EP0950597B1 - 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
EP0950597B1
EP0950597B1 EP98810330A EP98810330A EP0950597B1 EP 0950597 B1 EP0950597 B1 EP 0950597B1 EP 98810330 A EP98810330 A EP 98810330A EP 98810330 A EP98810330 A EP 98810330A EP 0950597 B1 EP0950597 B1 EP 0950597B1
Authority
EP
European Patent Office
Prior art keywords
rail
guide
carriage
toothing
guiding system
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.)
Expired - Lifetime
Application number
EP98810330A
Other languages
German (de)
English (en)
Other versions
EP0950597A1 (fr
Inventor
Rudolf Güdel
Walter Zulauf
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
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 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 carriage for a guide system with one with guide surfaces and with a toothed rail.
  • the carriage has a drive gear, which in one Force application point engages in the toothing of the rail, and further guide elements that in corresponding support points on the laterally arranged guide surfaces of the rail are, wherein the drive gear and at least a first of the guide elements in constant Are spaced from each other and are arranged so that one through the force application point on the one hand and the point of contact of said first guide element on the first guide surface on the other hand, the straight line defined is always perpendicular to the current direction of travel. Further refers the invention on a guide system with such a carriage and on a rail for Carriage.
  • Conveyor systems that can move to specified positions exactly are e.g. in the automated Manufacturing needed. With such a conveyor system, the workpieces can be removed from a processing station transported to a next one and automatically handed over there.
  • gear and spindle drives can.
  • Such drives come e.g. in machines with precisely movable processing units (Milling machine, drill, etc.).
  • a typical application example is a bogie or Rotary table of an automatic assembly machine. By the number of revolutions of the pinion or the driving The gear is precisely determined.
  • the known gear drives are only for the execution of either exclusively linear or only suitable for rotating movements.
  • the German utility model G 92 14 738 shows a conveyor system with a guide rail and a rack whose teeth are aligned horizontally.
  • the trolley has a drive gear, which is coaxial to the foremost transverse guide roller is stored.
  • the roller system is in a box-shaped guide rail that is open at the top guided and the rack is located laterally above the guide rail.
  • the guide rail is a simple carrier, on the outside the roller system is guided.
  • the rack is attached laterally below the guide rail and the geometric axis of the gear runs through the center of the guide rail.
  • the toothing of the rack runs in each case plane-parallel to the plane-parallel transverse guideways the guide rail.
  • FR 2 336 287 is concerned with a passenger transport system with gear drive.
  • the guide rail has side guide surfaces for corresponding guide rollers of the carriage.
  • the Gearing points vertically downwards. This system is not suitable for curves.
  • the object of the invention is a carriage, a guide system, and a rail of the types mentioned indicate which positional accuracy and largely free lines combine.
  • the carriage has at least one chassis, the pivot axis of which Force application point of the drive gear runs.
  • a toothed rack is formed on the rail such that the dividing line of the toothing unites has a predefined constant distance from at least one lateral guide surface.
  • the carriage has a guide element, which on the lateral guide surface mentioned in a support point is guided, and a drive gear, which engages in a force application point in the rack.
  • Drive gear and guide element are arranged so that by the force application point and The point of contact defined 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 runs through a perpendicular bisector of the cross section of the Guide rail.
  • leadership elements usually used leadership roles. But sliding elements are also possible.
  • a carriage according to the invention has at least one, but preferably two chassis. This are designed so that when the direction changes, the axis of rotation or swivel of the chassis runs through the dividing line of the gearing.
  • the pivot axis goes through the Force application point and is parallel to an axis of rotation of the drive gear. (Has the carriage only a single chassis, then the center of gravity of the carriage should be on the above Swivel axis.) This ensures that the driving force (acceleration or Braking force) generates no reaction torque 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 running surfaces 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 (screwed, welded). So that the geometry of the toothing in the curves is correct, you can two identical straight 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 attached 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 pieces (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 Foot 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 rack 4 curved; can instead of a foot line 9 from a foot circle instead of one Head line 8 from a head circle and instead of a dividing line 6 from one Pitch circle or pitch circle can be spoken.
  • the foot line 9 and the head line 8 lie on two different sides of the perpendicular bisector 7. Basically comes it does not depend on 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 Toothing 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.
  • the rail 1 is viewed from above.
  • the carriage 21 is located below the rail 1 and is e.g. on two identical chassis hinged.
  • 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 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 towards the narrow sides 2.1, 2.2 of the rail 1 convexly curved. According to the smallest radii of curvature in the system the rail they 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 Triangle.
  • the two same legs of the triangle are through 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 must be 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 changing from a straight section to a curved section Suspension 18.1, 18.2 for 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 in relation to the Chassis 11 clearly defined because the guide roller 15.3 mentioned 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.
  • 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.
  • Current 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 carried out in many ways within the scope of the invention as defined in the claims 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 storage 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)

Claims (18)

  1. Chariot (21) pour un système de guidage avec un rail (1) muni de surfaces de guidage et d'une denture (5),
    a) qui comporte une roue dentée d'entraínement (13) qui peut s'engrener en un point d'application des forces (14) dans la denture (5) du rail (1), et
    b) qui de plus comporte des éléments de guidage (15.1,15.2) qui, dans des points d'appui correspondants (24), peuvent être guidés sur les surfaces de guidage (2.1,2.2) agencées latéralement sur le rail (1),
    c) dans lequel la roue dentée d'entraínement (13) et au moins un premier des éléments de guidage (15.1,15.2) sont à une distance constante entre eux et
    d) sont disposés de telle sorte qu'une droite définie par le point d'application des forces d'une part et par le point d'appui (24) dudit premier élément de guidage (15.1,15.2) sur la première surface de guidage d'autre part, est toujours perpendiculaire à la direction de marche du moment,
    caractérisé en ce que,
    e) le chariot présente au moins un châssis (11) dont l'axe de pivotement (22) s'étendant parallèlement à un axe de rotation de la roue dentée d'entraínement (13) passe par le point d'application des forces (14) de la roue dentée d'entraínement (13).
  2. Chariot selon la revendication 1, caractérisé en ce que l'axe de pivotement (14) du châssis (11) passe par le centre de gravité du chariot (21) ou du châssis (11) et le point d'application des forces.
  3. Chariot selon l'une des revendications 1 ou 2, caractérisé en ce que les éléments de guidage (15.1 à 15.3) forment un guidage en trois points.
  4. Chariot selon la revendication 3, caractérisé en ce que deux éléments de guidage (15.1, 15.2) pouvant être guidés sur la même surface de guidage sont montés sur ressorts.
  5. Chariot selon l'une des revendications 1 à 4, caractérisé en ce que ledit premier élément de guidage (15.3) n'est pas monté sur ressorts afin de conserver une distance constante par rapport à la roue dentée d'entraínement (13).
  6. Chariot selon l'une des revendications 1 à 5, caractérisé en ce que sont prévus des galets de roulement (19.1 à 19.4) qui peuvent venir s'appliquer sur le rail (1) par le haut et par le bas.
  7. Système de guidage comprenant un chariot (21) selon la revendication 1 ainsi qu'un rail (1) muni de surfaces de guidage latérales (2.1,2.2),
    a) dans lequel une ligne de division (6) faisant partie de la denture (5) présente une distance constante prédéfinie par rapport à au moins une première des surfaces de guidage latérales (2.1,2.2),
    b) dans lequel la denture (5) rapportée aux surfaces de guidage (2.1,2.2) se présente latéralement vers la gauche et vers la droite, et
    c) dans lequel la ligne de division (6) de la denture (5) est disposée dans la région entre les surfaces de guidage (2.1,2.2).
  8. Système de guidage selon la revendication 7, caractérisé en ce que la ligne de division (6) de la denture est disposée au centre du rail (1).
  9. Système de guidage selon la revendication 7 ou 8, caractérisé en ce que la denture (5) est formée par une crémaillère (4).
  10. Système de guidage selon l'une des revendications 7 à 9, caractérisé en ce que le chariot comporte au moins un châssis (11) dont l'axe de pivotement (14) passe par le centre de gravité du chariot (21) ou du châssis (11) et par le point d'application des forces.
  11. Système de guidage selon l'une des revendications 7 à 10, caractérisé en ce que les éléments de guidage (15.1 à 15.3) forment un guidage en trois points.
  12. Système de guidage selon la revendication 11, caractérisé en ce que deux éléments de guidage (15.1, 15.2) guidés sur la même surface de guidage sont montés sur ressorts.
  13. Système de guidage selon l'une des revendications 7 à 12, caractérisé en ce que sont prévus des galets de roulement (19.1 à 19.4) qui viennent s'appliquer sur le rail par le haut et par le bas.
  14. Système de guidage selon l'une des revendications 7 à 13, caractérisé en ce que le rail (1) est conçu essentiellement sous la forme d'un ruban et fixé sur une poutre (10) qui garantit la stabilité ou la portance.
  15. Système de guidage selon l'une des revendications 7 à 14, caractérisé en ce que le rail (1) présente des tronçons droits ainsi que des tronçons courbés vers la gauche et vers la droite.
  16. Rail (1) pour un système de guidage selon la revendication 7, qui possède deux surfaces de guidage latérales (2.1,2.2) et une denture (5) , dans lequel la denture (5) présente une distance constante prédéfinie par rapport à au moins l'une des surfaces de guidage latérales (2.1,2.2) et dans lequel la denture (5) rapportée aux dites surfaces de guidage (2.1,2.2) est dirigée latéralement vers la gauche et vers la droite, caractérisé en ce qu'une ligne de division (6) affectée à la denture (5) passe par une médiatrice (7) de la section transversale du rail (1).
  17. Rail selon la revendication 16, caractérisé en ce qu'il est essentiellement conçu sous la forme d'un ruban et fixé sur une poutre (10) qui garantit la stabilité ou la portance.
  18. Rail selon l'une des revendications 16 ou 17, caractérisé en ce qu'il présente aussi bien des tronçons droits que des tronçons courbés latéralement vers la gauche et vers la droite.
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 EP0950597A1 (fr) 1999-10-20
EP0950597B1 true EP0950597B1 (fr) 2004-05-19

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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)

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JP4560748B2 (ja) 2010-10-13
US6220174B1 (en) 2001-04-24
DE59811424D1 (de) 2004-06-24
EP0950597A1 (fr) 1999-10-20
JP2000052978A (ja) 2000-02-22

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