EP1106563A2 - Trolley with rope hoisting gear having damped pendulum oscillations - Google Patents

Abstract

Device has upper frame (4) attached to the vehicle and lower frame (7) at distance beneath it, held on it by traction elements (9a-12b) and vertically movable by lifting drive. Belt or cable traction elements are angled to the vertical in one section in which they pass between the lower and upper frames to stabilize the position of the lower frame, for performing work on a load (13) attached to lower frame. Independent claims are also included for the following: a suspension track with vehicles.

Description

The invention relates to a transport and positioning device for a vehicle Monorail, the device at least one attached to the vehicle Upper frame and a subframe arranged at a distance below it and the lower frame is held by traction means on the upper frame and by means of a lifting drive is vertically movable.

Lifting devices are sufficiently known from the prior art. In GB 1 301 233 A, DD 141 817 A, US 5,150,799 A, US 4,949,855 A and DE 40 05 194 A1 discloses such devices for cranes, for example. From EP 325 555 A1 and DE 39 25 172 such a load lifting system is known. All of these facilities are mainly used for lifting loads and aim to commute and The load to be lifted fluctuates due to an oblique arrangement of the traction means prevent.

Overhead monorails, such as monorail systems (EHB for short) with one or more rails, serve primarily to transport loads. However, they also become Carrying out assembly work on a monorail vehicle fixed load used, especially in production lines in the automotive industry.

For the various required working heights as well as for crossing The load must be brought to different transport heights on routes. To either vehicles with rigid hangers (= load suspension devices) are used and reached the different heights through inclines and descents in the course of the route, or in the case of a horizontal route, one or more are sent to the Vehicles arranged lifting devices the height of the hangers and thus the load changed. The second solution is preferred in particular for larger loads.

Previous solutions for such lifting devices have, for example, a lifting winch and its own guide system to keep the load stable in the horizontal direction.

The guide system either prevents the load from tipping over (this must then be correspondingly stiff) or by load suspension at four corner points, whereby a guidance system against lateral swinging is also required. Prefers Different types of scissor mechanisms or folding arms are used for this.

The disadvantage of such mechanisms is the weight, which is required with a sufficiently rigid construction is required. This requires a higher performance for lifting and travel drives and a stronger steel construction for the route of the monorail.

Personal safety must also be taken into account when working on and is required under the hanging load.

It is therefore an object of the invention to provide a sufficiently stable but light transport and To provide positioning device for monorails.

The invention is characterized in that traction means in the form of a band or rope are executed and for at least one of the sections in which the traction means from the top to Subframe or vice versa, to stabilize the position of the subframe, especially for performing work on one on the subframe attached load, enclose an angle with the vertical.

It can be provided that all traction means for at least one of the sections in which the traction means are guided from the upper to the lower frame or vice versa, one Include angles with the vertical. In particular, it can be provided that the Angle is the same.

What is new about this invention is that through the use of tape or rope Traction means, such as ropes, belts, chains, belts or the like, a transport and Positioning device is realized with low weight. The oblique leadership the traction device enables the horizontal stabilization of the subframe and the for example, by means of a hanging, attached load. This serves the Personal safety by preventing the load from swinging. The same angle for all traction means is advantageous because all traction means have the same run length. It However, traction device guides with different angles or only vertical traction mechanism guides are combined, the traction mechanism then corresponding lifting devices are assigned.

So far, a solution through the inclined guidance of suspension ropes as with cranes was for Monorails not considered. It was assumed that this Execution for monorails is too unstable due to the elasticity of the suspension cables and the Dodge the load with larger horizontal forces. Also the restoring force at Deflection depends on the load, i.e. there is no stable position at low loads. Only after a closer examination of the situation with monorails did it become apparent Surprisingly, that despite the limited possible connection distance Lifting ropes by suitable inclined guidance of the lifting ropes, in cooperation with the when using overhead conveyors limited lifting height and constant Presence of sufficient load reaches a stable position of the subframe can be. Also an increase in personal security in terms of protection in the event of a failure of a traction device, which is not required for cranes, by redundant arrangement of traction devices can be achieved.

For appropriate dimensioning of the device, the invention provides that the angle of the weight force acting on the traction means and the maximum horizontal force acting in particular parallel to the plane of the inclined guide Work on the load attached to the subframe is intended. Doing so will large distance between the connection points selected. In the present case, the monorail the lifting height is approximately twice the distance between the connection points of the traction devices on the upper frame or lower frame. This results in a minimum force of 5% of the Dead weight, which must act at a corner point of the subframe in order to to achieve horizontal deflection of the lower frame in the lower lowered position. Due to the fact that the subframe and a load handler (sling) is available, will with a lifting weight of For example, 1000 kg for empty bodies and slings a minimum force of 500 N. surrender. This force is usually not achieved in manual assembly processes.

Good stability against horizontal forces can be achieved if the inclined Section of a first traction means lies in a plane that is at an angle with that plane includes which by the respective sloping section of two other traction means or is formed by the oblique sections of another traction means. this includes such as arrangements of traction devices, where the oblique sections are seen in plan view in Polygonal shape (triangle, square, pentagon, hexagon ...), or in a star shape - roughly along the room diagonals - run.

In the rest position, those that occur due to the oblique traction mechanism lift Horizontal forces on each other. If there is one on the subframe or the load from the outside Horizontal force attacks, so can be arranged with inclined only in parallel planes Pendulum sections of the subframe oscillate parallel to these levels, the sloping sections remain taut and the horizontal position of the subframe is not is more secured. The restoring force in the horizontal rest position would be low. Becomes however, another traction device, for example normal to the two traction devices arranged, a greater restoring force occurs. The traction means by the on the Subframe or the load acting horizontal force are relaxed, so that only those traction devices that counteract the horizontal force remain tensioned. A commute of the subframe is avoided, it remains in the rest position or quickly returns to it back.

In particular, it can be provided that a second traction mechanism is provided for each traction mechanism is arranged that the inclined portions of the traction means essentially in one Lay level and the horizontal forces arising from the oblique guidance in opposite directions Act. The horizontal forces are equal and cancel each other out.

It is particularly advantageous if at least one additional pair of traction means A pair of traction means is provided, the inclined sections of the further pair of traction means essentially lie in a plane normal to the plane of the sloping sections of the first pair of traction means is aligned. For example, two ropes each work in pairs levels offset by 90 degrees.

In order to achieve the simplest possible guidance of the traction means, it can be provided that that the traction means between the upper and lower frame are each guided on one level.

Corresponding embodiments of the invention can be found in the subclaims and are explained in more detail in the description of the figures. The arrangement of the diversions or fastenings at the most possible point of the upper and lower frames serves stability. The redundant use of two traction devices per rectangular side (and thus eight traction devices per facility) brings stability in the whole Horizontal plane and ensures that the one working on the load of the subframe Personnel in the event of a traction device tear is not endangered because of the second or other existing traction devices the load is still held.

The feature that the linear actuator is arranged centrally with respect to the upper frame, has the advantage that approximately the same length can be provided for each traction mechanism. In addition, the greatest possible distance to the first deflection is given in this way, which causes the rope to migrate to the drum during the course of the results in the smallest possible deflection angle for the rope.

If it is provided that the linear actuator consists of several independent units, so This increases reliability and thus also personal security. This is especially the case when redundantly provided traction devices different units assigned.

The linear actuator can be designed as a linear linear actuator. As a linear linear actuator, the is particularly suitable for relatively low lifting heights, for example Lifting thread spindle or a hydraulic cylinder provided. Instead of one Rope drum used to achieve low lifting speed and high load moment must be connected to a corresponding gear, the relatively small linear linear actuator used, because of its mode of operation no additional Gearbox needs.

In order to be able to take appropriate measures immediately, a facility for Monitoring of traction device cracks can be provided.

A device for length compensation of manufacturing tolerances provides the same Safe drainage length for all traction devices.

The vehicle can be very particularly advantageously with such a transport and Positioning device in a monorail for transporting components between and / or use in workstations on a production line. Because the Transport and positioning device can be carried out more easily, the Vehicles of course also lighter, which means that the entire monorail is less stable and can therefore be built more cost-effectively.

The overhead conveyor is operated particularly cheaply when between or in work stations the production line simultaneously several vehicles for transporting Components are provided. It can thus multiple components in the Production line are transported. This enables work processes to be optimized and ensure that there are no unnecessary delays in manufacturing is coming.

A further increase in throughput times results if at least one Work station of the component transported by the vehicle directly on the vehicle is processed. This means that the component does not have to be in its own in the workstation Processing device are brought, but can be edited directly on the vehicle what increases the cycle time of the workstation or the production line. A additional increase in cycle time can be achieved by using the vehicle while the component is being processed, it is moved through the work station, thereby production-related downtimes of the vehicles can prevent.

If the component on the vehicle is between the workstations in fully raised position is transported and in the workstation in a If the working position is lowered, potential collisions are avoided Obstacles. However, if the component on the vehicle is between the Work stations in the lowered position, preferably the work position, transported and raised if necessary, this has a favorable effect on the cycle time, because in the Workstation no longer needs to be lowered. For example, you can "intelligent" Vehicles equipped with sensors such as cameras, infrared or Acoustic sensors, to perceive their environment, provide that independently Avoid obstacles.

A further improvement in lead times can be achieved if the vehicles the overhead conveyor in a raised position, possibly during the transport movement, be loaded with the components to be transported. The components must So not automatically picked up by the vehicle, but are for example by appropriate robots placed on the vehicles. Moreover can thus devices on the vehicle to automatically pick up the components can be saved, which in turn reduces the cost of the vehicle.

Die Fig. 1, 2, und 3

zeigen die Seitenansicht, die Rückansicht und die Draufsicht eines EHB-Fahrzeugs mit einer Transport- und Positioniereinrichtung mit zwei Zugmittelumlenkungen pro Zugmittel.

Die Fig. 4 und 5

zeigen die den Fig. 1 und 2 entsprechenden Seilführungen.

Fig. 6

zeigt die Seilführung gemäß Fig. 4 bzw. Fig. 5 in Draufsicht.

Fig. 7

zeigt die Seitenansicht gemäß Fig. 5 bei hochgefahrenem Unterrahmen.

Fig. 8, 9 und 10

zeigen die Seitenansicht, die Rückansicht und die Draufsicht eines Fahrzeugs mit einer Transport - und Positioniereinrichtung mit drei Seilumlenkungen pro Zugmittel.

Fig. 11

zeigt die Seitenansicht gemäß Fig. 9 bei hochgefahrenem Unterrahmen.

Fig. 12 bis 15

zeigen verschiedene Seilführungen bei Ausfall eines Seils.

Fig. 16

zeigt eine Transport - und Positioniereinrichtung mit seitlich angeordnetem Hubantrieb.

Fig. 17

zeigt eine Transport - und Positioniereinrichtung mit linearem Hubantrieb.

The invention is shown in FIGS. 1 to 17 by way of example, schematically and in a non-restrictive manner.

1, 2 and 3

show the side view, the rear view and the top view of an EMS carrier with a transport and positioning device with two traction means deflections per traction means.

4 and 5

show the cable guides corresponding to FIGS. 1 and 2.

Fig. 6

shows the cable guide according to FIG. 4 and FIG. 5 in plan view.

Fig. 7

shows the side view of FIG. 5 with the subframe raised.

8, 9 and 10

show the side view, the rear view and the top view of a vehicle with a transport and positioning device with three cable deflections per traction means.

Fig. 11

shows the side view of FIG. 9 with the subframe raised.

12 to 15

show different rope guides in the event of a rope failure.

Fig. 16

shows a transport and positioning device with laterally arranged lifting drive.

Fig. 17

shows a transport and positioning device with linear stroke drive.

1 to 3, the entire vehicle of an electric monorail system (EMS) is shown, which runs on a rail 3 and usually has an articulated connection 1 the drives 6 is provided for torsion on the rail 3 when the load 13 swings (e.g. when cornering). To stabilize the assembly lines, a Pendulum support 2 (= lateral guidance) provided on the upper frame 4. It goes without saying the invention is not limited to EMS with a rail, but can also with EMS can be used with two rails.

Two lifting drives 5 are provided on the upper frame 4 for driving the cable drum 14, which contribute to personal safety due to their redundancy. However, it can also other security measures for personal security are provided, e.g. Centrifugal brakes, which is not excluded by the invention. The subframe 7 is over eight pieces of hoisting ropes - two at the front 9a, 9b, two at the rear 10a, 10b, two on the left 11a, 11b, two right 12a, 12b - held on the upper frame 4. The hanger (= load suspension) 8 carries the load 13.

In Fig. 4 the diagram of the cable guide to Figs. 1-3 is shown. The condition for the function of the invention is the same distance A between Seilumlenk- and Connection point for all eight ropes. This also gives the same rope drain length. The arrangement is exemplary, a different arrangement of the cable drum 14 could also be used (2 cable drums driven synchronously are also possible).

The principle of the invention is that two ropes a, b are always the same inclined rope course stabilize in one direction in pairs. Moreover the ropes offset 90 degrees on both sides prevent the load from tipping over. For certain applications may also require six ropes, e.g. can in Direction of travel can only be arranged in the middle of a pair of ropes.

The rope force FS per rope with the weight force FG (share per connection point) and with a given angle α of the rope section relative to the vertical in the state of equilibrium: FG below = FS (1 + cos α) and changes during the stroke.

In the example at hand, the upper end position (see Fig. 7), where the sloping cable segment is approximately horizontal, corresponds approximately to α = 90 °, so that FG = FS. In the lower end position, the angle α is approx. 26 °, which with cos α = 0.9 is a force ratio of FS above = FG and FS below = FG / 1.9 results. It follows: FS above = 1.9 x FS below

In this version, the load in the upper end position is proportional (1/8 for eight Ropes) carried by a rope segment, so the speed changes in the strong lifting range, as well as the required lifting force increases sharply.

8-11 shows the diagram of a cable guide with three deflections per cable. The state of equilibrium in the lower end position of the subframe is given by: FG below = FS (2 + cos α) In the example at hand, the analog calculations and angle information for the upper (Fig. 11) and lower (Fig. 8 and 9) end position result: FS above = FG / 2 and FS below = FG / 2.9 It follows: FS above = 1.45 x FS below

In this version, the load in the upper end position is proportional (1/8 for eight Ropes) carried by two rope segments, so the speed changes in the lower lifting range, and the required lifting force does not increase as much. After ropes, gears, drives, drive control according to the maximum rope force must be dimensioned, is a constant speed or force curve at same required lifting work cheaper. 8-11 is thus in more advantageous in this respect than that according to FIGS. 1-7.

The effect of a broken rope on personal safety is shown in Figs. 12-15 shown. The left part of each figure shows a side or front or Rear view of a device according to the invention with a pair of cables per rectangular side of the upper or lower frame. The right side of the rectangle was 90 degrees tilted into the drawing plane and forms the right part of the respective illustration, whereby only one rope is in operation here. The reference numerals have been shown for the Example set so that in the middle of each illustration the right front corner of the Device is shown and thus the right side view in the left part of each illustration and the front view is shown in the right part of each figure.

If a rope 9b breaks due to manufacturing defects or external force, this means that Rectangular side only one rope 9a remains, so in the embodiment of FIG 1-7 corresponds to the load the tendency to dodge laterally as soon as the The center of gravity of the load is off-center, towards the corner of the missing rope 9b.

13 has the advantage that due to the double vertical Rope guidance a better stabilization of the corners than in Fig. 12 can be achieved. In addition, the double vertical rope strand causes a more favorable change in load the hub. If a rope 9b fails, however, the same effect occurs as in FIG. 12.

If both ropes 9b, 12a tear, there is no support force in this embodiment of FIGS. 12 and 13 in this corner available.

14, which corresponds to FIGS. 8-11, and according to FIG. 15 is after given a rope break a more stable position after the remaining rope 9b (FIG. 14) or 9a (FIG. 15) causes a support force also on the second corner of the subframe 7. 15 has the advantage over FIG. 14 that the vertical Running a rope at two corners can further increase stability.

Even if two of the four ropes attacking a corner of the subframe 7 are two tear, there remains a minimum residual force of 2 x FS x cos α in Fig. 14 or 2 x FS in Fig. 15. With this force, the center of gravity of the load can be shifted towards the corner be intercepted without the corner tipping over.

With regard to the lifting drive concept, the invention is not based on a central cable drum limited.

Fig. 16 shows a cable guide 12a, 12b, in which the lifting drive with the drivable Cable drum 14 is attached laterally above the upper frame.

Fig. 17 shows an example of that in addition to fixed drivable drums other lifting drive concepts can be used. In the case shown both ends of a rope 12a, 12b attached to the subframe 7, the thereby resulting loop attached to an upper frame, not shown here movable drum 15 guided and deflected on a further deflection roller 16a, 16b. By moving the drum 15 horizontally, the subframe 7 is raised, whereby for the sloping rope sections the difference in the running length between sloping and vertical rope section is compensated by the deflection rollers 16a, 16b.

For rope break detection, rockers are used on the one hand, via the two traction means each are guided and which deflect when a traction device fails, the traction device tear is detected via the rash.

On the other hand, the rope break detection can be done via disk spring packs on the rope connection be recognized. In the event of a rope break, the force on the disc spring package and changes hence its length, which makes a rope break detectable. Either it comes on a spring washer package with monitoring is provided for each cable connection point or the ropes become a central point from their intended connection point Connection point redirected, where with monitoring several ropes at the same time are monitored, whereby the break of a rope is also detected.

It can be caused by manufacturing tolerances in rope and drum diameters small differences in the length of the cable drain. Here offers a sprung Connection a cheap way of compensation. Of course you can too other means of length compensation (e.g. a sprung tension roller) are used come.

Instead of the rope mentioned in the above exemplary embodiments, each can also other traction devices mentioned above (e.g. belt) can be used.

Such vehicles are advantageous in transport systems, such as monorails, used as already described in the introduction to the description.

Claims (25)

Transport and positioning device for a vehicle of a monorail system, the device consisting of at least one upper frame (4) attached to the vehicle and a lower frame (7) arranged at a distance below it, and the lower frame (7) by traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is held on the upper frame (4) and can be moved vertically by means of a lifting drive (5, 14, 15), characterized in that traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) are designed in the form of a band or rope and for at least one of the sections in which the traction means are guided from the upper frame to the lower frame or vice versa, to stabilize the position of the lower frame (7), in particular for performing work on one on the lower frame (7) attached load (13), enclose an angle (α) with the vertical. Device according to claim 1, characterized in that all traction means for at least one of the sections in which the traction means are guided from the upper frame to the lower frame or vice versa enclose an angle (α) with the vertical. Device according to claim 1 or 2, characterized in that the angle (α) is the same size. Device according to one of claims 1 to 3, characterized in that the angle (α) of the weight acting on the traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) and the maximum, in particular parallel to The plane of the inclined guide, the horizontal force acting when working on the load (13) attached to the subframe (7) is determined. Device according to one of claims 1 to 4, characterized in that the oblique section of a first traction means (9a, 9b; 10a, 10b) lies in a plane which includes an angle with that plane which is separated by the respective oblique section of two others Traction means (11a, 11b; 12a, 12b) or is formed by the inclined sections of another traction means. Device according to one of claims 1 to 5, characterized in that for each traction means (9a, 10a, 11a, 12a) a second traction means (9b, 10b, 11b, 12b) is arranged such that the inclined sections of the traction means essentially in lie on one level and the horizontal forces created by the inclined guidance act in opposite directions. Device according to claim 6, characterized in that for each pair of traction means (9a, 9b; 10a, 10b; 11a, 11b; 12a, 12b) at least one further pair of traction means is provided, the oblique sections of the further pair of traction means lying essentially in one plane, which is aligned normal to the plane of the inclined sections of the first pair of traction means. Device according to one of claims 1 to 7, characterized in that the traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) are each guided in one plane between the upper and lower frame (4, 7). Device according to claim 7 or 8, characterized in that the upper and lower frames (4, 7) are essentially rectangular and are oriented identically and for each rectangular side of the upper or lower frame (4, 7) a pair of traction means (9a, 9b; 10a, 10b; 11a, 11b; 12a, 12b) is provided. Device according to claim 8 or 9, characterized in that each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) from a lifting drive (5, 14, 15) arranged on the upper frame (4) into the outer region of the upper frame (4) via a first deflection, from this vertically downwards, on the lower frame (7) via a second deflection and from this obliquely upwards to the upper frame (4), in particular into an area opposite the first deflection, and in one Attachment is anchored. (Fig. 12) Device according to claim 8 or 9, characterized in that each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) from a lifting drive (5, 14, 15) arranged on the upper frame (4) into the outer region of the upper frame (4) via a first deflection, from this obliquely downwards to the lower frame (7), on the lower frame (7) via a second deflection, from this vertically upwards, on the upper frame (4) by a third deflection, from this vertically down to the subframe (7), in particular in an area opposite the first deflection, and anchored in a fastening. (Fig. 13) Device according to claim 8 or 9, characterized in that in order to increase personal safety, each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is provided by a lifting drive (5, 14, 15) arranged on the upper frame (4). in the outer area of the upper frame (4) via a first deflection, from this vertically downwards, on the lower frame (7) via a second deflection, from this vertically upwards, on the upper frame (4) by a third deflection, from this obliquely down to the subframe (7), in particular in a region opposite the second deflection, and anchored in a fastening. (Fig. 14) Device according to claim 8 or 9, characterized in that in order to increase personal safety, each traction means (9a, 9b, 10a, 10b, 11a, 11b, 12a, 12b) is provided by a lifting drive (5, 14,) arranged on the upper frame (4). 15) into the outer area of the upper frame (4) via a first deflection, from this vertically downwards, on the lower frame (7) via a second deflection, from this diagonally upwards, in particular into an area opposite the second deflection, on the upper frame ( 4) through a third deflection, from which it is guided vertically downwards to the subframe (7) and is anchored in a fastening. (Fig. 15) Device according to one of claims 1 to 13, characterized in that the lifting drive (5, 14, 15) is arranged centrally with respect to the upper frame (4). Device according to one of claims 1 to 14, characterized in that the lifting drive (5, 14, 15) consists of several independent units. Device according to one of claims 1 to 15, characterized in that the linear drive is designed as a linear linear drive (15). (Fig. 17) Device according to one of claims 1 to 16, characterized in that a device for monitoring traction device cracks is provided. Device according to one of claims 1 to 17, characterized in that a device for length compensation of manufacturing tolerances is provided. Overhead conveyor with vehicles at least partially equipped with a transport, and positioning device according to one of claims 1 to 18, for transporting of components between and / or in workstations on a production line. Overhead conveyor according to claim 19, characterized in that between and / or in workstations of the production line, a plurality of vehicles are simultaneously provided for transporting components. Overhead conveyor according to claim 19 or 20, characterized in that the component transported by the vehicle can be processed on the vehicle in at least one work station. Overhead conveyor according to claim 21, characterized in that the vehicle is movable through the work station while the component is being processed. Overhead conveyor according to claim 21 or 22, characterized in that the component located on the vehicle can be transported between the work stations in a fully raised position and can be lowered into a work position in the work station. Overhead conveyor according to claim 21 or 22, characterized in that the component located on the vehicle between the work stations in a lowered position, preferably the work position, is transportable and can be raised if necessary. Overhead conveyor according to one of claims 19 to 24, characterized in that the vehicles can be loaded with the components to be transported in a raised position, possibly during the transport movement.

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