EP0950597A1 - Système de guidage avec un chariot guidé sur un rail - Google Patents

Système de guidage avec un chariot guidé sur un rail Download PDF

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Publication number
EP0950597A1
EP0950597A1 EP98810330A EP98810330A EP0950597A1 EP 0950597 A1 EP0950597 A1 EP 0950597A1 EP 98810330 A EP98810330 A EP 98810330A EP 98810330 A EP98810330 A EP 98810330A EP 0950597 A1 EP0950597 A1 EP 0950597A1
Authority
EP
European Patent Office
Prior art keywords
rail
guide
chassis
guide system
point
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.)
Granted
Application number
EP98810330A
Other languages
German (de)
English (en)
Other versions
EP0950597B1 (fr
Inventor
Rudolf Güdel
Walter Zulaug
Hans-Ulrich Kurt
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.)
Guedel AG
Original Assignee
GUEDEL AG ANTRIEBS- und LINEARTECHNIK
GUEDEL AG ANTRIEBS und LINEART
Guedel AG Antriebs- und Lineartechnik
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 GUEDEL AG ANTRIEBS- und LINEARTECHNIK, GUEDEL AG ANTRIEBS und LINEART, Guedel AG Antriebs- und Lineartechnik filed Critical GUEDEL AG ANTRIEBS- und LINEARTECHNIK
Priority to EP98810330A priority Critical patent/EP0950597B1/fr
Priority to DE59811424T priority patent/DE59811424D1/de
Priority to JP13460799A priority patent/JP4560748B2/ja
Priority to US09/291,976 priority patent/US6220174B1/en
Publication of EP0950597A1 publication Critical patent/EP0950597A1/fr
Application granted granted Critical
Publication of EP0950597B1 publication Critical patent/EP0950597B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/02—Tracks for rack railways
    • E01B25/04—Rack rails; Supports or connections for rack rails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/02—Rack railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
    • B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks

Definitions

  • the invention relates to a guide system with a guided on a rail Lauwagen, the drive gear in a force application point in a toothing Rail engages and their guide elements in corresponding support points laterally arranged guide surfaces are guided.
  • the invention further relates to a rail and on a chassis for such a guide system.
  • Conveyor systems that can move to specified positions exactly are e.g. in the automated manufacturing needed.
  • the workpieces can with such a conveyor system transported from one processing station to another and there automatically be handed over.
  • Such drives come e.g. for machines with precisely movable Machining units (milling machine, drill, etc.) For use.
  • a typical application example is a bogie or turntable of an automatic assembly machine. By the number of revolutions of the pinion or the driving gear is precisely determined.
  • the known gear drives are only for the execution of either exclusively linear or exclusively rotating movements.
  • the object of the invention is to provide a guidance system of the type mentioned in the introduction, which combines position accuracy and largely free lines.
  • a rack is formed on the rail such that the dividing line of the Gearing a predefined constant distance to at least one lateral Has leadership space.
  • the carriage has a guide element, which on the above lateral guide surface is guided in a support point, and a drive gear, which engages in the rack at a force application point.
  • Drive gear and Guide elements are arranged so that through the force application point and support point defined connection line is always perpendicular to the current direction of travel.
  • the current direction of travel is defined by the tangents to the dividing line.
  • the dividing line preferably runs through a perpendicular bisector of the cross section of the Guide rail. Off-center arrangements are also possible as Guide elements are usually used as guide rollers. But there are also Sliding elements possible.
  • a carriage according to the invention has at least one, but preferably two chassis. These are designed so that when the direction changes, the rotation or Swivel axis of the chassis runs through the dividing line of the toothing.
  • the swivel axis goes through the point of force application and is parallel to one Rotation axis of the drive gear. (If the carriage has only one chassis, then the center of gravity of the carriage should lie on the mentioned swivel axis. It is thereby achieved that the driving force (acceleration or braking force) is none Reaction torque generated on the carriage (or its chassis).
  • the chassis has a three-point guide. This means that the lateral guidance or control of the direction is in principle taken over by three roles. Two run on one guide surface and one on the other just a role. The three points of the side guide form an isosceles triangle with an opening angle of e.g. 30 ° to 40 °.
  • Two of the three rollers are advantageously sprung. It is the one that are arranged on the same side and consequently run on the same guide surface. There can also be more than three guide rollers (the number of Suspension must be adjusted accordingly). Only two guide rollers become symmetrical provided to the swivel axis of the chassis, stabilization can become a problem (Vibrations, rolling movements).
  • the preferred version of the three-point guide allows one for any curve radius geometrically exact tooth mesh.
  • the weight of the carriage is preferably carried by separate support rollers. This do not need to be sprung.
  • the rail has e.g. a substantially flat rectangular one Cross section, the outer narrow sides of the guide surfaces and the top and bottom surfaces in the edge area the treads for the support rollers form. Depending on whether the carriages are standing on the rail or hanging on it, the rack is formed on the upper or lower broad side of the rail.
  • the guide rail and the rack must be manufactured with high precision.
  • the two parts can be manufactured individually and then connected together (screwed, welded). So that the geometry of the toothing in the curves is correct, you can two identical straight toothed racks with the gears interlocked and then be bent together into the desired radius. But it is also possible that the guide rail and rack are milled directly from a single workpiece.
  • the guide rail is advantageously fastened to a carrier which has the required has static resilience, so that the precision-made part of the rail system dimensions and weight can be kept to a minimum.
  • the carrier can be an ordinary double T-beam without special precision criteria.
  • the Rail is preferably essentially along its entire length (e.g. by regular spaced fasteners) attached to the carrier, so that their inherent stability is guaranteed. Finally, a conductor rail can also be attached to the carrier.
  • the guide system according to the invention can be modular. That means it different rail sections (straight, left-curved, right-curved) are provided, which the user creates according to his needs individual transport system can be put together. In combination with Turnouts, crossings or even lift stations result in a wide range of Possibilities.
  • FIG. 1 shows schematically the principle of the invention.
  • a rail 1 is for example on Base of a double T-beam 10 attached.
  • the rail 1 has the shape of a plate or a strip or ribbon-shaped flat element and consists of a high quality Steel.
  • the narrow sides 2.1, 2.2 serve as lateral guide surfaces, the lower and upper edge surfaces 3.1, 3.3 or 3.2, 3.4 as running surfaces.
  • the division line 6 lies (or its point of intersection through the cross-sectional plane) on the perpendicular 7 of the (in the present example) mirror-symmetrical trained rail 1.
  • the two Narrow sides 2.1, 2.2 define two parallel planes, and one defines exactly in the In the middle between these two imaginary levels there is a third level Division line 6 of the toothing 5 in this third level.
  • the axis of rotation of the drive gear is parallel to the perpendicular 7 (i.e. in Fig. 1 vertically and not horizontally).
  • the toothing 5 shows in horizontal Direction.
  • the geometric orientation can also be described as follows:
  • the toothing 5 can be assigned a foot line 9 and a head line 8.
  • the foot line 9 and the head line 8 lie on two different sides of the perpendicular bisector 7. Basically comes it doesn't matter whether the foot line 9 on the left with respect to the perpendicular 7 (i.e. on the side facing the narrow side 2.1) or on the right, i.e. if she Gearing to the left or to the right shows.
  • FIG. 2 and 3 show how a chassis 11 is guided by the rail 1 according to the invention becomes. 2, the rail 1 is viewed from above.
  • the carriage 21 is located on the track 1 and is e.g. on two identical chassis articulated.
  • Fig. 3 shows the same construction in cross section.
  • the guide rollers 15.1 to 15.3 are mounted on a first side wall 16 of the chassis 11.
  • Two suspensions 18.1, 18.2 press the two guide rollers 15.1 and 15.2 against the narrow side 2.2.
  • the third Guide roller 15.3 is on an opposite side wall 17 of the chassis 11 stored unsprung.
  • the distance between the two side walls 16, 17 is slightly larger than the width of the rail 1, so that the chassis can grip around the rail 1 in a U-shape. Furthermore, the present Example the side walls 16, 17 to the narrow sides 2.1, 2.2 of the rail 1 convexly curved. According to the smallest radii of curvature in the system the rails run easily from the center of the chassis to the outside apart.
  • the axes of rotation of the three guide rollers 15.1 to 15.3 form the corners of an isosceles Triangular. (The two same taverns of the triangle are marked by the connecting lines the axes of the guide rollers 15.1 and 15.3 on the one hand and 15.2 and 15.3
  • the opening angle of the triangle is preferably in the range between 30 ° and 40 °.
  • the opening angle is too small, the stability of the guide suffers. That means it can Pendulum or roll movements come about a vertical axis. Is the named On the other hand, if the angle is too large, the spring-loaded guide rollers 15.1 and 15.2 are unnecessary have large spring travel (especially when cornering relatively tightly) should be or if there are very different radii of curvature).
  • One of the two guide rollers 15.1 and 15.2 is always leading and one trailing. For example, when transitioning from a straight section to a curved section Suspension 18.1, 18.2 for a smooth initiation of the change of direction or chassis swivel movement.
  • the point of contact 24 of the guide roller 15.3 on the narrow side 2.1 is with respect to the Chassis 11 clearly defined because the guide roller 15.3 is neither resilient stored itself is elastic.
  • the distance between gear 13 and guide roller 15.3 is constant.
  • the force application point 14 and Support point 24 defined direction always perpendicular to the current direction of travel. The latter is defined by the tangent to the division line in the force application point 14.
  • FIG. 2 perpendicular to Swing axis (see reference numeral 22 in FIG. 3) of the chassis standing in the plane of the drawing 11 runs exactly through the force application point 14 of the dividing line 6 of the toothing 5. This is regardless of whether the rail 1 is straight or (with some radius to the left or right) is curved.
  • a carriage 21 typically has two chassis. One has one Electric drive 12, the gear 13 in the toothing 5 of the rack 4th intervenes.
  • the dividing line 6 has a constant distance from the along the rail 1 Narrow side 2.1, which guides the guide roller 15.3.
  • the rack 4 is located between the gear 13 and the rigid guide roller 15.3.
  • the position of the carriage 21 can be accurate with a numerically controlled motor to be controlled. Electricity and control signals can be used with a pantograph of one e.g. busbar 23 attached to the carrier 10 can be tapped (cf. FIG. 3).
  • each side wall four castors are provided.
  • the four are on the top side i.e. on the edge surfaces 3.2 and 3.4 running rollers 19.1 to 19.4.
  • the pairs of rollers 19.1 / 19.2 and 19.3 / 19.4 are mounted at a small mutual distance.
  • the axis of the guide roller 15.3 is located in the middle between the rollers 19.3 and 19.4.
  • the described embodiment can be used in many ways within the scope of the invention be modified.
  • the chassis can also be arranged standing instead of hanging become.
  • the rail can also be inclined.
  • the rail can be symmetrical, for example, on the lateral edges beveled. It is even conceivable that the cross section of the rail is not symmetrical is.
  • the rail usually runs on one level. That means the radii of curvature lie in the plane defined by the strip shape of the rail. But it’s not out of the question that the direction of the rail by slow change over a long distance is led out of this level ("flat ramp").
  • the rail be supported by a double-T beam or the like is supported. It can also be self-supporting.
  • the guide rollers can be hard or elastic.
  • an elastic tire can make resilient bearings unnecessary (e.g. if the Radii of curvature of the rail are very large).
  • the invention is a guidance system has been created, which can be positioned precisely with any lines enabled with relatively little control engineering effort.
  • the invention versatile, be it on a larger machine with a computer-controlled one Workpiece processing or as a transport system in manufacturing plants or even in Amusement parks.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Transmission Devices (AREA)
  • Types And Forms Of Lifts (AREA)
EP98810330A 1998-04-16 1998-04-16 Système de guidage avec un chariot guidé sur un rail Expired - Lifetime EP0950597B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP98810330A EP0950597B1 (fr) 1998-04-16 1998-04-16 Système de guidage avec un chariot guidé sur un rail
DE59811424T DE59811424D1 (de) 1998-04-16 1998-04-16 Führungssystem mit einem auf einer Schiene geführten Laufwagen
JP13460799A JP4560748B2 (ja) 1998-04-16 1999-04-07 レール上において案内される走行車を有する案内システム
US09/291,976 US6220174B1 (en) 1998-04-16 1999-04-15 Guidance system with a truck guided on a rail

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP98810330A EP0950597B1 (fr) 1998-04-16 1998-04-16 Système de guidage avec un chariot guidé sur un rail

Publications (2)

Publication Number Publication Date
EP0950597A1 true EP0950597A1 (fr) 1999-10-20
EP0950597B1 EP0950597B1 (fr) 2004-05-19

Family

ID=8236040

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98810330A Expired - Lifetime EP0950597B1 (fr) 1998-04-16 1998-04-16 Système de guidage avec un chariot guidé sur un rail

Country Status (4)

Country Link
US (1) US6220174B1 (fr)
EP (1) EP0950597B1 (fr)
JP (1) JP4560748B2 (fr)
DE (1) DE59811424D1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009062A1 (de) * 2012-05-09 2013-11-14 Thyssenkrupp System Engineering Gmbh Transporteinheit und Transportsystem

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Publication number Priority date Publication date Assignee Title
US7165497B2 (en) * 2002-10-07 2007-01-23 E-Z-Rect Manufacturing Ltd. Track system for mobile storage apparatus
WO2004078429A2 (fr) * 2003-03-03 2004-09-16 Tri Tool Inc. Outil coupant et systeme de guidage pour le trace
DE20318932U1 (de) * 2003-12-04 2005-04-14 Systec Pos-Technology Gmbh Transportwagen mit gefederten Rollen
US7467723B2 (en) * 2005-03-18 2008-12-23 Zaguroli Jr James Electric motor driven traversing balancer hoist
GB0608279D0 (en) * 2006-04-26 2006-06-07 A & C Ltd Camera Track And Dolly Systems
US7490710B1 (en) 2006-08-19 2009-02-17 Wes-Tech Automation Solutions, Llc Flexible manufacturing system having modular work stations
JP5008389B2 (ja) * 2006-12-13 2012-08-22 株式会社 オチアイネクサス 搬送装置
CN103144330A (zh) * 2011-12-07 2013-06-12 软控股份有限公司 轮胎三鼓成型机及其物料输送方法
US9926753B2 (en) * 2014-05-16 2018-03-27 Nabors Industries, Inc. Parking system for a pipe racker on a drilling rig
JP6724660B2 (ja) * 2016-08-31 2020-07-15 前田建設工業株式会社 資機材の搬送装置、及び資機材の搬送方法
KR101904117B1 (ko) * 2017-03-14 2018-10-04 주식회사 세진아이지비 가이드 모듈 및 그를 구비하는 구동장치
JOP20190027A1 (ar) * 2017-06-14 2019-02-21 Grow Solutions Tech Llc نظام و طريقة مسار لتوفير مسار لعربة صناعية
JOP20190028A1 (ar) * 2017-06-14 2019-02-21 Grow Solutions Tech Llc ترس انزلاق لعربة صناعية
CN108725459B (zh) * 2018-07-03 2023-07-21 中车资阳机车有限公司 一种齿轨列车入轨机构
CN111437037A (zh) * 2020-04-29 2020-07-24 哈尔滨思哲睿智能医疗设备有限公司 一种导轨装置及医用机器人
CN111419406A (zh) * 2020-04-29 2020-07-17 哈尔滨思哲睿智能医疗设备有限公司 一种导轨装置及医用机器人
CN113620171B (zh) * 2021-07-20 2022-03-18 中国矿业大学 一种适用于大坡度的单轨吊可分离式齿轨驱动装置

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FR2336287A1 (fr) * 1975-12-27 1977-07-22 Habegger Willy Monorail a cremaillere perfectionne
DE3031355A1 (de) * 1980-08-20 1982-04-01 Bleichert Förderanlagen GmbH, 6960 Osterburken Schienenfoerdervorrichtung mit durchgehender kopfschiene
DE9214738U1 (fr) * 1992-10-30 1992-12-24 Bleichert Foerderanlagen Gmbh, 6960 Osterburken, De
WO1997037881A1 (fr) * 1996-04-10 1997-10-16 Hk Systems, Inc. Element porteur pour systeme de tri monorail

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JP3556366B2 (ja) * 1995-12-24 2004-08-18 信行 坪井 走行案内装置とそのガイドレール
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2336287A1 (fr) * 1975-12-27 1977-07-22 Habegger Willy Monorail a cremaillere perfectionne
DE3031355A1 (de) * 1980-08-20 1982-04-01 Bleichert Förderanlagen GmbH, 6960 Osterburken Schienenfoerdervorrichtung mit durchgehender kopfschiene
DE9214738U1 (fr) * 1992-10-30 1992-12-24 Bleichert Foerderanlagen Gmbh, 6960 Osterburken, De
WO1997037881A1 (fr) * 1996-04-10 1997-10-16 Hk Systems, Inc. Element porteur pour systeme de tri monorail

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009062A1 (de) * 2012-05-09 2013-11-14 Thyssenkrupp System Engineering Gmbh Transporteinheit und Transportsystem

Also Published As

Publication number Publication date
JP2000052978A (ja) 2000-02-22
US6220174B1 (en) 2001-04-24
JP4560748B2 (ja) 2010-10-13
DE59811424D1 (de) 2004-06-24
EP0950597B1 (fr) 2004-05-19

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