EP2572766B1 - Ride - Google Patents

Description

The invention relates to a ride according to the preamble of claim 1.

There are rides known ( DE 10 2008 005 859 A1 ), in which a platform is connected via holding elements in the form of λ-drives or straight bars with drives, which are moved along guides. With the help of the drives, the platform can be adjusted in different positions and orientations.

The invention has the object of providing the generic ride so that the movement of the platform is achieved in a structurally simple manner.

This object is achieved according to the invention in the generic ride with the characterizing features of claim 1.

In the ride according to the invention, the holding elements are formed by cables which are under tension during operation of the ride. The platform is kept safe in every position and orientation due to this training.

Under a rope are not only ropes in the strict sense, but generally flexible elements to understand that can be put under tension and with which the features described in the claims and in the figure description functions can be performed.

Advantageously, the effective length of the ropes can be changed. As a result, the platform, on which several ropes attack, can be easily adjusted to the desired positions and / or orientations.

To change the effective rope length the ropes are advantageously wound on winches.

In an advantageous embodiment, the cables are connected to drives which are movable along guides. With the help of these drives, which represent chassis, the platform can be moved along the guides to the desired extent. These guides can extend in different directions, depending on the design of the ride. By coordinated movement of the rope ends, movement of the platform in the desired direction and orientation can be achieved.

If complete control of all six degrees of freedom (three translational and three rotational degrees of freedom) of the platform is to be achieved, then at least seven ropes are required. An increase in the number of cables leads in an advantageous arrangement to an increase in the possible range of motion. With a reduced motion dynamics of the platform, in which less than six degrees of freedom are provided, the number of ropes can be reduced to the number of degrees of freedom. In such a case, the self-weight of the platform is exploited to stabilize its movement.

It is particularly advantageous if these drives are provided with the winches on which the ropes can be wound. It is thereby possible, while driving the drives, the effective length of Change ropes. This allows the platform to be adjusted while driving in the desired positions and / or orientations.

To drive the winches a separate motor is advantageously used, so that the change in length of the ropes can be changed by winding or unwinding regardless of the method of the drives.

Instead of winches, the effective free rope length can also be changed by connecting the ends of the cables facing away from the platform with pivoting levers. The levers are advantageous one-armed lever, at the free ends of the rope ends are attached. The turning of these levers produces a similar effect to the winding of the ropes. The platform can be moved in such a training in a defined manner in up to six degrees of freedom.

An optimal adjustment of the platform results when the winches or the lever are independently driven.

The ride can also be designed so that it has no rails movable along rails. The platform is then adjusted by coordinating the effective cable lengths.

If at least some of the ropes are provided redundantly, in case of failure of a rope, the carrying function of the remaining rope (s) is ensured. In addition, the load capacity is increased by the redundant ropes.

In a preferred embodiment, in at least some of the ropes or in the connection of the ropes to the platform or in the connection of the ropes to the platform remote end, at least one resilient member is seated. Such elements can absorb energy, for example, when stopping the ride and thereby limit or absorb forces occurring in the event of loss, for example in the synchronization of winches or sudden tensioning of individual ropes.

It is possible that the elastically yielding element is permanently effective. But it is also possible that the elastically yielding element is effective only when, for example, the rope tension decreases. By appropriate sensors and the like, the rope tension is monitored and the elastically resilient element then released when the cable tension falls below a predetermined value or an uncontrolled deceleration (Stop 0) is initiated. The elastically yielding element is especially interesting for a loss of supply voltage, eg. As in a power failure or a control error to be activated passively. With this quiescent current principle, the elastically yielding element is automatically activated as soon as the supply voltage drops.

In an advantageous embodiment, at least one energy dissipation element is provided in at least some of the cables. It forms an irreversibly plastically deformable element, preferably in the form of a crumple element, which absorbs excessive forces due to plastic deformation when the ride is stopped, for example because of a defect. This prevents an overload on the structure of the ride and / or passengers on the platform.

The energy dissipation element can, like the elastically yielding element, be arranged in the ropes, but also in the connection points to the platform or to the drive.

The Energiedissipationselement can be effective permanently or in the case of braking the ropes or the platform.

In an advantageous embodiment, in the region of the platform or in the area of the cable winches, at least some of the cables engage rope tensioning elements which pretension and deflect the corresponding rope. As a result, a defined compliance and a balance of the rope tensions guaranteed. In particular, such an embodiment is advantageous in the case of two or more ropes guided in parallel.

In a simple embodiment, the winches are located in the area above the platform, the cables being kept taut under the weight of the platform.

The drives and / or the motors of the winches or the lever are connected in an advantageous manner to a common control.

An optimal adjustment of the platform in terms of position and orientation results when the drives and / or the motors of the winches or the lever are in a control loop of the controller. Then the platform can be reliably adjusted to the desired positions and orientations.

Advantageously, the motor of the winch or the lever is located in a drive train which is provided with at least one brake for a cable drum of the winch or for the lever.

If the brake is provided redundantly, a shutdown of the ride is guaranteed even if a single brake fails. The redundant brakes also increase the braking effect.

It is advantageous if one brake motor side and the other brake rope drum side is provided.

In order to obtain a force limitation in the cables in a simple manner, in an advantageous embodiment of the cable drum, a friction drive, for example with a slip clutch, upstream.

Further features of the invention will become apparent from the other claims, the description and the drawings.

Fig. 1

in schematischer und perspektivischer Darstellung eine erste Ausführungsform eines erfindungsgemäßen Fahrgeschäfts,

Fig. 2 bis Fig. 4

jeweils in Draufsicht unterschiedliche Bewegungen einer Plattform des erfindungsgemäßen Fahrgeschäfts gemäß Fig. 1,

Fig. 5

in perspektivischer und schematischer Darstellung eine zweite Ausführungsform eines erfindungsgemäßen Fahrgeschäfts,

Fig. 6

eine Stirnansicht des Fahrgeschäfts gemäß Fig. 5,

Fig. 6a

eine Ausführungsform eines erfindungsgemäßen Fahrgeschäfts, bei dem die Plattform über längenunveränderliche Halteelemente mit Fahrgestellen verbunden ist,

Fig. 7

in schematischer Darstellung und in Draufsicht eine dritte Ausführungsform eines erfindungsgemäßen Fahrgeschäfts,

Fig. 8 bis Fig. 11

verschiedene Ausführungsformen von elastisch nachgiebigen Elementen im Antriebsstrang des erfindungsgemäßen Fahrgeschäfts,

Fig. 12

in schematischer Darstellung ein Energiedissipationselement im Antriebsstrang des erfindungsgemäßen Fahrgeschäfts,

Fig. 13

einen Friktionsantrieb des erfindungsgemäßen Fahrgeschäfts in schematischer Darstellung,

Fig. 14

in schematischer Darstellung eine weitere Ausführungsform eines erfindungsgemäßen Fahrgeschäfts,

Fig. 15

Federelemente zur Seilumlenkung des erfindungsgemäßen Fahrgeschäfts,

Fig. 16

ein erfindungsgemäßes Fahrgeschäft, bei dem die Plattform nur in einer Horizontalebene verfahrbar ist,

Fig. 17

ein erfindungsgemäßes Fahrgeschäft, bei dem die Plattform nur in einer vertikalen Ebene verfahrbar ist,

Fig. 18

ein Antriebssystem des erfindungsgemäßen Fahrgeschäfts mit zwei Trommeln auf einem Antriebsstrang,

Fig. 19

eine weitere Ausführungsform eines Antriebssystems für vier Seile mit zwei Motoren,

Fig. 20

einen Grundaufbau des Antriebssystems des erfindungsgemäßen Fahrgeschäfts mit einem Antriebsstrang, einem Übertragungselement und einem elastischen Element im Seil,

Fig. 21

ein Antriebssystem für vier Seile mit vier Motoren für das erfindungsgemäße Fahrgeschäft,

Fig. 22

in schematischer Darstellung ein Steuerungssystem, mit dem die Antriebe des erfindungsgemäßen Fahrgeschäfts gekoppelt sind,

Fig. 23

eine weitere Möglichkeit eines Antriebes für das erfindungsgemäße Fahrgeschäft mit einem plastisch verformbaren Torsionselement im Antriebsstrang der Seilwinde,

Fig. 24

eine weitere Ausführungsform eines Antriebssystems des erfindungsgemäßen Fahrgeschäfts mit einer schaltbaren Kupplung zur Überbrückung eines elastischen Elements im Antriebsstrang der Winde für den Nominalbetrieb,

Fig. 25

eine weitere Möglichkeit eines Antriebssystems für das erfindungsgemäße Fahrgeschäft mit einer redundanten Bremse,

Fig. 26

eine weitere Ausführungsform eines Antriebssystems für das erfindungsgemäße Fahrgeschäft für zwei Seile mit zwei Motoren,

Fig. 27

das Antriebssystem gemäß Fig. 26 mit zwei Kraftsensoren.

The invention will be explained in more detail with reference to some embodiments shown in the drawings. Show it

Fig. 1

in a schematic and perspective view of a first embodiment of a ride according to the invention,

Fig. 2 to Fig. 4

each in plan view different movements of a platform according to the ride according to the invention Fig. 1 .

Fig. 5

in a perspective and schematic representation of a second embodiment of a ride according to the invention,

Fig. 6

an end view of the ride according to Fig. 5 .

Fig. 6a

an embodiment of a ride according to the invention, in which the platform is connected to chassis by means of length-independent retaining elements,

Fig. 7

in a schematic representation and in plan view of a third embodiment of a ride according to the invention,

Fig. 8 to Fig. 11

various embodiments of elastically yielding elements in the drive train of the ride according to the invention,

Fig. 12

a schematic representation of an energy dissipation element in the drive train of the ride according to the invention,

Fig. 13

a friction drive of the ride according to the invention in a schematic representation,

Fig. 14

a schematic representation of another embodiment of a ride according to the invention,

Fig. 15

Spring elements for the rope deflection of the ride according to the invention,

Fig. 16

an inventive ride, in which the platform is movable only in a horizontal plane,

Fig. 17

an inventive ride, in which the platform is movable only in a vertical plane,

Fig. 18

a drive system of the driving business according to the invention with two drums on a drive train,

Fig. 19

another embodiment of a drive system for four cables with two motors,

Fig. 20

a basic structure of the drive system of the ride according to the invention with a drive train, a transmission element and an elastic element in the rope,

Fig. 21

a drive system for four ropes with four motors for the ride according to the invention,

Fig. 22

a schematic representation of a control system with which the drives of the ride according to the invention are coupled,

Fig. 23

a further possibility of a drive for the ride according to the invention with a plastically deformable torsion element in the drive train of the winch,

Fig. 24

a further embodiment of a drive system of the driving business according to the invention with a switchable coupling for Bridging an elastic element in the drive train of the winch for the nominal operation,

Fig. 25

Another possibility of a drive system for the inventive ride with a redundant brake,

Fig. 26

a further embodiment of a drive system for the ride according to the invention for two ropes with two motors,

Fig. 27

the drive system according to Fig. 26 with two force sensors.

The ride according to the Fig. 1 to 4 has a support structure 1, are attached to the mutually parallel rails 2. Chassis 3 are movable on them, on which winches 5 are mounted, are wound on the ropes 4 as holding elements. The ropes 4 are fastened with their ends 6 to a platform 7.

The support structure 1 consists in the exemplary embodiment of vertical beams 8, each carrying two parallel to each other and horizontally extending rails 2. The carriers 8 are arranged distributed over the length of the rails 2. The rails 2 are opposite each other and advantageously at the same height. The superposed rails 2 are advantageously in a common vertical plane.

Of the carriers 8 are at the top and near the lower end of the cross member 9, 10, at the free ends of the rails 2 are fixed.

Depending on the training of the ride, the rails can be different lengths. The platform 7 can thereby be moved along the rails over longer distances, for example several hundred meters. Such rides are for example roller coasters, in which the platform 7 is moved over such long distances. The rails 2 are shown in the drawings only by way of example horizontally. Depending on the training of the ride, the rails can be 2 different Course have, for example, upwards or downwards or laterally bent or run into each other in the manner of a roller coaster, for example.

The rails 2 can also be a closed path, z. B. a ring form. This makes it possible to move several platforms 7 in succession through the same course.

Along the rails 2, the chassis 3 are moved, which have the winches 5 for winding the ropes 4. With the help of the chassis 3, the winches 5 are moved along the rails 2 according to their course.

The chassis 3 are driven by separate motors.

The ropes 4 are designed so that they can reliably support the platform 7. The ropes 4 may be made of steel or of synthetic or natural fibers, for example. The cable ends 6 are attached to the platform 7 at defined points. The other cable ends are wound on the winches 5, which are provided on the chassis 3. The winches 5 are driven by a safety-related drive system, whereby a passenger transport is possible. With the winches 5, the free rope length can be measured by, for example, the rotation of the winches 5 is detected. Accordingly, the winches 5 can be selectively rotated so that a defined free rope length is set. The winches 5 may, if necessary, be provided with sensors to assist in the control and regulation of the movement and orientation of the platform 7.

The chassis 3 are moved on the rails 2, that the ropes 4 are always under tension. As a result, the platform 7 is held securely in any position and orientation. The attachment of the cable ends 6 to the platform 7 is selected with regard to the position stabilization of the platform 7.

The platform 7, which in the embodiment of the Fig. 1 to 4 is held by eight ropes 4, may be formed as an open platform or as a closed cabin. On the platform are passengers, who are transported by the ride. The platform 7 may have seats for the passengers.

The dead weight of the platform 7, the additional weight of the passengers and dynamic loads when driving the platform 7 are distributed to the individual ropes 4.

The chassis 3 are driven independently. The winches 5 on the chassis 3 are driven independently rotatable. This makes it possible to bring the platform 7 in a variety of positions and orientations while driving along the rails 2. This adjustment of the platform 7 is also possible if no movement along the rails 2 takes place. The ride can be without rails in such a case. The movement of the platform 7 is then carried out by changing the effective rope length of the various ropes. 4

In the Fig. 2 and 3 is exemplified how the platform 7 along the path indicated by a dotted line 11 can move. The chassis 3 move in this case at the same speed along the rails 2, but the winches 5 are rotated differently. As a result, the free cable lengths change, whereby the platform 7 performs the movement path 11. The speed of rotation of the winches 5 is changed during the travel of the chassis 3 according to the desired trajectory 11 of the platform 7. The arrow of the movement path 11 indicates in which direction the platform 7 moves relative to the chassis 3 during its travel. In the position according to Fig. 2 the platform 7 is closest to the upper rails 2. The free cable lengths of the lower cables 4 are accordingly longer than the free cable lengths of the upper cables 4. Accordingly, the winches 5 are the ones in Figs Fig. 2 two upper chassis 3 have been rotated so that they wind the appropriate pitch, while the winds 5 of in Fig. 2 lower chassis 3 are rotatably driven so that they unwind rope length.

In the position according to Fig. 3 is the platform 7 in front of the front end in the direction of movement path 11. The two left ropes 4 in Fig. 3 are very far from the corresponding winds, while the two right ropes 4 in Fig. 3 are largely wound up on the winds.

Since the movement path 11 runs parabolic, the winches of the chassis 3 are accordingly rotated continuously in the required direction. The chassis 3 itself drive at the same speed along the rails. 2

Fig. 4 shows by way of example a further possibility of how the platform 7 can be moved during the travel of the chassis 3 along the rails 2. By way of example, a zigzag-shaped trajectory 11 is shown. It is achieved in that the corresponding winches of the chassis 3 moving at the same speed are constantly rotated in one or the other direction, so that the corresponding cables 4 are alternately wound up and unwound. For the passenger on the platform 7 the impression of tremors or vibrations is awakened.

The in the Fig. 2 to 4 Plotted trajectories 11 are only to be understood as examples. The platform 7 can perform a variety of trajectories, depending on how the winches 5 are rotated and the chassis 3 are moved. By appropriate programming of the individual winches 5, any movement profiles of the platform 7 can be generated within certain limits.

The use of the winches 5 on the chassis 3 allows the platform to perform 7 different movements. Throughout the entire Movement of the platform 7 are the ropes 4 always under tension, so that the platform 7 is always held securely.

With the ropes 4 high mobility and dynamics of the movements of the platform 7 can be achieved. The effective free length of the ropes 4 is achieved in the described embodiment by winding and unwinding of the ropes 4 on or from the winches 5. The effective free rope length, which is adjusted by means of the winches 5, and the movement of the chassis 3 along the rails 2 is controlled by a central control 12 (FIG. Fig. 22 ). With it, the platform 7 can be brought into a defined position and orientation. By the controller 12, the platform 7 can be controlled so that it departs a defined path 11 by a corresponding movement program. The values set for a specific ride depend on the type of ride and on the desired movement speeds and accelerations. Since the winches 5 are arranged distributed on the chassis 3 around the platform 7 around, the platform 7 is clamped and moved by coordinated change in length of the ropes 4 within the available range of motion. The platform 7 thus moves relative to the winches 5 and the chassis 3. In addition to this movement, an overlay with the movement performed by all the chassis 3 is generated. In order to achieve complete control over all six degrees of freedom of platform 7 (three translational and three rotational degrees of freedom), at least seven winches 5 are required. In the illustrated embodiment, eight winches 5 and accordingly eight ropes 4 are provided, which often turns out to be advantageous.

Depending on the type of ride, it is possible that the platform 7 has less than six degrees of freedom. With a reduced momentum of movement, the number of winds 5 can then be reduced to the number of degrees of freedom. In this case, the weight of the platform 7 is used to stabilize its movement.

The Fig. 5 and 6 show an embodiment of a ride with parallel ropes 4 on each of the chassis 3. This provides a redundancy that ensures the carrying function of the remaining ropes in the event of a rope failure. The ropes 4 are arranged in the illustrated embodiment as a parallelogram, each chassis 3 has two ropes 4 and, accordingly, two winches 5. Incidentally, this ride works the same as the embodiment of the Fig. 1 to 4 ,

A redundancy of the ropes can also be provided so that three ropes can be provided as a double parallelogram in line arrangement or in a triangular arrangement and four ropes in series, as parallelograms or in a spade arrangement.

In the described embodiments, it is possible that the chassis 3 are controlled at different speeds so moved on the rails 2, that the platform 7 performs the desired trajectory 11. In such a case, also length-variable retaining elements 4 can be used, which in this case need not consist of ropes, but also rods, for example, steel or fiber composites, such as coal or glass fiber, may be. Such an embodiment shows Fig. 6a , In such a case, it is possible to dispense with a drive and roll-up system for the winches. The holding elements 4, preferably the ropes are connected directly to the chassis 3 in such a case. The movement of the platform 7 is then determined solely by the movement of the chassis 3 relative to each other, which are moved along the rails 2 motor. Even with such a design, it is possible to control the orientation and position of the platform 7 by a relative movement of the chassis 3 to each other. The chassis 3 and thus the platform 7 can be moved in such a training also over longer distances. By superimposing these two movements (moving the chassis 3 along the rails 2 and relative adjustment of the chassis 3 to each other), the platform 7 can be moved along the rails 2 and at the same time change their positioning and orientation. By the directional arrows in Fig. 6a is indicated by way of example, as by appropriate method of the chassis 3 on the rails 2, the platform 7 can be moved in the direction of the dash-dotted arrow.

The use of additional redundant ropes 4 ( Fig. 5 and 6 ) allows a high reliability, an increase in the payload as well as an increase in the movement space of the platform. 7

Fig. 7 and 8th show by way of example an embodiment in which in the ropes 4 in the area between the chassis 3 and the platform 7 elastically resilient elements 13 are arranged. These elements 13 allow the generation of soft movement profiles of the platform 7. With the elements 13 and slack ropes 4 can be detected and the proper operation of the ride to be monitored. In a loss of the ability to coordinate control the winches 5 and the chassis 3, the elastically resilient elements 13 allow a controlled change in the effective rope length under load and thus limit the excessive rope forces that may occur in this case. The elements 13 have in the embodiment according to Fig. 7 in each case at least one compression spring 14, which is housed protected in a housing 15. The housing 15 is connected to the platform 7 by a cable section 4a. In the housing 15, the other cable section 4 b, which is surrounded by the compression spring 14 within the housing 15. The free, lying within the housing 15 end of the cable section 4b is provided with a stop 16 on which the one end of the compression spring 14 is supported. The other compression spring end is supported on a housing wall 17, through which the cable section 4b projects into the housing 15. The compression spring 14 is biased in each position of the cable 4 and the cable section 4b. The prestressed compression spring 14 ensures that the cable 4 always remains taut. The spring force is so high that the ropes 4 securely hold the platform 7 in any position (position and orientation). The elements 13 are constantly active in this embodiment.

Fig. 9 shows a variant of the embodiment according to Fig. 8 , In this variant, the displacement of the stop 16 is locked within the housing 15 by a blocking pin 18. It is fixed with a switching device 52. By a corresponding signal of the controller, z. As in a loss of winch synchronization or a voltage drop across the drives, the fixation of the locking pin 18 is released. A tension spring 19 pulls the locking pin 18 back. The stopper 16 is released, so that the compression spring 14 can tension the cable 4 again and from now on is active as a yielding element.

Fig. 10 shows a simple embodiment of a resilient element. In him a tension spring 14 'connects the two cable sections 4a, 4b with each other. Also in this embodiment, the spring force is such that the rope having the tension spring can reliably support the platform 7. The tension spring 14 'is constantly effective.

According to the embodiment Fig. 11 At least two tension springs 14 'are provided, which are arranged parallel to the cable 4. The tension springs 14 'are connected via a respective holder 20, 21 to the cable 4. In the area between the tension springs 14 ', the cable 4 is provided with a switching element 22, with which the proper condition of the cable 4 can be detected. The brackets 20, 21 engage in front of and behind the switching element 22 on the cable 4. The switching element 22 bridges the tension springs 14 'during operation. By a signal of the control, the switching element 22 is deactivated and the tension springs 14 'is effective, the tension on the brackets 20, 21, the cable 4 again and limit as yielding elements, the forces occurring in the drive train.

Fig. 12 shows a plastically deformable Energiedissipationselement 53. It has a cylinder 23, at the bottom of the cable portion 4a is attached. The cable portion 4b is fixed to the bottom 24 of an inner cylinder 54, which is surrounded by the outer cylinder 23 at a distance and formed integrally therewith. If the rope tension exceeds a predetermined value, the inner cylinder 54 becomes thinner-walled than the outer cylinder 23 is formed, plastically deformed. In this case, energy is absorbed, so that there is no danger for the passengers on the platform 7.

The plastically deformable element can be provided not only in the rope, but also in the drive train of the winch 5. Such an embodiment is based on Fig. 23 will be described below.

Fig. 13 shows schematically and by way of example a friction drive with slip clutch for the winch 5. It has a drum 26 with a helical groove 25 which receives the up and unwinding cable 4. The drum 26 is formed so that the cable 4 is properly received by the drum 26. The drum 26 is seated on an output shaft 27, which is drivingly connected to a motor 29 with the interposition of a friction unit 28. The motor shaft 30 rotatably drives a rubbing drum 55, which rests against an axis-parallel rubbing drum 56 (friction contact 57), which is non-rotatably mounted on the output shaft 27. Exceeds the force in the cable 4 a predetermined value, then the friction drum 56 slips through, whereby a torque limit in the drive train from the motor 29 to the drum 26 is ensured.

The basis of the Fig. 8 to 13 described embodiments can be used within the ride in combination with each other, so that an optimal adaptation to the particular training of the ride is possible.

Fig. 14 shows a ride, in which instead of the winches 5 rotating lever 31 are provided. They are provided on the chassis 3 and designed as a one-armed lever, which are rotated by a motor in the desired direction. The ropes 4 are attached with their free ends to the levers 31, preferably at their free ends. The pivoting of the lever 31 generates a winding of the ropes 4 on the winches 5 comparable effect. The levers 31 of the chassis 3 are independently drivable. The platform 7 can be defined by moving in up to six degrees of freedom. Incidentally, the ride is according to Fig. 14 the same design as the previously described embodiments of rides.

Fig. 15 shows the platform 7, to which the ropes 4 are fixed in the manner described. In this embodiment, the ropes 4 are provided in pairs, as exemplified by the Fig. 5 and 6 has been described. In order to achieve a defined compliance and compensation of the rope tensions in the two parallel guided ropes 4, 4 spring-loaded clamping lever 32 are provided on the platform 7 for each rope. They are designed as a one-armed lever and pivotally mounted at one end to the platform 7. The ropes 4 are guided over the free ends of the clamping lever 32 and are thereby deflected. The free clamping lever ends are advantageously roller or cylindrical in shape to ensure proper deflection of the cables 4. The clamping levers 32 are under the force of at least one coil spring 33, which biases the respective clamping lever against the cable sufficiently strong, so that a cable deflection is ensured.

In the above-described rides the chassis 3 are provided with the winches 5 and the levers 31 in the area above and below the platforms 7. It is possible to provide the winches 5 or the levers 31 only in the region above the platform 7. In this case, the weight of the platform 7 is used to ensure that all ropes 4 remain in the tensioned state.

In the described embodiments of rides, the winches 5 and the levers 31 are connected to the chassis 3, so that they are moved together with them. Embodiments are possible in which one or more winches 5 or levers 31 on the rails 2 are connected in a fixed or rigid manner to the support structure 1.

In a simpler embodiment of the ride, it is also possible to arrange all winches 5 or lever 31 stationary. Then the platform 7 can move in the movement space spanned by the winches or levers be adjusted in different positions and orientations. In such a case, chassis 3 are not provided.

The ride can be further designed so that the platform 7 has only two translational degrees of freedom with or without rotational degree of freedom. In such a case, the platform 7 moves in the horizontal or in the vertical plane. For such a design, two, three or four winches 5 or levers 31 are preferably used.

Fig. 16 shows a schematic representation of an embodiment in which the platform 7 moves only in a horizontal plane. The ride has in this embodiment, two opposing rails 2, which are at the same height and along which two chassis 3 are movable. The chassis 3 are connected via a respective cable 4 to the platform 7. Each chassis 3 is provided with a winch on which the cable 4 can be wound up. The distance of these winches on each rail 2 is greater than the length of the platform 7. The winches are controlled so that the platform 7 is moved only in a horizontal plane.

Instead of the chassis 3, fixed cable winches may also be provided on the two rails 2. By coordinated control of the winches, the platform 7 can also be moved in the horizontal plane.

Fig. 17 shows a schematic representation of a ride, in which the platform 7 can be moved only in a vertical plane. In contrast to the embodiment according to Fig. 16 this ride has on its two support structures 1 each two spaced superimposed rails 2, on each of which a winch 5 is arranged stationary. Each winch 5 has a drum on which two ropes 4 are wound. As Fig. 17 shows, attack the ropes 4 on opposite sides of the platform 7 at. In this case, the cables 4, which act on the platform 7 at the same height, are each guided to the winches 5. Each winch 5 generates a change in the effective length of each two ropes 4. Since two ropes are wound on the same drum, they can not be independently varied in their effective length. The platform 7 can thus be moved by coordinated control of the winds 5 only in a vertical plane.

Furthermore, it is possible to provide for the platform 7 a purely translatory movement in space with three degrees of freedom.

Based on Fig. 18 to 27 various types of drive systems of the ride are described in detail. With the drive system, the platform 7 can be moved in up to six degrees of freedom. Due to the special requirements for transporting people on amusement rides, measures are provided to ensure the safe and reliable operation of the ride. It is ensured that the transmitted forces and the resulting accelerations of the platform 7 can not exceed a maximum value. The burden on the passengers on the platform 7 are thereby kept within a permissible range. Also, the drive systems are designed so that the force is applied to the support structure 1 of the rails 2 below predetermined maximum values. In addition, especially when stopping the platform 7 must be ensured that jerky forces are limited, which may arise, for example, by tightening previously unstressed ropes or excessive forces in a lack of winds / lever synchronization.

Fig. 20 shows a drive train 34 of the drive system. It contains the motor 29 which rotatably drives the cable drum 26 via a gear 35. In order to limit the maximum drive torque and thus the cable force, located in the drive connection between the gear 35 and the drum 26 is a slip clutch 36. It may be provided with a position sensor.

The drive train 34 is provided on the motor side with a position sensor 37, which is for example an angle rotary encoder. With the position sensor 37, the rotational position of the drum 26 and thus the free cable length can be detected.

So that the motor 29 is defined and safely shut down, the motor for rotating the drum 26 is provided with a brake 38. The motor 29 can thus be shut down both via the engine braking torque and independently thereof via the brake 28.

The cable 4, which is wound on the drum 26 or unwound from it, via the defined elastic element 14 (FIG. 8 to 11 ) connected to the platform 7 and thus controls the mobility of the platform.

The cable 4, the elements 14 and the platform 7 form a transmission element 39, which is part of the drive system. The slip clutch 36 is advantageously provided in the drive train 34, but need not be part of the drive train 34. In this case, the drum 26 is directly connected to the transmission 35. The elastically yielding element 14 is not absolutely necessary, but an advantageous feature.

The drive system according to Fig. 18 has the position sensor 37, the motor 29 and the transmission 35 in the drive train. In the drive train sit two drums 26, on each of which a rope 4 can be wound. Both drums 26 are thus connected to the platform 7 via an independent, parallel-guided cable. In each rope 4, an element 14 is advantageously provided. The motor 29 drives via the gear 35 to the coaxial with each other arranged drums 26. The two drums 26 are braked by a common brake 38, which in contrast to the embodiment according to Fig. 10 not motor side, but drum side is arranged. Notwithstanding the illustrated embodiment, it is possible to use each of the drums 26 own brake 38.

This drive system is characterized by its redundant design, which ensures on the one hand a parallel alignment of the platform-side cable ends and on the other hand ensures sufficient reliability by the redundancy in the machine elements.

Fig. 19 shows a safety-driven winch drive with four parallel ropes 4 and two independent drive systems. With the two drive systems two drums 26 are driven simultaneously. The two drive systems each have the motor-side position sensor 37, the motor 29, the gear 35 and advantageously the slip clutch 36. The two slip clutches 36 are each assigned two drums 26 which sit on the same shaft. The ropes 4 are advantageously connected via an elastically resilient element 14 to the platform 7.

In this embodiment, not only the drums 26 but also the motor 29, the gear 35, the slip clutch 36 and the position sensor 37 are provided in a redundant manner. Such training ensures high reliability.

According to the embodiment Fig. 21 four ropes 4 are driven independently and independently wound on one drum 26 and unwound from her. Each drum 26 is rotatably driven by a separate motor 29. The ropes 4 are connected to the platform 7.

The drive systems according to Fig. 21 can according to the drive systems according to the Fig. 18 to 20 be educated.

Based on Fig. 18 to 21 It has been demonstrated that different degrees of redundancy can be used without limiting the operating principle of the ride. The number of degrees of redundancy depends on the safety standard, the desired movements and the requirements of the specific design of the ride.

If in the embodiments according to the Fig. 18 to 20 the ropes 4 are equipped with at least one elastically yielding element 14, so this training is not mandatory. The ropes 4 can according to the embodiment according to these embodiments Fig. 21 be connected directly to the platform 7. The elastically yielding elements can of course also in the embodiment according to Fig. 21 be provided. Basically, the use of the elastically compliant elements depends solely on safety requirements and specifications of the particular application.

The driving business is controlled by data processing in a computer. The movement of the platform 7 in up to six degrees of freedom is freely programmable. There are pre-calculated or to be determined during operation of the ride business motion profiles on the described drive systems of the ride. It is thereby possible to change the movement of the platform 7 at short intervals on a single installation of the ride. By processing the data during operation, the movement of the platform 7 can also be adjusted in response to the behavior or inputs of the passengers, so that an interaction while driving is possible.

The controller 12 ( Fig. 22 ) generates motion profiles 42 for the individual drives based on a program flow 40 or user input on an input device 41. The motion profiles 42 are preprocessed by a feedforward control 43 and a position control 44 for the individual drives. The data thus obtained are sent via an interface 45, preferably a field bus, to the decentralized drive modules of the individual chassis as setpoint values.

By way of example, a chassis 1 and a chassis n in Fig. 22 shown. These chassis is transmitted to the winch motor 29 of each setpoint. The setpoint is also transmitted to a chassis motor 46. In accordance with the desired values, the respective drum 26 the winch 5 is rotated in the required direction, thus adjusting the free rope length. In addition, the chassis 3 is moved according to the transmitted setpoint along the rails 2. Sensors 47, which in particular detect the position of the chassis 3 on the rails 2 and the set free cable length, transmit the corresponding actual values to the interface 45 of the controller 12. The transmitted actual values are compared in the control 44 with the setpoint values. As soon as a difference between the setpoint and the actual value occurs, a corresponding control signal is transmitted via the corresponding interface 45 to the corresponding winch motor 29 or the corresponding chassis motor 46. Due to this regulation, the platform 7 moves exactly along the desired trajectory 11.

Since the movement of the platform 7 is freely programmable, in particular movements can be generated which cause the passengers the illusion of certain movements.

Thus, the passengers of the illusion of weightlessness can be generated by the fact that the platform 7 is moved on a parabolic trajectory 11, as exemplified in the Fig. 2 and 3 is shown. The parabolic trajectory is achieved by appropriate, coordinated coiling and unwinding of the ropes on the respective winches 5. As a result, such a movement path can be achieved even with straight rails 2.

The trajectory 11 of the platform 7 can also be formed so that the passengers on the platform 7 receive the feeling of a partial or complete gravity acceleration. The movement is thereby generated so that the relative acceleration of the platform 7 counteracts downward for a period of time of gravity. This gives the passengers on the platform 7 the impression of weightlessness.

The platform 7 can also be moved so that it performs rotational movements in which the instantaneous pivot regardless of the technical design of the ride set. The passenger thereby creates the illusion of a pendulum movement of the platform 7 with a pivot point, which may also be outside the platform 7 or even outside the ride.

By appropriate programming of the trajectory, the illusion of a flight movement can be imitated, whereby the behavior of vehicles, aircraft or other (fictitious) flying objects, such as birds, dragons, etc., can be imitated. For this purpose, movements of the platform 7 of straight lines and arcs can be composed so that, for example, the flapping of the wings is felt by the accelerations. As exemplified by Fig. 4 described and illustrated, defined acceleration states and acceleration curves can be generated. By rapidly changing the direction of the acceleration, the passenger feels such movements of the platform 7 as tremors and vibrations. If the platform follows 7 circular arcs at varying speeds, it gives the impression of rocking on a long pendulum. Large accelerations with simultaneous tilting of the platform 7 give the impression of starting and braking. Particularly jerky movements create the impression of a collision with other objects.

With the help of the controller 12, it is further possible to follow the movement state of the platform 7 of a reference movement. Such reference movement may be dictated by the operator or by multimedia sources such as simulations or movies. Due to the exact path control of the platform 7, the movement of the platform can communicate with the reference movement.

The movement of the platform 7 can also be changed by inputs made by the passengers. On the platform 7 corresponding input devices 41 may be present, on which the passengers can make their inputs. As a result, for example, the behavior of ships, boats, vehicles, aircraft, spaceships and the like can be recaptured and made tangible for the passenger.

In particular, the free controllability of the ride allows a switch between different types of movement during the journey or between individual trips without mechanical adjustment of the ride.

In order to enable the described possibilities of path control, a sensor-based detection of the operating state of the platform 7 is provided. For this purpose, in particular a length, speed, acceleration and force measurement in the ropes 4 or, if rods are used, in these rods. The measurement of the state of motion of the platform 7 can be done with gyroscopes or with (differential) satellite navigation (GPS) to determine the current movement.

The controller 12 is provided for generating the control profiles for the drives with the program generation 40 and the input device 41, which can be operated either by the operator of the ride or the passenger.

The described control can also be used for those embodiments in which the ride has no winches 5 or lever 31. The ropes 4 have a fixed length in this case and may for example also be replaced by rods. In this case, the movement of the platform takes place exclusively by appropriate method of the chassis 3 along the rails 2 ( Fig. 6a ). In such cases, the chassis motor 46 receives the setpoint. The sensors 47 detect the position of the chassis 3 on the rails 2 and return the corresponding actual values of the controller 12. With the aid of the control unit 44, it is checked whether the returned actual value corresponds to the predetermined desired value. If differences occur, a control signal is generated, which is transmitted to the respective chassis motor 46.

If the ride has no chassis, but only stationary winds 5 or lever 31, then the setpoint is the appropriate winch / lever motor 29 handed over. The sensors 47 detect the angle of rotation and thus the free cable length and return the corresponding actual value to the controller 12. The controller 44 optionally generates a control signal to control the corresponding winch / lever motor 29 accordingly.

Fig. 23 shows a powertrain similar Fig. 20 in which instead of the slip clutch 36, a plastically deformable torsion element 48 is present. This plastically deformable torsion element 48 can absorb excessive forces due to plastic deformation when stopping, for example, due to a defect. This prevents an overload on the structure of the ride and / or the passengers. The plastically deformable torsion element is advantageously designed as a crushing element, with the overload can be reliably prevented in the event of danger.

The cable 4 is otherwise connected directly to the platform 7. However, the cable 4 can also be connected to the platform 7 via at least one element 14.

The powertrain according to Fig. 24 The motor 29 is coupled to the drum 26 via the gear 35 and a spring member 49. The spring element 49 is advantageously a torsion or torsion spring, which is part of the drum 26 and prevents overloading of the drum 26 and thus of the cable 4. Via a coupling 50, the spring element 49 can be bridged. The clutch 50 is a clutch which, when engaged, engages the transmission 35 directly with the drum 26. If the clutch 50 is disengaged, then the spring element 49 can be effective.

The rope 4 is connected directly to the platform 7. But it is also possible to connect the cable 4 via at least one element 14 with the platform 7.

The spring element 49 is not effective during normal operation of the ride. The clutch 50 is engaged and bridges the spring element 49. The drum 26 is driven directly by the gear 35. In case of energy loss (risk of weakening rope tension), the clutch 50 is disengaged. The spring element 49 can now tension the cable 4 and allows a certain flexibility of the drive train.

The powertrain according to Fig. 25 has the motor 29 with the motor-side brake 38 and the motor-side position sensor 37. The motor 29 is drivingly connected via the gear 35 to the drum 26. It is associated with the brake 38. The cable 4 is connected directly or via intermediate spring elements with the platform 7. This embodiment is an example of the redundant arrangement of brakes in the drive system.

The drive system according to Fig. 26 is redundant and has two drive trains, each with a drum 26 is driven. Each drive train has the motor 29 with the motor-side position sensor 37. Each motor 29 is connected via the gear 35 and a slip clutch 36 to the respective drum 26. The ropes 4 of the drum 26 are connected with the interposition of at least one spring element 14 with the platform 7. The spring elements 14 are only optimally provided; the ropes 4 can also be connected directly to the platform 7.

Fig. 27 shows a drive control, which is formed substantially the same as the embodiment according to Fig. 26 , In the cable 4 of each drum 26 is a force sensor 51 and at least one element 14th

The force sensors 51 may be provided on all ropes 4 of the ride, but also on only one or some of the ropes. This embodiment is an example of the redundant arrangement of the position and force sensors 37, 51 to increase safety.

The described rides are characterized by high flexibility and an excellent driving experience. The rides have similar performance characteristics (speed, acceleration, distance, passenger capacity) as conventional roller coasters. The following are examples of possible performance values. These values should not be construed as limiting values.

Thus, the platform 7 may have a weight in the range of, for example, 200 kg to 4000 kg, which corresponds to a conveying capacity of, for example, 1 to 10 people. The platform 7 may have a maximum spin on the order of 90 ° / s and a translational acceleration of about 2 to 3 g. In this case, the platform 7 may have a typical rotational speed of about 90 ° / s and a typical translational speed of about 10 m / s.

The ride is provided with a safety monitoring that evaluates all control and sensor signals to monitor the proper operation of the ride. It is advantageous if a multi-channel design of a monitoring device is used. For this purpose, the active elements chassis 3 and 5 winch redundant signals of the drives and sensors are used. The security monitoring initiates a defined shutdown of the ride in the event of an unexpected condition, for example by an emergency stop. As based on the Fig. 18 to 27 is described by way of example, the subsystems used in the safety-related drive system are used, so that even in the case of a partial system failure, a shutdown is possible without dangerous acceleration values being reached for the passengers.

As the various embodiments of the propulsion systems show, elements can be provided in the propulsion system that guarantee the maintenance of a minimum force, even if a subsystem fails. Then an orderly shutdown of the ride is guaranteed without crashing the platform 7.

When the brakes according to the embodiment according to Fig. 25 redundant, a shutdown of the ride is guaranteed even in the event of failure of a single brake. In addition, the brakes double the deceleration function that can be generated by the engine 29. The brakes can be fed with locally stored energy, such as springs.

With regard to a safety of the ride, the described force, position, speed and / or acceleration sensors are advantageously provided on several or all of the parallel guided ropes 4. The force limitation of the ropes 4 is achieved by the friction clutches 36 in the drive train described by way of example by moment limitation ( Fig. 26 ). The force limitation can also by Friktionsantriebe ( Fig. 13 ) can be achieved for the winches 5. The drive of the chassis 3 by friction drives is a preferred embodiment of the drive system when the chassis 3 have no winds and the platform 7 is moved exclusively by appropriate method of the chassis.

If a decentralized multi-channel engine control system is used, the movement behavior in the event of a shutdown of the ride in the event of an emergency stop can be guaranteed autonomously even without connection to the central control system 12. Here, a local energy storage for the drives can be used. Here are the in Fig. 22 shown drives the individual chassis 3 in a position to initiate a controlled deceleration of the platform 7 to a standstill and monitor even in case of failure of the power supply.

The different elements of the ride can be combined, depending on the training of the ride. In this case, individual machine elements can be provided redundantly, so that in case of failure of individual machine elements still continue operation of the ride is possible or the ride can be fixed without risk to passengers on the platform 7.

The described embodiments show that the spring elements in the drive train, in particular the springs in the ropes 4, the torsion springs in the drum 26 of the winch 5 and the springs 33 at the attachment points of the ropes to the platform can be used.

The free programmability of the trajectory of the platform 7 allows the departure of longer distances and the change of the movement profile of the platform 7 without changing the mechanical construction of the ride.

The rides can be used for a wide variety of applications. For example, the use of rides is possible in which the experience of accelerations and this creates an exciting driving experience. The platform 7 can also be used for use in the dark.

Due to the described mobility, the platform 7 can also be used as a motion platform in film screenings, in which the platform 7 and thus the passengers perform movements synchronously with the respective film to be viewed.

The platform 7 can also be used as a motion platform for simulators.

The ride is characterized by its constructive simplicity. The power transmission between the chassis 3 and the platform 4 is done solely by the ropes 4 or corresponding rods. The movement path 11 of the platform 7 can be freely programmed in at least two degrees of freedom, in particular in six degrees of freedom (three translational and three rotational degrees of freedom). With the higher-level controller 12 defined acceleration or movement states can be easily generated become. Also can be traversed 12 defined tracks and trajectories with the parent controller. If the chassis 3 are moved along the rails 2, the platform 7 can be transported over long distances, while the platform 7 can perform a variety of movements controlled while driving. In this case, the platform 7 can be controlled in different ways. Thus, the movement, speed and acceleration of the platform 7 can be controlled so that they are experienced as pleasant or as a thrill.

Since the ropes 4 and the platform 7 only have a relatively low intrinsic mass, a high degree of dynamics of the platform 7 is possible in a simple manner. The structure of the ride has only a very small interference contour, which is generated for the passengers of the platform, for example, the illusion of flying.

Since the platform 7 does not move directly on rails, the movement of the platform 7 for the passengers is not or only with great difficulty predictable, whereby the thrill of the ride is increased.

Claims (15)

1. Amusement park ride with at least one platform (7), which is connected flexibly to cables (4) as support elements which support the platform (7), remain under tension while the amusement park ride is operating and are connected to drives (3),
   characterised in that the cables (4) of the platform (7) are tensioned such that the cables (4) support the platform (7) in any position and orientation, and that the drives (3) can be run along guides (2).
2. Amusement park ride according to claim 1,
   characterised in that the effective length of the cables (4) can be changed.
3. Amusement park ride according to claim 2,
   characterised in that the cables (4) can be wound on to cable winches (5).
4. Amusement park ride according to one of the claims 1 to 3,
   characterised in that the drives (3) are provided with cable winches (5) driven preferably by a motor (29).
5. Amusement park ride according to one of the claims 1, 2 or 4,
   characterised in that the ends of the cables (4) furthest from the platform (7) are attached to pivotable levers (31).
6. Amusement park ride according to claim 4 or 5,
   characterised in that the drives (3) can be operated independently of each other and advantageously the cable winches (5) or the levers (31) can be operated independently of each other.
7. Amusement park ride according to one of the claims 1 to 6,
   characterised in that at least some of the cables (4) are provided redundantly.
8. Amusement park ride according to one of the claims 1 to 7,
   characterised in that, at least in some of the cables (4) or in the connection of the cables (4) to the platform (7) or in the connection of the cables (4) to the end furthest from the platform, at least one elastically flexible element (13) is located which, advantageously, is permanent or is active when the cables (4) or the platform (7) decelerate.
9. Amusement park ride according to one of the claims 1 to 8,
   characterised in that in at least some of the cables (4) or in the connections of the cables to the platform or in the ends of the cables furthest from the platform, at least one energy dissipation element (53) is located, which, advantageously, is permanent or is active when the cables (4) or the platform (7) decelerate.
10. Amusement park ride according to one of the claims 1 to 9,
    characterised in that, in the area of the platform (7) or in the area of the cable winches (5), cable tensioning elements (32) which pre-tension and divert the respective cable (4) engage with at least some of the cables (4).
11. Amusement park ride according to one of the claims 3 to 10,
    characterised in that the cable winches (5) are arranged in the area above the platform (7) and the cables (4) are tensioned by the weight of the platform (7).
12. Amusement park ride according to one of the claims 1 to 11,
    characterised in that the drives (3) and/or the motors (29) of the cable winches (5) or the levers (31) are connected to a common control (12) and are incorporated, advantageously, in a control loop (44) of the control (12).
13. Amusement park ride according to one of the claims 1 to 12,
    characterised in that the motor (29) of the cable winch (5) or of the lever (31) is located in a drive train (34), which is provided with at least one brake (38) for a cable drum (26) of the cable winch (5) or for the lever (31).
14. Amusement park ride according to claim 13,
    characterised in that the brake (38) provided is redundant and advantageously
    is provided with a brake (38) on the motor side and the other brake (38) on the drum side.
15. Amusement park ride according to claims 13 to 14,
    characterised in that a friction clutch (28, 36) is incorporated ahead of the cable drum (26).

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