach und vor allem sehr zuverlässig gestaltet werden. Dies ist elementar wichtig, denn bei einer Taktzeit von 90 sec. mit Zweischichtbetrieb und einer zulässigen Störhäufigkeit von maximal einer Störung im Monat, ist eine Zuverlässigkeit der Übergabe der Karosse von 99,99925% notwendig, was erfindungsgemäß erreicht wird.
• • sämtliche geometrischen, kinematischen und dynamischen Zwängungen zwischen EHB und Geoskid im Hochzeitsbereich können erfindungsgemäß vermieden werden
• • die Problematik der unterschiedlichen Wärmedehnungen im Jahreszyklus und auch im Tageszyklus wird erfindungsgemäß zuverlässig vermieden.
• • die notwendige Montagegenauigkeit der EHB Schiene gegenüber den Bodeneinbauten wird erfindungsgemäß deutlich vermindert. Dies spart nicht nur Montageaufwand, sondern verbessert auch die Anlagenzuverlässigkeit und -verfügbarkeit.

The main advantages are:

• • The delivery and delivery of the vehicle to the heavy load EMS can be made very simple and, above all, very reliable. This is fundamentally important, because with a cycle time of 90 seconds with two-shift operation and a permissible frequency of malfunctions of a maximum of one malfunction per month, a body transfer reliability of 99.99925% is necessary, which is achieved according to the invention.
• • All geometric, kinematic and dynamic constraints between EMS and geoskid in the wedding area can be avoided according to the invention
• • The problem of the different thermal expansions in the annual cycle and also in the daily cycle is reliably avoided according to the invention.
• • The necessary mounting accuracy of the EMS rail compared to the floor installations is significantly reduced according to the invention. This not only saves assembly effort, but also improves plant reliability and availability.

In summary, it can thus be stated: The invention makes it possible by blocking the rotation of the stabilization kinematics in your bearings 3rd (and / or if necessary 4) and by activating the blocking device 9 for the movement of the two arms 7 , 8th when accelerating or braking the sling 1 ensure stable and safe movement, while it is also possible to achieve simple, accurate and reliable interaction with the geoskids during loading, unloading and at the wedding with the motor / gearbox by releasing both blocks. When working on the body as for example when tilting 5 the blocking device remains 9 in action, the camp 3rd (or 4) are released. This type of stabilization also enables the special connection of the ropes 11 and thus the large angle of rotation.

It should also be pointed out that in the description and the claims, information such as “largely” in the composition of materials means more than 50% by weight, preferably more than 80% by weight and particularly preferably more than 95% by weight; that "lower area" of a hanger, reactor, filter, structure, or a device or, more generally, an object, means the lower half and in particular the lower quarter of the total height, "lower area" the lowest quarter and in particular an even smaller part ; while "middle area" means the middle third of the total height. All this information has its common meaning, applied to the intended position of the object under consideration.

The axes or "directions" (arrows) are only entered in the individual figuras to indicate their direction, depending on the point of view (whether the center of gravity is considered essential, the roadway, the center of the through the ropes 13 polygons formed in the common normal plane, the axis of the respective joint, or whatever), it is possible to move them parallel to one another without changing the essence of the invention, since this, if at all, is only about the direction of these geometric elements is not the location unless otherwise stated.

In the description and the claims, the terms “front”, “rear”, “top”, “bottom” and so on are used in the common form and with reference to the object in its usual position of use. This means that with a weapon the muzzle of the barrel is "in front", that the bolt or slide is moved "backwards" by the explosion gases, etc.

In the description and the claims, "essentially" means a deviation of up to 10% of the stated value, if it is physically possible, both downwards and upwards, otherwise only in the sensible direction, with degrees (angle and temperature) this means ± 10 °. The term running direction, since it is about the hanger and not the running rail (s), refers to this direction on the hanger as well as to the opposite direction, transverse to it essentially means a direction rotated 90 ° to it and essentially horizontal; a vertical axis runs vertically.

In terms such as: "a solvent" or "a rope" or "a traction device", the word "on" is not to be regarded as a numeric word, but as an advocate unless the context indicates otherwise.

Unless otherwise stated, the term: "combination" or "combinations" stands for all types of combinations, starting from two of the constituents concerned to a large number and ultimately all such constituents, the term: "containing" also stands for " consisting of".

The features and variants specified in the individual configurations and examples can be freely combined with those of the other examples and configurations and can be used in particular to characterize the invention in the claims without necessarily taking the other details of the respective configuration or the respective example with them.

• a. lösbar ist, oder
• b. und c. die Winkellagen der Rahmen (5, 6) durch ein Getriebe der Stabilisierungskinematik (2) definiert sind, oder
• d. ein Antrieb in einem der Rahmen (5, 6) über die Stabilisierungskinematik (2) die Winkellagen beider Rahmen (5, 6) definiert.

It should finally be stated that the invention is a hanger ( 1 ) relates, preferably for car bodies, with an upper frame ( 5 ) and with a rope hanger attached to it ( 16 ) attached subframe ( 6 ) with fixed hangers ( 10th ) and stabilization kinematics provided in between ( 2nd ), which is a purely vertical relative movement between the upper frame ( 5 ) and subframe ( 6 ) ensures. For pivoting it is provided that the ropes ( 13 ) of the rope sling ( 16 ) in the lower area of the hangers ( 10th ) are articulated and that the stabilization kinematics ( 2nd ) either:

• a. is solvable, or
• b. and c. the angular positions of the frames ( 5 , 6 ) through a gearbox of the stabilization kinematics ( 2nd ) are defined, or
• d. a drive in one of the frames ( 5 , 6 ) about the stabilization kinematics ( 2nd ) the angular positions of both frames ( 5 , 6 ) Are defined.

Reference list

1

Hangers

2nd

Stabilization kinematics / kinematics

3rd

Upper hinge joint (s)

4th

Lower hinge joint (s)

5

Upper frame / upper frame

6

Lower frame / subframe

7

Upper arm

8th

Lower arm

9

Blocking device / holding means

10th

Hanger

11

Folding sticks

12th

Pulley (s)

13

Ropes

14

Holder (s) / support device

15

Good (body)

16

Rope hangers / traction device hangers / hangers

17th

Upper traverse

18th

Lower traverse

19th

Upper pulley

20th

Lower pulley

21

Traction means

22

Swivel

23

Swivel arm

7b

Additional staff

9b

Locking lever / rod

F

Direction of travel, longitudinal axis

G

Danger zone

H

Vertical axis, direction

Q

Transverse axis, direction

Claims (10)

Hangers (1) for a monorail or multi-rail system with an upper frame (5) mounted on or made from the carriage with a direction of travel (F), a lower frame (6) attached to the upper frame (5) by means of a traction device hanger (16), with on Subframe (6) permanently mounted hangers (10), the support devices (14) for the goods (15), preferably car bodies, and a stabilization kinematics (2) provided between the upper frame (5) and the subframe (6), the one purely vertical relative movement between the upper frame (5) and lower frame (6) ensures, the cables (13) of the cable suspension (16) being articulated in the lower region of the hangers (10), and that the rotation of the goods (15) by one Stabilizing kinematics (2) preventing axis parallel to the direction of travel (F) either a. is detachable so that the lower frame (6) is held and guided in its angular position exclusively by the ropes (13) of the rope suspension (16), or b. the angular position of the stabilization kinematics (2) in the lower frame (6) by a gear defines the angular position of the stabilization kinematics (2) in the upper frame (5), or c. the angular position of the stabilization kinematics (2) in the lower frame (6) by a gear defines the lateral position of the stabilization kinematics (2) in the upper frame (5), or d. a drive in one of the frames (5, 6) determines the angular position or the lateral position of the stabilization kinematics (2) and thus defines the angular position or the lateral position of the stabilization kinematics (2) in the other frame (6, 5), characterized in that the stabilization kinematics (2) on the upper frame (5) and on the lower frame (6) one each Traverse (F) extending traverse (17, 18) which are connected by means of two arms (7, 8) rotatably connected to one another and to the traverses (17, 18), that the three arm axes run normal to the direction of travel (F), and that the rotatability of these arms can be blocked by means of a releasable holding means (9). Hangers after Claim 1 , characterized in that the ropes (13) are articulated on the hangers (10) via traction means, for example folding bars (11). Hangers after Claim 2 , characterized in that the traction means, for example folding rods (11), project upward above the lower frame (6). Hangers after Claim 3 , characterized in that the traction means, for example folding rods (11), carry rope pulleys (12) at their upper ends, in which the ropes (13) run. Hangers after Claim 1 , characterized in that the blocking device comprises an upper guide roller (19) mounted on the upper cross member (17), a lower guide roller (20) mounted on the lower arm (8) and a traction means (21) rotating around the two rollers, at least one of the two deflection rollers and / or the traction means can be fixed. Hangers according to one of the preceding claims, characterized in that the stabilizing kinematics (2) in the upper frame (5) is displaceable in the transverse direction (Q), but is non-rotatably mounted. Hangers according to one of the Claims 1 to 5 , characterized in that the stabilizing kinematics (2) in the upper frame (5) is immovable, but rotatable about hinge joints (3). Hangers according to one of the preceding claims, characterized in that the support devices (14) are arranged in the lower region of the hangers (10). Hangers according to one of the preceding claims, characterized in that the goods are car bodies. Hangers according to one of the preceding claims, characterized in that the cables (13) of the cable suspension (16) are articulated in the lower region of the hangers (10) about the axis parallel to the direction of travel (F).

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