EP0715598A1 - Convoyeur electrique suspendu - Google Patents

Convoyeur electrique suspendu

Info

Publication number
EP0715598A1
EP0715598A1 EP94918865A EP94918865A EP0715598A1 EP 0715598 A1 EP0715598 A1 EP 0715598A1 EP 94918865 A EP94918865 A EP 94918865A EP 94918865 A EP94918865 A EP 94918865A EP 0715598 A1 EP0715598 A1 EP 0715598A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
monorail system
electric monorail
trolleys
undercarriages
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94918865A
Other languages
German (de)
English (en)
Inventor
Bernd Rall
Werner Bopp
Walter Grieme
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TK Aufzuege GmbH
Original Assignee
Thyssen Aufzuege GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thyssen Aufzuege GmbH filed Critical Thyssen Aufzuege GmbH
Publication of EP0715598A1 publication Critical patent/EP0715598A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/60—Systems for communication between relatively movable stations, e.g. for communication with lift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00—Elevated railway systems with suspended vehicles
    • B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles

Definitions

  • the invention relates to an electric monorail system with a rail section and one or more vehicles which can be moved along the rail section, the vehicles comprising two receiving devices spaced along the rail section for coupling to two coupling devices which are held on the goods to be transported, in particular on containers.
  • this type of monorail conveyor has been used in the normal load range (ast less than 1 t) primarily for the transport of goods in workshops.
  • the previously known vehicles contained a drivable undercarriage and a further undercarriage spaced apart along the rail route, which was mechanically and rigidly coupled to the first driven undercarriage.
  • the object of the present invention is to create an electric overhead conveyor, in particular for the heavy-duty area, with which transport goods, in particular containers, with changing dimensions and thus different distances between the coupling devices can be transported in a simple manner.
  • each vehicle comprises two drives which can be driven independently of one another, each of which contains one of the two receiving devices, and that each vehicle is assigned a control and regulating unit which is used in the method of Vehicle keeps the distance between the chassis essentially constant.
  • electric monorails are also known from local passenger transport systems. If necessary, cabins are equipped with two undercarriages there. Linear motors are used as drive systems, so that active control for maintaining the minimum distance between two cabins can be omitted.
  • the cabs carried on the trolleys can only be changed to adapt the transport capacity in depots specially designed and equipped for this purpose. A precise positioning of the trolleys to the cabins is not necessary and is also not possible.
  • the present invention is concerned with a transport of heavy goods and in particular also with the floor-bound handling of transport goods, in which it is often important to position the undercarriage with respect to the transport goods to be transported.
  • this can be implemented at any point along the rail route.
  • one of the main advantages is that a completely different load suspension principle is used, which, even when the container is loaded unevenly, has essentially no torques acting on the cradle and • the associated undercarriage, but ensures that when Picking up the container practically only vertical forces occur.
  • the load-bearing principle according to the invention creates the possibility, particularly in the case of electric monorails for heavy load transport, of constructing the holding devices inexpensively, since essentially only vertical forces have to be manageable.
  • the receiving device of each carriage preferably comprises a hoist, so that the flexibility of the monorail when handling goods is only limited by the available rail route: the picking up and setting down of transport goods can take place along the entire available rail route and does not require any ground-based auxiliary devices.
  • the invention relates to a heavy-duty electric overhead conveyor with a rail section and one or more vehicles that can be moved along the rail section and have load receiving devices that are used for handling and transporting loading units, preferably containers, swap bodies, semitrailers or similar transport containers with standardized openings ⁇ take devices can be used.
  • the handling systems known hitherto for the transport vessels mentioned are floor-bound, e.g. stationary, rail-guided or rubber-tired. With the present invention, this function is to be performed by corridor-free transshipment devices which run along an elevated, arbitrarily long rail route.
  • the present invention provides an electric monorail system which can be used to easily transport goods of combined traffic with changing dimensions and to place and pick them up at any point along the route without using additional transfer stations.
  • each vehicle comprises two independently driven undercarriages, each of which contains one of the two load suspension devices, and a control and regulating unit which positions the two autonomous undercarriages exactly above the loading unit during the handling process and the distance of the undercarriages when the vehicle is moved keeps constant distance from each other by means of active distance control.
  • Both trolleys of the electric monorail vehicles are equipped with a hoist. It is thus possible, without additional transfer stations, to directly pick up or set down a transport good or a loading unit at any point along the route. In particular, it is possible to pick up or set down the loading unit directly from the train carrier; for this purpose, the route is installed in the middle of the train tracks. It is also possible to take over or transfer the loading unit from a stationary transfer station (e.g. plate conveyor) or mobile transfer station (e.g. rail-guided crane).
  • a stationary transfer station e.g. plate conveyor
  • mobile transfer station e.g. rail-guided crane
  • the invention can handle the loading units of combined traffic in any combination between the modes of transport by rail, road, sea and inland water; Furthermore, the system with the same or similar transport containers can also be used for logistic services in the local transport sector ("city logistics").
  • Each of the two undercarriages has its own load-carrying device, ie the previously used loading gear is “shared”.
  • This "split loading harness” can contain two lockable pivots and a hinged gripper; it is also possible to equip the load suspension device so that it engages laterally in container corner fittings. With the two The two front and rear corner fittings of a standard container can be pivoted, and the gripping pliers fit into the front and rear gripping tabs of a swap body or semi-trailer. Two trolleys are therefore always required for gripping and transporting a loading unit.
  • the length adjustment of the (divided) loading gear and the positioning above the loading unit is carried out by the two autonomous travel drives of the trolleys.
  • a telescopic traverse can be used between the undercarriages and also between the two load suspension devices, which (in contrast to conventional constructions) does not absorb any load moment.
  • the traverse is also adjusted via the travel drives of the trolleys.
  • the divided loading harness therefore differs fundamentally from the prior art.
  • One of the chassis of the vehicle is preferably designed as a master chassis and the other chassis is used as a slave vehicle.
  • the driving commands are thus transmitted to the master undercarriage, and the traversing movements of the master undercarriage are then used to derive the movements of the slave undercarriage.
  • the trailing bogie as the master bogie.
  • Particularly preferred undercarriages can optionally be defined as master or slave undercarriages.
  • the control and regulating unit includes data transfer stations in the two trolleys, which enable data exchange between the two trolleys and / or a control and regulating unit separate therefrom.
  • the control and regulating unit is fixed in place on the electric monorail, while corresponding actuators are arranged in the two undercarriages, which control or regulate the driving performance of the individual undercarriages.
  • control and regulating unit is accommodated in one of the two undercarriages and transmits control commands to the other undercarriage, preferably the slave undercarriage, via the data transfer stations.
  • the common data line is at the same time a common power supply line, which must be tapped by the undercarriages anyway in order to absorb the drive energy. This considerably simplifies the construction of the data transfer station or its coupling to the electrical data line.
  • each individual undercarriage contains a measuring device for determining the distance traveled in each case, the measured values of which are compared with one another and used to control or regulate the drive current of the respective drives of the undercarriages.
  • the vehicle comprises a distance measuring device for determining the distance between the two undercarriages, the distance measuring device generating a signal for the control and regulating unit, which generates this signal for emitting corresponding control signals for the drives of the two undercarriages evaluates.
  • the slave undercarriage comprises a current monitor circuit which generates a signal for the control and regulating unit when the current consumption of the drive of the slave undercarriage assumes values outside of a tolerance during the movement of the vehicle.
  • This embodiment of the invention is based on the knowledge that the current taken up by the drive of the slave chassis or the drive energy fluctuates when the slave chassis is either pulled or pushed by the master chassis.
  • the evaluation of the signal of the current monitor circuit allows the control and regulating unit to generate corresponding control and regulation signals which bring the slave chassis back to the correct distance from the master chassis, the one recorded by the drive of the slave chassis Current is returned to the expected value or to the tolerance range around this value.
  • Fig. 2 details of the suspension of the trolleys on the rail track
  • FIG. 3 is a detailed drawing in an enlarged form from Fig. 1;
  • FIG. 4 shows an overview drawing of an electric overhead conveyor according to the invention in accordance with a further embodiment of the invention
  • FIG. 5 shows a detailed drawing with holding devices, which comprises various docking devices
  • FIG. 1 shows an electric monorail system provided with the reference number 10, in which a rail section 12 of 3 stands 14 is held at a height of approximately 15 m above the ground.
  • the rail 12 holds two vehicles 16 and 18, each of which comprises two trolleys 20a, 20b and 22a, 22b which can be driven independently of one another.
  • the undercarriages 20a and 22a are each designed as so-called master undercarriages and the undercarriages 20b and 22b as slave undercarriages assigned to them. However, it can be provided that the undercarriages 20a, 20b, 22a and 22b each work as a master undercarriage if they drive ahead in the direction of travel.
  • Each of the trolleys 20a, 20b, 22a, 22b comprises a coupling device direction 24, which cooperate with corresponding docking devices on containers 26a and 26b to be transported.
  • FIG. 2 shows in detail how the vehicles, here using the example of the master undercarriage 20a, are kept suspended from the rail section 12.
  • FIG. 3 shows, by way of example, on the vehicle 16 how, by simply moving the undercarriage 20b into a position shown in reference number 20b ', the receiving device 24 can be changed in distance and brought to twice the distance here.
  • the undercarriages 20a and 20b comprise a distance measuring system 28, the output signal of which in each case supplies data to the control device of the vehicle 16. Accordingly, the drive energies to be absorbed by the vehicles are regulated, and it is thus ensured that the two undercarriages 20a and 20b remain at a constant distance from one another during the movement of the container 26a.
  • distance systems Preferred distance measuring devices, hereinafter referred to as distance systems, are shown in the following table:
  • Ultrasonic encoder no cuts in the fixed distance in the event of failure of a 2 point switch, conductor rail collision. required possible only fixed distance possible large scanning lobe and therefore large
  • FIG. 4 shows an overview drawing similar to FIG. 1 with an electric monorail 30, in which, as described above, a rail section 32 is held by three stands 34 at a predetermined distance above the ground.
  • the overhead conveyor 30 contains two vehicles 36, 38, which are shown in different operating positions.
  • the vehicle 36 with its undercarriages 40a, b, transports a container 42 which is held at both ends by the coupling device 44a, b assigned to one of the undercarriages 40a, b.
  • the coupling devices 44a, b each contain a lifting device with which, as shown in the example of the vehicle 38, the container can be lowered onto the ground or a rail vehicle or road vehicle parked there.
  • the container 42 is docked and held on the coupling device 44a, b by means of customary standardized pivots. These pivot pins cannot be seen in detail in this figure, but are explained in more detail in connection with FIGS. 6a and b.
  • the vehicle 36 includes gripping tongs 46a, b in addition to the pivots (not shown in detail), which here are each pivoted horizontally into an out-of-operation position. These gripping tongs can be pivoted vertically and are then available for gripping a container by its gripping fittings, as is shown in the example of vehicle 38.
  • the same functional parts on the vehicle 38 are identified with the same reference numerals and with an apostrophe as the corresponding functional parts of the vehicle 36.
  • the vehicle 38 also shows the function of the lifting mechanisms inherent in the undercarriages 40a, b and 40a ', b' , which allows the coupling device 44a, b, 44a ', b' to be lowered to the ground in order to be able to receive containers 42, 42 'even from this plane.
  • FIG. 5 shows in detail a vehicle 50 which can be moved on a rail 48 and which transports a container 52.
  • a coupling device 54a, b of the individual undercarriages 56a, b of the vehicle 50 includes a pivot coupling (not shown in detail) and gripping arms 58a, b in order to grip and hold containers on their underside.
  • the gripping arms 58a, - b are not completely in the horizontal position in their inoperative position, but rather something to this to be positioned inclined so that the mutually facing gripping arms 58a and 58b can be arranged such that they overlap one another.
  • the reference numerals provided with the lower case letter c represent the undercarriage 56b in its position located away from the undercarriage 56a, as is the case when a container of maximum length is transported.
  • the hoists which are each assigned to the trolleys 56a and 56b, are not shown and explained in more detail here.
  • FIGS. 6a and b show in detail undercarriages 60a and b of a vehicle of an electric monorail system according to the invention, which are shown in FIG. 6b moved together to the minimum distance.
  • the trolleys 60a and 60b also contain lifting trolleys 64a, b which can be rotated about a vertical axis and which hold bi-functional coupling devices 66a, b adjustable in height.
  • the hoists 64a, b contain their own drive motor 68a, b, which can lower or raise the coupling devices 66a, b for setting down or picking up a container.
  • Each of the lifting mechanisms 64a, b preferably includes a guide part 70a, b, into which a complementary part of the coupling devices 66a or 66b can be engaged in the raised position of the container or the coupling devices 66a, b, so that a positive connection between the respective coupling device 66a, b and the associated lifting gear 64a, b and thus the associated running gear 60a, b for the transport travel of the vehicle.
  • the hoists 64a, b can therefore be in the form of a simple Cable pull mechanism can be formed, which is completely sufficient for raising and lowering the coupling devices 66a, b, while for the driving operation of the vehicle a complementary part of the coupling devices 66a, b can be engaged in the guide part 70a, b and thus during the driving operation for a mechanical coupling with the respective undercarriage ensures that oscillating and wobbling movements of the coupling devices 66a, b during the journey, including any goods to be coupled thereto, are excluded.
  • a pivot pin 72a, b protrudes, which can be inserted into a correspondingly standardized recess on the top of the container and which can be locked in the recess of the container with a rotary movement.
  • the coupling devices 66a, b carry gripping arms 74a, b pivoted into the horizontal, the function and mode of operation of which are explained in more detail in connection with FIGS. 7a and 7b.
  • the two pairs of gripper arms 74a and 74b are pivoted in the same direction into the horizontal, the pairs of gripper arms 74a and 74b preferably pointing in the opposite direction of travel F.
  • FIGS. 7a and 7b finally describe the use of the pairs of gripper arms 74a, b when picking up a container as Cargo.
  • the pairs of gripper arms 74a, b can each be pivoted outwards and then, in their vertical position, can be inserted into a recess on the container floor.
  • FIG. 7a shows the disengaged position of the gripper arms 74a in broken lines
  • FIG. 7b shows the gripper arms in solid lines in their active position and in broken lines in their inoperative position, in which they are pivoted into the horizontal.
  • the same functional parts in FIGS. 7a and 7b denote the same parts as in FIGS. 6a and 6b.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un convoyeur suspendu électrique (10) qui comprend un rail (12) et un ou plusieurs véhicules (16, 18) pouvant se déplacer le long dudit rail. Les véhicules comprennent deux dispositifs de retenue situés à distance mutuelle le long de la section sur rail et destinés à être accouplés à deux dispositifs d'accouplement qui maintiennent les marchandises à transporter, notamment des conteneurs (26a, 26b). Il est prévu que chaque véhicule (16, 18) comprenne deux dispositifs de déplacement (20a, 20b, 22a, 22b) pouvant être entraînés indépendamment l'un de l'autre et contenant chacun un des deux dispositifs de retenue. Chaque véhicule dispose de sa propre unité de commande et de régulation qui maintient l'écart entre les véhicules sensiblement constant, pendant leur déplacement. Ce procédé permet ainsi de transporter aisément des marchandises, notamment des conteneurs (26a, 26b) de diverses dimensions, ce qui implique par conséquent des écarts différents entre les dispositifs d'accouplement.
EP94918865A 1993-08-24 1994-06-11 Convoyeur electrique suspendu Withdrawn EP0715598A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19934328436 DE4328436A1 (de) 1993-08-24 1993-08-24 Elektrohängebahn
DE4328436 1993-08-24
PCT/EP1994/001901 WO1995005993A1 (fr) 1993-08-24 1994-06-11 Convoyeur electrique suspendu

Publications (1)

Publication Number Publication Date
EP0715598A1 true EP0715598A1 (fr) 1996-06-12

Family

ID=6495897

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94918865A Withdrawn EP0715598A1 (fr) 1993-08-24 1994-06-11 Convoyeur electrique suspendu

Country Status (3)

Country Link
EP (1) EP0715598A1 (fr)
DE (1) DE4328436A1 (fr)
WO (1) WO1995005993A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19508141C1 (de) * 1995-03-08 1996-08-14 Atotech Deutschland Gmbh Verfahren und Vorrichtung zur gefahrlosen Annäherung von schienengebundenen Fahrzeugen in Anlagen zur Oberflächenbehandlung
AU5534300A (en) * 1999-06-21 2001-01-09 Helmut Lehmer Gmbh Device and method for transporting loads
WO2006079326A2 (fr) * 2005-01-26 2006-08-03 Josef Wiegand Gmbh & Co. Kg Systeme de transport se presentant sous la forme d'une voie suspendue destinee a des personnes, notamment a des fins d'amusement, ou a des marchandises
CN102704998A (zh) * 2012-05-21 2012-10-03 山西潞安环保能源开发股份有限公司 煤矿全断面岩巷掘进系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1219198B (de) * 1961-07-26 1966-06-16 Maschf Augsburg Nuernberg Ag Einrichtung zum Drehen einer an drei Lasthaken aufgehaengten Last um eine senkrechteAchse
NL7011111A (fr) * 1970-07-28 1972-02-01
DE2823048A1 (de) * 1978-05-26 1979-12-06 Demag Ag Umladevorrichtung fuer warenbehaelter
JPH01111201A (ja) * 1987-10-23 1989-04-27 Mitsubishi Electric Corp 移動機械の位置検出制御方法
EP0490012B1 (fr) * 1990-12-13 1996-06-05 ABUS Kransysteme GmbH & Co. KG. Système de capteurs pour la surveillance de grues
JPH0587930A (ja) * 1991-09-30 1993-04-09 Toyo Denshi Kk 衝突防止装置

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
087 930 (TOYO DENSHI K.K.) 9. April 1993 *
PATENT ABSTRACTS OF JAPAN vol. 17, no. 428 (P-1588) 9. August 1993 & JP,A,05 *
See also references of WO9505993A1 *

Also Published As

Publication number Publication date
DE4328436A1 (de) 1995-03-02
WO1995005993A1 (fr) 1995-03-02

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