EP2062845A2 - Lifting and translation frame, for educational or industrial use - Google Patents

Lifting and translation frame, for educational or industrial use Download PDF

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Publication number
EP2062845A2
EP2062845A2 EP08358014A EP08358014A EP2062845A2 EP 2062845 A2 EP2062845 A2 EP 2062845A2 EP 08358014 A EP08358014 A EP 08358014A EP 08358014 A EP08358014 A EP 08358014A EP 2062845 A2 EP2062845 A2 EP 2062845A2
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EP
European Patent Office
Prior art keywords
carriage
lifting
translation
winch
gantry
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
EP08358014A
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German (de)
French (fr)
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EP2062845B1 (en
EP2062845A3 (en
Inventor
Claude Ledent
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Ledent Machines Equipements (SARL)
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Ledent Machines Equipements (SARL)
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Publication of EP2062845A2 publication Critical patent/EP2062845A2/en
Publication of EP2062845A3 publication Critical patent/EP2062845A3/en
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Publication of EP2062845B1 publication Critical patent/EP2062845B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00—Base supporting structures with legs
    • B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the present invention relates to a lifting crane and translation, for educational or industrial use.
  • a lifting crane for industrial and educational use comprising a carriage moving on a beam for support and guidance, the latter being supported by two feet with which it is a gantry which is, for example, mounted on wheels to ensure its displacement, said gantry further comprising a gripping tool attached to a stabilizing manipulator arm integral with the carriage, said stabilizer manipulator arm being actuated by a winch or a jack equipping said carriage.
  • a lifting station for educational use comprising a bracket mounted on a base and at the top of which is installed, remote from said base, a winch on a support articulated on one side by an axis and resting on the other side on dampers, the distance between the tilting support and the base allow the suspension of a load to winch cable, without interposing the deflection member between the winding pulley of the latter on which rolls said cable and said load suspended therefrom, as well as the vertical movement of the latter between said pulley and said base.
  • the devices described in the aforementioned documents are advantageously applicable in the fields of technical education and vocational training concerning lifting and handling techniques. They can also be used for professional purposes, in any industry requiring the controlled and secure handling of loads.
  • the present invention aims in particular to broaden the scope of functions provided by the lifting cranes and handling of the kind described in the document FR-2 676 724 , in order to make such gantries, more comprehensive didactic test and demonstration products and performance, in the field of physics, energy, electronics, automation and communication. These new features are also applicable to lifting and handling equipment that can be used in a variety of industries.
  • the invention is applicable to a lifting and translation gantry of the type described in the document FR-2 676 724 , comprising a beam constituting a horizontal axis and supported at its ends by poles preferably having a gooseneck shape. On this horizontal beam, is mounted a carriage supporting a winch on the drum which wraps a cable whose lower end is provided with a means for the suspension of loads of various weights and of various natures.
  • the lifting and the translation of the loads suspended with the winch can cause a more or less pronounced dangling of these loads.
  • the lifting and translation gantry comprises a means for detecting and controlling the ballast of the load suspended on the winch during the displacement of said loads, these means being arranged to remove this ballant or to limit the amplitude.
  • the balloon detection system is constituted by an analog-type fork and signal sensor, installed below the winch drum, so that the position of said cable is in the field of Measuring the sensor allows the detection of variations of this position, when moving the load.
  • the fork sensor emits signals that are operated by a safety device to stop or slow the translation movement of the truck, either in correction by the automation or in communication for the traceability of operation.
  • the gear motor ensuring the translation movements of the carriage is provided with a drive pinion meshing with a rack mounted floating along the horizontal beam of the gantry and whose ends are placed in support against force sensors.
  • force sensors make it possible to measure the torque of the geared motor and the forces due to the balloon or the driving load, for operation by the safety system, or by the automation, or for the recording of physical measurements.
  • the lifting gantry and translation is provided with a vertical displacement arm for supporting gripping tools or assembly, the vertical movements of this arm being provided by the winch cable which said arm is secured.
  • the lower end of this arm can be equipped with different types of interchangeable grippers, for educational work.
  • the winch is installed on a pivoting support is mounted on the carriage, this support being articulated via one of its sides, on said carriage, and resting, via its opposite side, on a load sensor also supported by the carriage.
  • the thresholds of overload or underload are controlled by the sensor.
  • the combination of the articulated winch with weighing sensor and the gripper arm is a particularly interesting device for stacking / unstacking.
  • the overload or underload thresholds being controlled by the sensor and the load transmitter, the difference recorded during docking indicates the lowering of the descent and the action of the gripping device. By this method, the storage height is immediately detected.
  • the system also highlights the differences in cycle repeatability.
  • the gantry lifting and translation is provided with a folding table to work, either lifting and translation with weights, or in handling, by gripping, for stacking exercise / unstacking , in the applications of the didactic field, so that the pupils thus have a work plan at height.
  • This lifting and translation gantry comprises a robust horizontal beam P supported, at its ends, by two posts or uprights M which can be straight or, preferably, in the shape of a gooseneck and which are braced, at their lower part, by a transom TR. It can be equipped, in lower part, a protection ramp R surrounding the moving area of the loads handled.
  • the carriage C can be equipped, to ensure its translational movement, of several types of interchangeable actuators. It makes it possible to test gearboxes 26, being of the type: wheel and screw, sun gear / parallel shaft, conical torque; these can be equipped with different types of motors 28 interchangeable or not, 30 encoders, their electrical connection is direct or multi-pin connectors.
  • the carriage C is equipped with a detection device 28 or contact for slowing stroke, end of travel, and overtravel of safety for both directions, and on a direction of a zero point of initialization.
  • the beam P is equipped in each direction, adjustable cams for slowdown detectors, fixed cams with deceleration ramps for the purposes of races, fixed cams for safety contacts, and stops 29.
  • the device ensuring the translation of the carriage C comprises a drive gear 3 meshing with a rack 3A fixed along the beam P.
  • This drive pinion 3 is coupled to an encoder 30 allowing provide speed or distance information.
  • the device is completed by a visual information 31, given by the apposition of a tape measure glued or otherwise fixed along the beam P.
  • the rack 3A is mounted floating on the beam P, that is to say that it can slide longitudinally along the latter.
  • the ends of this floating rack are placed in abutment against force sensors 4 which may consist of one or two strain gages, or by contacts or any other device transmitting signals or information that may be operated by a measuring system, allowing, for example, torque measurements, or dangling forces or driving load, or for controlling a safety system for example in case of overload.
  • the carriage supports a winch 1 comprising a drum 13 on which a cable 14 is wound.
  • the lower end or free end of the cable 14 is provided with a means allowing the suspension of loads of various weights and shapes and of various natures.
  • This means may be constituted by a safety swivel hook 15, which is suspended a basket 23-24 for receiving weights or loads 25.
  • the basket 23 has a damping system 24 consisting of Belleville spring washers .
  • the drum 13 is mounted on the shaft of a reversible gearbox with parallel shaft, coupled to an electric motor 12, provided with a parking brake active by lack of current, forced ventilation, an encoder 22 for vector control, or, for some exercises, a dynamotachymeter.
  • the rotational movement of the drum is transmitted by a set of gearing 16 to a screw / nut system 17 providing in its support, the linear displacement of a cam with several tracks 18. These are intended for contacts or detections of races: slowing down 19, end of travel 20, safety overtravel 21, or initialization zero point 22.
  • a screw / nut system 17 providing in its support, the linear displacement of a cam with several tracks 18. These are intended for contacts or detections of races: slowing down 19, end of travel 20, safety overtravel 21, or initialization zero point 22.
  • an encoder 29 for speed or distance control, the assembly is streamlined .
  • the winch 1 is mounted on a support, for example constituted by an articulated plate 10, via one of its sides and by means of hinges 10A on the carriage C, and resting, via its opposite side, on a load sensor 11 also supported by said carriage.
  • the side of the hinged support opposite the side thereof provided with the hinges 10A is integral with a bearing point consisting of a ball joint ( figures 1-3 ).
  • the winch 1 disposed between the hinges and the support ball joint transmits the force exerted by the load, either to a strain gauge 11 for load measurement / or torque image, or to a spring, or to a damper, or to a sensor and / or to one or more contacts that can be used safely.
  • the gantry for lifting and translation is provided with a balloon detection and control system, consisting of a device making it possible to situate, statically and dynamically, the position of the cable 14 in a field measuring device, at the output of the drum 13 of the winch 1.
  • the balloon detection system can be constituted by a fork sensor 2 and analog type signal, disposed below the drum 13 of the winch 1 and between the two branches which passes the vertical part unwound of the cable 14 said winch.
  • the measurement information resulting from this detection system is exploited by an automatism known per se, for correction or safety intervention.
  • the figure 10 illustrates the method of managing the movement of the winch 1.
  • the carriage C can be arranged to constitute a means for guiding a vertical arm 5 movable axially and able to move in translation with said carriage.
  • the lower end of this arm is provided with a gripping tool holder 8 suspended from the hook 15 of the winch 1 and said arm is for example guided vertically by grooved rollers 9 carried by a vertical face of the carriage.
  • the combination of the winch 1 mounted on a tilting support acting on the weighing sensor 11, with the gripper arm 5, is a particularly advantageous device stacking / unstacking.
  • the overload or underload thresholds being controlled by the sensor and load transmitter, the difference recorded during the docking, indicates the stop descent and controls the action of the gripping device.
  • the gripping device 5-8 is extended, in the upper part, of a cable sheath 6 and is provided with multi-pin plugs 7 so as to make it removable. It is equipped for the practical work of interchangeable grippers: pneumatic, magnetic, or empty.
  • the lifting and translation gantry is equipped for these exercises with a folding table TA ( figure 9 ).
  • This folding table TA allows you to work, either in gripping mode ( figure 6 ), either in lifting mode ( figure 1 ).
  • the architecture of the gantry is broken down into distinct and separate subsets, namely: - operating part, and - control parts or one or more independent boxes 34, 35,36.
  • All the engines and control controls on board the truck is brought, through a cable chain 31, located at the rear of the beam, to a grouping box 32. This ensures both the general power supply of the system with its mandatory protections, and the interconnection connection of the external control box or cabinets 33.
  • These independent boxes 34-35-36 are mounted on feet, the electrical connections are under protective sheaths 33 and connected to the operational part by multi-pin plugs ( figure 11 ). This system makes it possible to work several pupils in separate spots or to interchange these boxes with boxes made by the students.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Types And Forms Of Lifts (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The crane has a beam including ends each resting on a gooseneck pole to form an assembly. A carriage is mounted on a ball-bearing runner and guided by rollers, where the carriage circulates on the assembly. The carriage is moved in translation by a pinion/ floating rack driving system that is limited in its course by mechanical stops with shock absorber blocks. The carriage has an articulated side (10) and another side with a load sensor (11). A gear motor acts as a winch (1), and is installed between the sides of the carriage to permit measurement of load (25) suspended to the winch.

Description

La présente invention concerne un portique de levage et de translation, à usage pédagogique ou industriel.The present invention relates to a lifting crane and translation, for educational or industrial use.

Dans le document FR-2 676 724 , est décrit un portique de levage à usage industriel et pédagogique, comprenant un chariot se déplaçant sur une poutre lui servant de support et de guidage, celle-ci étant supportée par deux pieds avec lesquels elle constitue un portique qui est, par exemple, monté sur roues pour assurer son déplacement, ledit portique comprenant encore un outil de préhension fixé à un bras manipulateur stabilisateur solidaire de ce chariot, ce bras manipulateur stabilisateur étant actionné par un treuil ou par un vérin équipant ledit chariot.In the document FR-2 676 724 is described a lifting crane for industrial and educational use, comprising a carriage moving on a beam for support and guidance, the latter being supported by two feet with which it is a gantry which is, for example, mounted on wheels to ensure its displacement, said gantry further comprising a gripping tool attached to a stabilizing manipulator arm integral with the carriage, said stabilizer manipulator arm being actuated by a winch or a jack equipping said carriage.

D'autre part, par le document FR-2 816 744 , on connaît une station de levage à usage pédagogique, comportant une potence montée sur un socle et au sommet de laquelle est installé, à distance dudit socle, un treuil sur un support articulé d'un côté par un axe et reposant de l'autre côté sur des amortisseurs, la distance ménagée entre le support basculant et le socle permettent la suspension d'une charge au câble du treuil, sans interposition d'organe de renvoi entre la poulie d'enroulement de ce dernier sur laquelle s'enroule ledit câble et ladite charge suspendue à celui-ci, ainsi que le mouvement vertical de cette dernière entre ladite poulie et ledit socle.On the other hand, by the document FR-2,816,744 there is known a lifting station for educational use, comprising a bracket mounted on a base and at the top of which is installed, remote from said base, a winch on a support articulated on one side by an axis and resting on the other side on dampers, the distance between the tilting support and the base allow the suspension of a load to winch cable, without interposing the deflection member between the winding pulley of the latter on which rolls said cable and said load suspended therefrom, as well as the vertical movement of the latter between said pulley and said base.

Les dispositifs décrits dans les documents susmentionnés sont avantageusement applicables dans les domaines de l'enseignement technique et de la formation professionnelle concernant les techniques de levage et de manutention. Ils peuvent aussi être utilisés à des fins professionnelles, dans toute industrie nécessitant la manutention contrôlée et sécurisée de charges.The devices described in the aforementioned documents are advantageously applicable in the fields of technical education and vocational training concerning lifting and handling techniques. They can also be used for professional purposes, in any industry requiring the controlled and secure handling of loads.

La présente invention a notamment pour objectifs d'élargir le champ des fonctions assurées par les portiques de levage et de manutention du genre de celui décrit dans le document FR-2 676 724 , dans le but de faire de tels portiques, des produits didactiques d'essai et de démonstration plus complets et performants, dans le domaine de la physique, de l'énergie, de l'électronique, des automatismes et de la communication. Ces nouvelles fonctionnalités sont également applicables à des appareils de levage et de manutention utilisables dans des industries diverses.The present invention aims in particular to broaden the scope of functions provided by the lifting cranes and handling of the kind described in the document FR-2 676 724 , in order to make such gantries, more comprehensive didactic test and demonstration products and performance, in the field of physics, energy, electronics, automation and communication. These new features are also applicable to lifting and handling equipment that can be used in a variety of industries.

Plus précisément l'invention est applicable à un portique de levage et de translation du genre décrit dans le document FR-2 676 724 , comprenant une poutre constituant un axe horizontal et soutenue, à ses extrémités, par des poteaux présentant préférentiellement une forme en col de cygne. Sur cette poutre horizontale, est monté un chariot supportant un treuil sur le tambour duquel s'enroule un câble dont l'extrémité inférieure est munie d'un moyen permettant la suspension de charges de poids variés et de natures diverses.More precisely, the invention is applicable to a lifting and translation gantry of the type described in the document FR-2 676 724 , comprising a beam constituting a horizontal axis and supported at its ends by poles preferably having a gooseneck shape. On this horizontal beam, is mounted a carriage supporting a winch on the drum which wraps a cable whose lower end is provided with a means for the suspension of loads of various weights and of various natures.

Le levage et la translation des charges suspendues au treuil peut entraîner un ballant plus ou moins prononcé de ces charges.The lifting and the translation of the loads suspended with the winch can cause a more or less pronounced dangling of these loads.

Selon une première disposition caractéristique, la portique de levage et de translation selon l'invention comprend un moyen de détection et de contrôle du ballant de la charge suspendue au treuil lors du déplacement desdites charges, ces moyens étant agencés pour supprimer ce ballant ou pour en limiter l'amplitude.According to a first characteristic arrangement, the lifting and translation gantry according to the invention comprises a means for detecting and controlling the ballast of the load suspended on the winch during the displacement of said loads, these means being arranged to remove this ballant or to limit the amplitude.

Selon un mode d'exécution préféré, le système de détection du ballant est constitué par un capteur à fourche et à signal de type analogique, installé au-dessous du tambour du treuil, de sorte que la position dudit câble se situant dans le champ de mesure du capteur permet la détection des variations de cette position, lors du déplacement de la charge. Le capteur à fourche émet des signaux qui sont exploités par un dispositif de sécurité pour arrêter ou ralentir le mouvement de translation du chariot, soit en correction par l'automatisme, soit en communication pour la traçabilité d'exploitation.According to a preferred embodiment, the balloon detection system is constituted by an analog-type fork and signal sensor, installed below the winch drum, so that the position of said cable is in the field of Measuring the sensor allows the detection of variations of this position, when moving the load. The fork sensor emits signals that are operated by a safety device to stop or slow the translation movement of the truck, either in correction by the automation or in communication for the traceability of operation.

Selon une autre importante disposition caractéristique le moto-réducteur assurant les mouvements de translation du chariot est muni d'un pignon d'entraînement engrenant avec une crémaillère montée de manière flottante le long de la poutre horizontale du portique et dont les extrémités sont placées en appui contre des capteurs de force. Ces capteurs de force permettent de mesurer le couple du moto-réducteur d'entraînement et les efforts dûs au ballant ou à la charge entraînante, pour l'exploitation par le système de sécurité, ou par l'automatisme, ou pour l'enregistrement des mesures physiques.According to another important characteristic arrangement the gear motor ensuring the translation movements of the carriage is provided with a drive pinion meshing with a rack mounted floating along the horizontal beam of the gantry and whose ends are placed in support against force sensors. These force sensors make it possible to measure the torque of the geared motor and the forces due to the balloon or the driving load, for operation by the safety system, or by the automation, or for the recording of physical measurements.

Selon une autre importante disposition caractéristique, le portique de levage et de translation est muni d'un bras à déplacement vertical destiné au supportage d'outils de préhension ou d'assemblage, les déplacements verticaux de ce bras étant assurés par le treuil au câble duquel ledit bras est assujetti. L'extrémité inférieure de ce bras peut être équipée de différents types de préhenseurs interchangeables, pour les travaux pédagogiques.According to another important characteristic arrangement, the lifting gantry and translation is provided with a vertical displacement arm for supporting gripping tools or assembly, the vertical movements of this arm being provided by the winch cable which said arm is secured. The lower end of this arm can be equipped with different types of interchangeable grippers, for educational work.

Selon une autre importante disposition caractéristique, le treuil est installé sur un support pivotant est monté sur le chariot, ce support étant articulé par l'intermédiaire de l'un de ses côtés, sur ledit chariot, et reposant, par l'intermédiaire de son côté opposé, sur un capteur de charge également supporté par le chariot.According to another important characteristic arrangement, the winch is installed on a pivoting support is mounted on the carriage, this support being articulated via one of its sides, on said carriage, and resting, via its opposite side, on a load sensor also supported by the carriage.

De la sorte, les seuils de surcharge ou de sous-charge sont pilotés par le capteur. La combinaison du treuil monté articulé avec capteur de pesage et du bras préhenseur est un dispositif particulièrement intéressant en empilage / dépilage. Les seuils de surcharge ou sous charge étant pilotés par le capteur et le transmetteur de charge, la différence enregistrée lors de l'accostage indique l'arrêt descente et l'action du dispositif de préhension. Par ce procédé, la hauteur de stockage est immédiatement détectée. Le système met également en évidence les écarts de répétitivité du cycle.In this way, the thresholds of overload or underload are controlled by the sensor. The combination of the articulated winch with weighing sensor and the gripper arm is a particularly interesting device for stacking / unstacking. The overload or underload thresholds being controlled by the sensor and the load transmitter, the difference recorded during docking indicates the lowering of the descent and the action of the gripping device. By this method, the storage height is immediately detected. The system also highlights the differences in cycle repeatability.

Selon un autre mode d'exécution intéressant, le portique de levage et de translation est muni d'une table rabattable permettant de travailler, soit en levage et translation avec les poids, soit en manutention, par préhension, pour exercice d'empilage / dépilage, dans les applications du domaine didactique, de sorte que les élèves disposent ainsi d'un plan de travail à hauteur.According to another interesting embodiment, the gantry lifting and translation is provided with a folding table to work, either lifting and translation with weights, or in handling, by gripping, for stacking exercise / unstacking , in the applications of the didactic field, so that the pupils thus have a work plan at height.

Les buts, caractéristiques et avantages ci-dessus, et d'autres encore, ressortiront mieux de la description qui suit et des dessins annexés dans lesquels :

  • La figure 1 est une vue de face d'un premier mode d'exécution du portique de levage et de translation selon l'invention.
  • La figure 2 est une vue de côté de ce portique de levage et de translation.
  • La figure 3 est une vue de dessus partielle de ce portique.
  • La figure 4 est une vue de détail et de côté illustrant les moyen assurant les mouvements de translation du chariot le long de la poutre porteuse du portique.
  • La figure 5 est une vue de dessus de la figure 4.
  • La figure 6 est une vue de face d'un deuxième mode d'exécution du portique de levage et translation selon l'invention.
  • La figure 7 est une vue partielle et de côté illustrant le montage d'un bras à déplacement vertical et montrant le déplacement du bras à déplacement vertical équipant ce deuxième mode d'exécution.
  • La figure 8 est une vue de dessus simplifiée de la figure 7.
  • La figure 9 est une vue de côté d'un troisième mode de réalisation du portique de levage et de translation.
  • La figure 10 est une vue de côté du treuil équipant le portique.
  • La figure 11 est une vue arrière du portique.
The above and other objects, features and advantages will become more apparent from the following description and accompanying drawings in which:
  • The figure 1 is a front view of a first embodiment of the gantry lifting and translation according to the invention.
  • The figure 2 is a side view of this hoist and translation gantry.
  • The figure 3 is a partial top view of this portico.
  • The figure 4 is a detail view and side illustrating the means ensuring the translation movements of the carriage along the carrier beam of the gantry.
  • The figure 5 is a top view of the figure 4 .
  • The figure 6 is a front view of a second embodiment of the gantry lifting and translation according to the invention.
  • The figure 7 is a partial view and side illustrating the mounting of a vertical displacement arm and showing the displacement of the vertical displacement arm equipping this second embodiment.
  • The figure 8 is a simplified top view of the figure 7 .
  • The figure 9 is a side view of a third embodiment of the hoist and translation gantry.
  • The figure 10 is a side view of the winch equipping the gantry.
  • The figure 11 is a rear view of the portico.

On se reporte auxdits dessins pour décrire des exemples de réalisation intéressants, quoique nullement limitatifs, du portique de levage et de translation selon l'invention.Reference is made to the said drawings to describe interesting, though in no way limiting, embodiments of the lifting and translation gantry according to the invention.

Ce portique de levage et de translation comprend une robuste poutre horizontale P soutenue, à ses extrémités, par deux poteaux ou montants M qui peuvent être droits ou, préférentiellement, en forme de col de cygne et qui sont entretoisés, à leur partie inférieure, par une traverse TR. Il peut être muni, en partie inférieure, d'une rampe de protection R entourant la zone de déplacement des charges manutentionnées.This lifting and translation gantry comprises a robust horizontal beam P supported, at its ends, by two posts or uprights M which can be straight or, preferably, in the shape of a gooseneck and which are braced, at their lower part, by a transom TR. It can be equipped, in lower part, a protection ramp R surrounding the moving area of the loads handled.

Sur la poutre P, est monté un chariot C pouvant se déplacer le long de ladite poutre, d'une extrémité à l'autre de celle-ci. Ce chariot peut recevoir les différents types d'actionneurs et capteurs à tester ou à étudier. En translation (figures 4 et 5), il est guidé par un système de rail et patins à billes ou galets réglables qui en assure la bonne tenue.On the beam P, there is mounted a carriage C which can move along said beam, from one end to the other of the latter. This carriage can receive the different types of actuators and sensors to be tested or studied. In translation ( Figures 4 and 5 ), it is guided by a system of rail and adjustable ball or roller skates which ensures the good behavior.

Le chariot C peut être équipé, pour assurer son mouvement de translation, de plusieurs types de motorisations interchangeables. Il permet de tester des réducteurs 26, soit de type : roue et vis, planétaire / arbre parallèle, couple conique ; ceux-ci peuvent être équipés de différents types de moteurs 28 interchangeables ou non, de codeurs 30, leur raccordement électrique est direct ou par connecteurs multibroches.The carriage C can be equipped, to ensure its translational movement, of several types of interchangeable actuators. It makes it possible to test gearboxes 26, being of the type: wheel and screw, sun gear / parallel shaft, conical torque; these can be equipped with different types of motors 28 interchangeable or not, 30 encoders, their electrical connection is direct or multi-pin connectors.

Le chariot C est équipé d'un dispositif de détection 28 ou contact pour course de ralentissement, de fin de course, et surcourse de sécurité pour les deux directions, et sur un sens d'un point zéro d'initialisation.The carriage C is equipped with a detection device 28 or contact for slowing stroke, end of travel, and overtravel of safety for both directions, and on a direction of a zero point of initialization.

La poutre P est équipée dans chaque sens, de cames réglables pour détecteurs de ralentissement, de cames fixes avec rampes de décélération pour les fins de courses, de cames fixes pour contacts sécurité, et butoirs 29.The beam P is equipped in each direction, adjustable cams for slowdown detectors, fixed cams with deceleration ramps for the purposes of races, fixed cams for safety contacts, and stops 29.

Selon un mode d'exécution préféré, le dispositif assurant la translation du chariot C comprend un pignon d'entraînement 3 engrenant avec une crémaillère 3A fixée le long de la poutre P. Ce pignon d'entraînement 3 est couplé à un codeur 30 permettant de fournir une information de vitesse ou de distance. Le dispositif est complété par une information visuelle 31, donnée par l'apposition d'un mètre à ruban collé ou autrement fixé le long de la poutre P.According to a preferred embodiment, the device ensuring the translation of the carriage C comprises a drive gear 3 meshing with a rack 3A fixed along the beam P. This drive pinion 3 is coupled to an encoder 30 allowing provide speed or distance information. The device is completed by a visual information 31, given by the apposition of a tape measure glued or otherwise fixed along the beam P.

Selon une disposition caractéristique, la crémaillère 3A est montée de manière flottante sur la poutre P, c'est-à-dire qu'elle peut coulisser longitudinalement le long de cette dernière. D'autre part, les extrémités de cette crémaillère flottante sont placées en appui contre des capteurs de force 4 qui peuvent être constitués par une ou deux jauges de contrainte, ou par des contacts ou par tout autre dispositif émettant des signaux ou informations susceptibles d'être exploités par un système de mesure, permettant, par exemple, des mesures de couple, ou des forces du ballant ou de la charge entraînante, ou pour commander un système de sécurité, par exemple en cas de surcharge.According to a characteristic arrangement, the rack 3A is mounted floating on the beam P, that is to say that it can slide longitudinally along the latter. On the other hand, the ends of this floating rack are placed in abutment against force sensors 4 which may consist of one or two strain gages, or by contacts or any other device transmitting signals or information that may be operated by a measuring system, allowing, for example, torque measurements, or dangling forces or driving load, or for controlling a safety system for example in case of overload.

Le chariot supporte un treuil 1 comprenant un tambour 13 sur lequel s'enroule un câble 14. L'extrémité inférieure ou extrémité libre du câble 14 est munie d'un moyen permettant la suspension de charges de poids et formes variées et de natures diverses. Ce moyen peut être constitué par un crochet à émerillon de sécurité 15, auquel est suspendu un panier 23-24 destiné à recevoir des poids ou charges 25. Le panier 23 dispose d'un système amortisseur 24 constitué par des rondelles-ressorts de type Belleville. Le tambour 13 est monté sur l'arbre d'un réducteur réversible à arbre parallèle, accouplé à un moteur électrique 12, muni d'un frein de parking actif par manque de courrant, d'une ventilation forcé, d'un codeur 22 pour contrôle vectoriel, ou, pour certains exercices, d'une dynamotachymètre. Le mouvement de rotation du tambour est transmis par un jeu d'engrenage 16 à un système vis / écrou 17 assurant dans son support, le déplacement linéaire d'une came dotée de plusieurs pistes 18. Celles-ci sont destinées aux contacts ou détections des courses : de ralentissement 19, de fin de course 20, de surcourse de sécurité 21, ou de point zéro d'initialisation 22. En extrémité de cette vis est monté un codeur 29, pour contrôle de vitesse ou distance, l'ensemble est caréné.The carriage supports a winch 1 comprising a drum 13 on which a cable 14 is wound. The lower end or free end of the cable 14 is provided with a means allowing the suspension of loads of various weights and shapes and of various natures. This means may be constituted by a safety swivel hook 15, which is suspended a basket 23-24 for receiving weights or loads 25. The basket 23 has a damping system 24 consisting of Belleville spring washers . The drum 13 is mounted on the shaft of a reversible gearbox with parallel shaft, coupled to an electric motor 12, provided with a parking brake active by lack of current, forced ventilation, an encoder 22 for vector control, or, for some exercises, a dynamotachymeter. The rotational movement of the drum is transmitted by a set of gearing 16 to a screw / nut system 17 providing in its support, the linear displacement of a cam with several tracks 18. These are intended for contacts or detections of races: slowing down 19, end of travel 20, safety overtravel 21, or initialization zero point 22. At the end of this screw is mounted an encoder 29, for speed or distance control, the assembly is streamlined .

Selon une disposition caractéristique de l'invention, le treuil 1 est monté sur un support, par exemple constitué par une platine 10 articulée, par l'intermédiaire de l'un de ses côtés et au moyen de charnières 10A sur le chariot C, et reposant, par l'intermédiaire de son côté opposé, sur un capteur de charge 11 également supporté par ledit chariot.According to a characteristic arrangement of the invention, the winch 1 is mounted on a support, for example constituted by an articulated plate 10, via one of its sides and by means of hinges 10A on the carriage C, and resting, via its opposite side, on a load sensor 11 also supported by said carriage.

Selon le mode d'exécution illustré, le côté du support articulé opposé au côté de celui-ci muni des charnières 10A, est solidaire d'un point d'appui constitué d'une rotule (figures 1-3). Le treuil 1 disposé entre les charnières et la rotule d'appui transmet l'effort exercé par la charge, soit à une jauge de contrainte 11 pour mesure de charge / ou image couple, soit à un ressort, ou à un amortisseur, ou à un capteur et/ou à un ou des contacts pouvant être utilisés en sécurité.According to the illustrated embodiment, the side of the hinged support opposite the side thereof provided with the hinges 10A, is integral with a bearing point consisting of a ball joint ( figures 1-3 ). The winch 1 disposed between the hinges and the support ball joint transmits the force exerted by the load, either to a strain gauge 11 for load measurement / or torque image, or to a spring, or to a damper, or to a sensor and / or to one or more contacts that can be used safely.

Selon une autre importante disposition caractéristique, le portique de levage et translation est muni d'un système de détection et de contrôle du ballant, constitué d'un dispositif permettant de situer, en statique comme en dynamique, la position du câble 14 dans un champ de mesure, en sortie du tambour 13 du treuil 1.According to another important characteristic arrangement, the gantry for lifting and translation is provided with a balloon detection and control system, consisting of a device making it possible to situate, statically and dynamically, the position of the cable 14 in a field measuring device, at the output of the drum 13 of the winch 1.

De manière préférée, le système de détection du ballant peut être constitué par un capteur à fourche 2 et à signal de type analogique, disposé au-dessous du tambour 13 du treuil 1 et entre les deux branches duquel passe la partie verticale déroulée du câble 14 dudit treuil. L'information de mesure issue de ce système de détection est exploitée par un automatisme connu en soi, pour correction ou intervention de sécurité.Preferably, the balloon detection system can be constituted by a fork sensor 2 and analog type signal, disposed below the drum 13 of the winch 1 and between the two branches which passes the vertical part unwound of the cable 14 said winch. The measurement information resulting from this detection system is exploited by an automatism known per se, for correction or safety intervention.

La figure 10 illustre le procédé de gestion du mouvement du treuil 1.The figure 10 illustrates the method of managing the movement of the winch 1.

Le chariot C peut être agencé pour constituer un moyen de guidage d'un bras vertical 5 mobile axialement et pouvant se déplacer en translation avec ledit chariot. L'extrémité inférieure de ce bras est munie d'un support d'outils de préhension 8 suspendu au crochet 15 du treuil 1 et ledit bras est par exemple guidé verticalement par des galets à gorge 9 portés par une face verticale du chariot.The carriage C can be arranged to constitute a means for guiding a vertical arm 5 movable axially and able to move in translation with said carriage. The lower end of this arm is provided with a gripping tool holder 8 suspended from the hook 15 of the winch 1 and said arm is for example guided vertically by grooved rollers 9 carried by a vertical face of the carriage.

La combinaison du treuil 1 monté sur un support basculant agissant sur le capteur de pesage 11, avec le bras préhenseur 5, constitue un dispositif particulièrement intéressant en empilage / dépilage. Les seuils de surcharge ou sous charge étant pilotés par le capteur et transmetteur de charge, la différence enregistrée lors de l'accostage, indique l'arrêt descente et commande l'action du dispositif de préhension. Par la mise en oeuvre de ce système, la hauteur de stockage est immédiatement détectée. Le dispositif de préhension 5-8 est prolongé, en partie supérieure, d'une gaine porte câbles 6 et il est muni de prises multibroches 7 de façon à le rendre démontable. Il est équipé pour les travaux pratiques de préhenseurs interchangeables : pneumatiques, magnétiques, ou à vides.The combination of the winch 1 mounted on a tilting support acting on the weighing sensor 11, with the gripper arm 5, is a particularly advantageous device stacking / unstacking. The overload or underload thresholds being controlled by the sensor and load transmitter, the difference recorded during the docking, indicates the stop descent and controls the action of the gripping device. By implementing this system, the storage height is immediately detected. The gripping device 5-8 is extended, in the upper part, of a cable sheath 6 and is provided with multi-pin plugs 7 so as to make it removable. It is equipped for the practical work of interchangeable grippers: pneumatic, magnetic, or empty.

Selon une autre importante disposition caractéristique, le portique de levage et translation est équipé pour ces exercices d'une table rabattable TA (figure 9). Cette table rabattable TA permet de travailler, soit en mode préhenseur (figure 6), soit en mode levage (figure 1).According to another important characteristic arrangement, the lifting and translation gantry is equipped for these exercises with a folding table TA ( figure 9 ). This folding table TA allows you to work, either in gripping mode ( figure 6 ), either in lifting mode ( figure 1 ).

Selon une autre importante disposition caractéristique, l'architecture du portique se décompose en sous-ensembles distincts et séparés, soit : - partie opérante, et, - parties commandes ou un ou plusieurs coffrets indépendants 34, 35,36.According to another important characteristic arrangement, the architecture of the gantry is broken down into distinct and separate subsets, namely: - operating part, and - control parts or one or more independent boxes 34, 35,36.

L'ensemble des motorisations et contrôles de commande embarqués sur le chariot, est ramené, par l'intermédiaire d'une chaîne porte-câbles 31, située à l'arrière de la poutre, à un coffret de regroupement 32. Celui-ci assure à la fois l'alimentation générale du système avec ses protections obligatoires, et la liaison par interconnexion du ou des coffrets de commandes extérieures 33. Ces coffrets indépendants 34-35-36 sont montés sur pieds, les liaisons électriques sont sous gaines de protection 33 et connectées à la partie opérationnelle par prises multibroches (figure 11). Ce système permet de faire travailler plusieurs élèves en taches séparées ou d'interchanger ces coffrets avec des coffrets réalisés par les élèves.All the engines and control controls on board the truck, is brought, through a cable chain 31, located at the rear of the beam, to a grouping box 32. This ensures both the general power supply of the system with its mandatory protections, and the interconnection connection of the external control box or cabinets 33. These independent boxes 34-35-36 are mounted on feet, the electrical connections are under protective sheaths 33 and connected to the operational part by multi-pin plugs ( figure 11 ). This system makes it possible to work several pupils in separate spots or to interchange these boxes with boxes made by the students.

Claims (7)

Portique de levage et de translation, à usage pédagogique ou industriel, du type comprenant un chariot (C) pouvant se déplacer sur une poutre horizontale (P) soutenue, à ses extrémités par deux poteaux (M), ledit chariot portant un treuil (1) comprenant un tambour (13) sur lequel s'enroule un câble (14) dont l'extrémité inférieure est munie d'un moyen (15) permettant la suspension de charges (25), caractérisé en ce qu'il comporte des moyens de détection (2) et de contrôle du ballant de la charge (25) suspendue audit treuil, lors du déplacement de ladite charge, ces moyens étant agencés pour supprimer ce ballant ou pour en limiter l'amplitude.Gantry for lifting and translation, for educational or industrial use, of the type comprising a carriage (C) movable on a horizontal beam (P) supported, at its ends by two posts (M), said carriage carrying a winch (1) ) comprising a drum (13) on which a cable (14) is wound, the lower end of which is provided with means (15) for the suspension of charges (25), characterized in that it comprises means for detecting (2) and controlling the balloon of the load (25) suspended to said winch, during the displacement of said load, these means being arranged to remove this ballant or to limit the amplitude. Portique de levage et de translation, selon la revendication 1, caractérisé en ce que le système de détection du ballant est constitué par un capteur à fourches (2) du type à signal analogique installé au-dessous du tambour (13) du treuil (1), de sorte que la position de la partie verticale déroulée du câble (14) de ce dernier se situant dans le champ de mesure dudit capteur (2) permet la détection des variations de cette position, lors des déplacements de la charge, les signaux émis par ledit capteur (2) étant exploités par un dispositif de sécurité pour arrêter ou ralentir le mouvement de translation du chariot (C).Lifting and translating gantry according to claim 1, characterized in that the balloon detection system is constituted by a fork-type sensor (2) of the analog signal type installed below the drum (13) of the winch (1). ), so that the position of the unrolled vertical portion of the cable (14) of the latter being in the measurement field of said sensor (2) allows the detection of variations of this position, during the movements of the load, the signals emitted by said sensor (2) being operated by a safety device to stop or slow down the translation movement of the carriage (C). Portique de levage et de translation, selon l'une des revendications 1 ou 2, caractérisé en ce que le motoréducteur (26, 27) assurant les mouvements de translation du chariot (C), est muni d'un pignon d'entrainement (3) engrenant avec une crémaillère (3A) montée de manière flottante le long de la poutre horizontale (P) du portique et dont les extrémités sont placées en appui contre des capteurs de force (4) émettant des signaux ou informations susceptibles d'être exploités par un système de mesure ou par un système de sécurité.Lifting and translating gantry according to one of claims 1 or 2, characterized in that the geared motor (26, 27) providing the translational movements of the carriage (C) is provided with a drive pinion (3 ) meshing with a rack (3A) mounted in a floating manner along the horizontal beam (P) of the gantry and whose ends are placed in abutment against force sensors (4) emitting signals or information that can be exploited by a measuring system or by a security system. Portique de levage et de translation, selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le treuil (1) est installé sur un support (10) monté sur le chariot (C), avec une aptitude de pivotement, ce support (10) étant articulé par l'intermédiaire de l'un de ses côtés sur ledit chariot, et reposant, par l'intermédiaire de son côté opposé, sur un capteur de charges et/ou sur un ou des contacts de sécurité (11) également supporté par le chariot.Lifting and translation gantry according to one of Claims 1 to 3, characterized in that the winch (1) is installed on a support (10) mounted on the carriage (C), with pivoting ability, which support (10) is articulated through one of its sides on said carriage, and resting, via its side opposite, on a load sensor and / or on one or more safety contacts (11) also supported by the carriage. Portique de levage et de translation selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'il est muni d'un bras vertical (5) mobile axialement et pouvant se déplacer en translation avec le chariot (C) l'extrémité inférieure de ce bras (5) étant munie d'un support d'outils interchangeables de préhension (8) suspendu à l'extrémité inférieure du câble (14) du treuil (1).Gantry for lifting and translation according to any one of claims 1 to 4, characterized in that it is provided with a vertical arm (5) movable axially and able to move in translation with the carriage (C) the end lower arm (5) being provided with a support interchangeable gripping tools (8) suspended at the lower end of the cable (14) of the winch (1). Portique de levage et de translation selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'il est muni d'une table rabattable (TA) permettant de travailler, soit en levage et translation avec les poids, soit en manutention, par préhension, pour exercice d'empilage / dépilage, dans les applications du domaine didactique.Gantry for lifting and translation according to any one of claims 1 to 5, characterized in that it is provided with a folding table (TA) to work, either lifting and translation with the weights, or handling, by gripping, for piling / unstacking exercise, in the applications of the didactic field. Portique de levage et de translation selon l'une quelconque des revendications 1 à 6, caractérisé en ce que son architecture se décompose en sous-ensembles distincts et séparés : soit partie opérante et parties commandes ou un ou plusieurs coffrets indépendants et interchangeables (34, 35, 36).Lifting and translating gantry according to any one of claims 1 to 6, characterized in that its architecture is divided into distinct and separate subsets: either operating part and control parts or one or more independent and interchangeable boxes (34, 35, 36).
EP08358014.2A 2007-11-20 2008-11-19 Lifting and translation frame, for educational or industrial use Not-in-force EP2062845B1 (en)

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