EP2719653B1 - Height adjustable lifting table that can be adjusted in a vertical direction using a motor, such as for use in car bodywork construction in the motor vehicle industry - Google Patents

Description

genus

The invention relates to a height-adjustable motorized lift table in the vertical direction, for use in the bodywork of the automotive industry.

State of the art

Motor driven lifting tables are already known in various constructions.

The prior art include lifting tables, the height adjustment over cylinders or spindle drives the load-carrying body relative to a frame-like base. Load-carrying body and base are connected to each other via scissor-shaped crossed link elements, wherein the scissor-type link elements are pivotally connected to each other in their possible average length range via pivot axes. For example, in one type, a pair of links located at one end of the undercarriage are pivotally coupled to the base while the other pair of links are guided over rollers in rails of the base. The adjustment is made by piston-cylinder units.

Other types of handlebar elements use simple or multiply arranged handlebar elements in the manner of Nuremberg scissors, by which the load-receiving body is height adjustable relative to a frame-like base.

It is also known to arrange a plurality of such scissor-type arranged link elements in Längsachsrichtung of the undercarriage next to each other and synchronously adjust to lift the load-receiving body and lower.

Unfavorable in many types is the low tipping stability, especially when heavy loads, for example, bodies are to be moved in production lines in the automotive industry.

Hub tables are also known which have scissor-like intersecting link elements, which are located between load-receiving body and frame-shaped undercarriage extend, with a central lifting column to lift and lower the load-receiving body.

In the bodywork of the automotive industry, the demand is often made that such lifting tables to be moved when transporting body parts on pallet trucks to be moved in a production line, with the requirement is made to record each recorded load in different height ranges and at another level for removal.

Furthermore, lifting tables are known in which the load-receiving body is also adjustable by motor in the vertical direction via link elements, the motors must be correspondingly strongly dimensioned according to the particular occurring in the bodywork of the automotive industry high weights and therefore occupy a large volume below the load receiving body, so that the load-receiving body has a correspondingly small stroke, because a part of the distance between the lower frame and underside of the load-receiving body is occupied by the engine and any gear parts. Also, the engine must have a correspondingly high energy consumption, that is, develop a large torque to move the loads can.

From the DE 18 46 776 U a device for parallel guiding a raisable and lowerable platform previously known, in particular the höhenbewegbaren bottom of a container, with two identical hinge systems, each of which consists of four rods joint system, of which two are articulated to each other, wherein the one free ends of the rods the raised and lowered platform, the other free ends of the rods are articulated at localized or container-fixed points and the middle joints of both joint systems, which form a statically indeterminate system, are coupled to each other via a rod or the like. This device is characterized by at least one on the platform directly attacking acting as part of the parallel guide lifting means, such as spring, hydraulic ram or the like. The joint axes of both joint systems, which form a statically determined system, enclose an angle of 90 °, with the lifting means acting directly on the platform. The point of application of the lifting means on the platform lies between the bearing points of the articulated systems fixed to the platform.

The DE 30 00 667 A1 endsprechend EP 0 017 914 A1 describe a lifting device for installation in a chest for liftably receiving a television or the like with an attached to a guided over a top pulley rope scissors linkage and attached to the base frame motor. The deflection roller is arranged on a roller connecting it to a winch drum, which in the transport state of the finished stranded device rests on the retracted scissors linkage and is fastened vertically to the base frame in the installed state. In the direction of the Truhentiefe before and behind the rollers depending on a wind-up on the same drum rope is present and the attachment point of the spar is nachabiebend against a one-sided load of Holmes downstream. The scissors linkage is provided with an element which generates a resistance force which increases quadratically in the downward movement during the downward movement, namely a shock absorber. The shock absorber is articulated on both sides in the vicinity of equal height longitudinal ends of the diagonal frame to this and the Aufsetzstellung of the scissor linkage defined in accordance with the load by a buffer spring. Attached to a base frame is a geared motor which drives a winch drum mounted on the base frame at right angles to the engine. The winch drum picks up two opposing rope windings. In the direction of the chest depth, two ropes operated in synchronism are present in front of and behind a vertical bar. The upper end of a spar is provided with an axis extending transversely to the winch drum on which two pairs of pulleys are mounted. Depending on a further pulley is mounted transversely to the adjacent cross bar of the support frame. Projecting ends of the longitudinal bars of the support frame extend into pins, to which the free ends of the cables are attached. The guidance of the ropes over the roller combination results in a translation of the total force on the drum to the total load of the support frame in the ratio 1: 3. Because of this small maintenance of rope forces plastic fibers are proposed.

The DE 36 39 216 A1 relates to a hand height adjustable directly on similar podium uprights attachable pedestal for theaters or the like, with a supported by a rectangular upper frame platform and four arranged in pairs on two opposite sides of the upper frame, at least three-armed scissors, each having an arm in the corner of the upper frame and another arm are articulated below this corner region in a foot-side support and in which at least one further arm along the podium support provided guideways is slidably and in discrete positions can be locked, wherein between the lifting of the platform to each other to be pivoted scissor arms horizontally or substantially horizontally directed tension springs are arranged. The pedestal is characterized by at least one lifting spring arranged below the platform in the form of a spiral of wire wound within a conical, double-coned, crowned or double-crowned wrapping surface whose expansion height is several times its compression height when the platform is completely lowered. The force of the lifting spring is greater than the assumed by her weight at fully lowered platform. Several lift springs are arranged in symmetrical distribution below the platform. The respective lifting spring or the lifting springs are attached at one end to the underside of the platform and protrude with their other ends down. It is also a locking device for releasably locking the platform in the lowest Position provided. This locking device consists of an automatically snap-latching device which can be unlocked via an actuator, such as Bowden cable, cable or linkage, the operating end of the actuator is accessible through a platform breakthrough therethrough.

The US 2011/0309228 A1 relates to a platform made of molded plastic with a lower and upper part, which are adjustable by a kind of Nuremberg scissors in the vertical direction against each other. The lower ends of the scissor levers are mounted with axes in longitudinal guides on the base longitudinally displaceable by a limited amount. The levers of the Nuremberg scissors are in their middle length range in pairs on each longitudinal side pivotally connected to each other and pivotally connected to the upper part articulated. To be used this device for stacking and lifting of stacked trays. Such devices are needed in restaurants or dining rooms to arrange tray stack height adjustable.

The US Pat. No. 3,741,512 also shows by Nuremberg scissors on four sides articulated and vertically adjustable frame-shaped elements between which there is a coil spring. Such devices are also used for arranging kitchen appliances, such as dishes and trays.

The EP 0 335 472 A is also a device in which a tray-like part is arranged adjustable in height by Nuremberg scissors, the scissors are held apart by a compression spring. Such devices are used for arranging objects to bring them to a convenient height, such as trays, kitchen appliances or the like. The devices are also movably mounted on the floor. For this purpose, the levers of the Nuremberg scissors on at least one side rollers, so that by tilting the device, the device can be moved away.

The US 4,764,075 A also shows an arrangement in which by a Nuremberg scissors tray-like parts, which are supported by spaced compression springs against each other to be moved. The frame-shaped base is provided with rollers, so that arranged on the upper tray parts, such as kitchen appliances or the like, can be moved.

The JP 2006 264966 A relates to a lifting device for transporting goods from a central warehouse. The plan is to have a liftable platform to receive the goods. The platform is driven by a motor (reference numeral 11) and a worm gear (reference numeral 12). The output shaft of the worm gear 12 drives a shaft 14 which has sprockets 17 at both ends. At the opposite end of the lift table is a arranged further shaft 15, which also has at its ends sprockets 16, 18, so that via the drive chains 19, the shafts 14 and 15 and thus the apparently equal in diameter and equal speed equalizing sprockets 17, 18 are driven synchronously. The further German translation is somewhat ambiguous, since it was probably made by a software program. As far as this is understood here, are in the four corners on the shafts 14 and 15 cams 20 pivotally driven, in turn, rollers 20 a of a lower layer (for example, Fig. 5, left figure on sheet 10) press against the ground and in the 180 degrees opposite pivot position (Fig. 6, also on sheet 10) act against the bottom of a pallet and lift them. They are probably supported by helical compression springs 28, 29. There may be provided a plurality of such springs 4, 5 or even two or only one spring, as it is called in the description. From a comparison of Figures 5 and 6 it can be seen how the whole thing seems to work, while the representation in Fig. 3 (Sheet 9) is a bit unclear. 13 seems to be a kind of undercarriage which is mobile on rails or on the ground. You can see in Fig. 1 (right upper illustration on page 9), as a crane 3, the goods, for example, packages or the like, extracts from a high bay and the device via a kind of rail system, which carries the reference numeral 4, to be transported. Whether the pivoting rollers 20a run on these rails, is not very clear. Apparently, the members 26 are guides. Whether they should also be supported on the ground (Fig. 5, sheet 10) is also not very clear, but it could be, as can be seen from Fig. 5, that the rail system of this lifting device is arranged right and left. Since the pivotable rollers 20a shown in FIG. 6 are transverse to the conveying direction of the rails 6a, these rollers 20a can not serve as transport rollers. Presumably, the device is only stationary and allows lifting and lowering between the rails 6a and 6 to move the load A in the vertical direction.

In the JP 2008 001474 A it is a lifting device with a so-called Nuremberg scissors. The two platforms 1 and 2 are liftable by the Nuremberg scissors against each other in height adjustable. Serves a motor drive that drives a roller spindle 6, wherein the spindle engages via a pivot axis on a handlebar of the Nuremberg scissors.

The CA 2 542 817 A1 relates to a lifting device with a Nuremberg scissors, in the middle of a compression spring is arranged, which is supported against the lower hinge of the Nuremberg scissors under resilient restoring force. The whole thing is to be driven by a spindle drive, whereby the lever arms are supported on a spindle driven by a motor. The whole thing is not useful for the automotive construction, since it is unstable. If the upper table is loaded at the end sides, the whole tilts.

task

The invention has for its object to provide a height-adjustable motorized lift table for use in the bodywork of the automotive industry, which works energy-efficient and is stable to tipping and can lift and lower whole bodies.

solution

This object is achieved by the reproduced in claim 1 features.

Some advantages

• Gewicht des Lastaufnahmekörpers mit Last = 1500 kg
• Hub 0 bis 600 mm = 2,0 s
• Hub 0 bis 800 mm = 2,6 s

The object is achieved by a motorized height-adjustable vertical lifting table, with a ground floor associated frame-like base and a relatively liftable load-carrying body, the movable by pivoting link elements relative to the undercarriage in the vertical direction and in the respective height adjustment immovably stoppable and, for example, motor can be locked, in particular with two or more spaced, supported against the load-receiving body Compression spring elements which absorb a considerable part of the weight transferred from the load-receiving body and to the link elements. Such a lifting table according to the invention has the advantage that a part of the energy required to move the load-receiving body is expended by the compression springs. The following example may clarify this:

• Weight of load-carrying body with load = 1500 kg
• Stroke 0 to 600 mm = 2.0 s
• Stroke 0 to 800 mm = 2.6 s

State of the art:

Double box lifter without spring compensation requires two gear boxes each with an operating torque of 8000 Nm and a drive motor of 84 Nm.

Lifting table according to the invention:

A lifting table for the identical application, on the other hand, has two gearboxes with a drive torque of 2700 Nm per box. The drive motor only needs to transmit 26 Nm.

Due to the reduction of the transmission due to lower performance data, for example, by a height of 150 mm low compared to the prior art in a lifting table according to the invention with compression spring elements can be achieved.

The compression spring elements compensate for the stroke in the lower stroke range 100% and decrease with the lifting movement (maximum stroke 800 mm in the example assumed) to 26%.

As a result, a lifting table according to the invention also works in an environmentally friendly manner because of its low energy consumption and, in addition to saving investment costs, also brings about a not inconsiderable saving in energy costs.

With such a lift table, whole bodies and body parts can be raised and lowered, wherein the support levers are each connected to a pivot shaft of an associated transmission. The gear arranged in the end regions of the lifting table are arranged symmetrically to the transverse center axis on the underframe or within its existing profile elements existing space. These transmissions are each driven by a propeller shaft, which in turn is driven by a reversible electric motor, in particular asynchronous motor or synchronous motor designed drive motor. The spring force of the compression spring elements is designed so that they relieve the drive motor significantly at the beginning of the lifting movement. Thus, the drive motor can be designed much smaller, which means that considerable electrical energy can be saved by, for example, 40 to 50%, depending on the application. That means smaller drive motors.

Further inventive embodiments

Further inventive embodiments are described in claims 2 to 16 .

According to claim 2 , the slide guides on U-rails, the U-legs are respectively directed to the inside of the undercarriage and in which roller guides for the respective link element are guided in a straight line and stored.

In the embodiment according to claim 3 , the lifting table on a designed as a reversible electric motor drive motor, in particular an asynchronous motor or z. B. is a synchronous motor, which is preferably in the central longitudinal region, for example, on the longitudinal center axis of the undercarriage, in particular centrally located. This results in a compact design.

In the embodiment according to claim 4 , the drive motor is arranged outside the transverse center axis of the undercarriage, while the drive motor is arranged in the embodiment according to claim 5 with its longitudinal axis parallel or approximately parallel to the longitudinal center axis of the undercarriage.

Claim 6 describes a lift table in which the compression spring elements are arranged asymmetrically with respect to the transverse center axis of the undercarriage, while in the embodiment according to claim 7, the compression spring elements are arranged symmetrically with respect to the transverse center axis of the undercarriage and with respect to the longitudinal center axis of the lift table. This makes it possible in the hand, depending on the available space to arrange the compression spring elements, also with regard to the load to be transported, which rests on the load-receiving body. There is also nothing in the way in case of need in each case a plurality of compression spring elements, for example in pairs, to arrange side by side or asymmetrically.

In contrast, in the embodiment according to claim 8, the compression spring elements on the longitudinal center axis of the undercarriage or in pairs symmetrically to this and arranged symmetrically to the transverse center axis of the undercarriage.

Advantageously, in the embodiment according to claim 9, each compression spring element by the load-receiving body on the one hand and the base on the other hand assigned, in pairs, coaxial with each other, peg-shaped guide elements, in particular sleeves, mounted and guided, wherein the guide elements with a certain length in the respective spring element, preferably positive fit, intervene.

In the embodiment according to claim 10 , each compression spring element by the load receiving body on the one hand and the base on the other hand associated, each paired, coaxial with each other, peg-shaped or sleeve-shaped guide elements, mounted and guided, wherein the guide elements with a certain length section the respective compression spring element, preferably positively embrace ,

According to claim 11 of the lifting table is characterized in that the compression spring elements counteract more than 10% of the total weight of the load receiving body, and for example its load, in particular 26% to 100%.

Claim 12 describes a lifting table, wherein the compression spring elements are designed as helical compression springs, while they are formed in the embodiment according to claim 13 as leaf springs.

The compression spring elements are made of spring steel - claim 14.

Claim 15 describes a further advantageous embodiment, which also applies to claim 16 .

Fig.1

einen Hubtisch gemäß der Erfindung, bei welchem sich der Lastaufnahmekörper in seiner maximal angehobenen oberen Stellung befindet;

Fig. 2

der aus Fig. 1 ersichtliche Hubtisch, bei dem sich der Lastaufnahmekörper in seiner maximal abgesenkten unteren Stellung befindet, und

Fig. 3

eine Draufsicht auf das rahmenförmige Untergestell mit zentralem Antriebsmotor, Gelenkwellen und Getrieben.

In the drawing, the invention - partly schematically - illustrated in one embodiment. Show it:

Fig.1

a lift table according to the invention, in which the load-receiving body is in its maximum raised upper position;

Fig. 2

the out Fig. 1 apparent lift table, in which the load-receiving body is in its maximum lowered lower position, and

Fig. 3

a plan view of the frame-shaped base with central drive motor, drive shafts and gears.

The reference numeral 1 denotes a lifting table as a whole, which essentially consists of a frame-like, upper load-receiving body 2 and a frame-like underframe 3 assigned to the erection floor, not shown.

The load-receiving body 2 is continuously height-adjustable in the vertical direction A or B and in the respective desired stroke position persistent and can be blocked or locked via the motor drive. For this purpose, the load-receiving body 2 and the undercarriage 3 in the illustrated embodiment with in the end regions in pairs arm members 4, 5 and 6, 7th pivotally coupled. At their upper end in the drawing in the drawing have this the link elements 4, 5 on the one hand and 6, 7 on the other hand coaxially arranged pivot axes 8, 9 and 10, 11, which have a profile construction with down in the direction of the base 3 excellent bearing approaches and arranged therein holes are connected.

At its opposite end portion, the link elements 4, 5 on the one hand and 6, 7 on the other hand also via each with their longitudinal axes parallel to the pivot axes 8, 9 and 10, 11 coaxially extending pivot axes 12, 13 and 14, 15 ( Fig. 3 ), each associated with a roller 16, 17 and 18, 19. The rollers 16-19 are each guided in pairs on the arranged in the end regions of the undercarriage 3 slide guides 20, 21 and 22, 23 smoothly. In the illustrated embodiment, the slide guides consist essentially of U-profiles, which are directed with their U-legs against each other, so with their U-legs to the longitudinal center axis 24 of the lifting table 1 and thus also the lower frame 3 have.

The link elements 4, 5 and 6, 7 have in their approximately central length ranges, at the same level in each case further, in pairs, coaxially arranged pivot axes 25, 26 and 27, 28, with which in each case a support lever 29, 30 and 31, 32, namely at the mutually facing inner sides of the link elements 4, 5 and 6, 7, is pivotally mounted.

At their respective opposite end portion, these support levers 29, 30 and 31, 32 are connected to a respective pivot shaft 33 and 34 of an associated transmission 35 and 36, respectively. The two gear 35, 36 are arranged symmetrically to the transverse center axis 37 on the base frame 3 or within its existing profile elements frame.

The gear 35, 36 are driven by a respective propeller shaft 38, 39, which in turn from a in the illustrated embodiment arranged on the transverse center axis 37, for example, as a reversible electric motor, in particular asynchronous motor or synchronous motor, formed drive motor 40, are driven. The power supply and the associated facilities to the drive motor 40 (electrical line, control cabinet) are not shown.

Symmetrically to the transverse center axis 37, a prestressed compression spring element 41 or 42 is arranged in the illustrated embodiment. Each compression spring element 41, 42 are by the load-receiving body 2 on the one hand and the undercarriage 3 on the other hand, each paired, coaxial with each other, peg-shaped or sleeve-like guide elements 43, 44 and 45, 46 mounted and guided, in the illustrated embodiment with a certain length positively engage in the compression spring elements 41 and 42. The compression spring elements 41 and 42 take a considerable part of from the load receiving body 2 and arranged thereon, not apparent from the drawing load, for example, a body of a car or a part thereof on. The spring force of the compression spring elements 41, 42 is designed so that it significantly relieves the drive motor 40 at the beginning of the lifting movement. Thus, the drive motor can be designed much smaller, which means that considerable electrical energy can be saved by, for example, 40 to 50%, depending on the application.

In the illustrated embodiment, the stroke of the load receiving body 2 800 mm, the lifting speed to reach the full lift height, 2.6 seconds, the lifting weight 1,500 kg, while the lowest point ( Fig. 2 ) Is 600 mm.

Claims (16)

1. Elevating platform (1) with motorised vertical adjustment, for use in bodywork assembly in the automotive industry, with a frame-like sub-structure (3) on a mounting base and a load-supporting body (2) which can be moved in relation to the sub-structure (3) in a vertical direction (A-B) and then halted and locked by motor at the desired height by means of guiding elements (4, 5 and 6, 7) arranged in pairs in the end area of each lengthwise side of the elevating platform (1), where the guiding elements (4, 5 and 6, 7) are coupled to pivot on horizontal pivoting axes with the load-supporting body (2), which guiding elements are guided in a straight line in the lengthwise direction of the sub-structure (3) by sliding blocks (20, 21 and 22, 23) mounted on the sub-structure (3) at their opposite ends, where a supporting arm (29, 30 and 31, 32) is arranged to pivot in the central area of each of the guiding elements (4, 5 and 6, 7) arranged in pairs via a horizontal pivoting axis (25, 26 and 27, 28), which supporting arm (29, 30 and 31, 32) is joined at its opposite end via another horizontal pivoting axis to the pivoting shaft (33, 34) of a gear unit (35, 36), where the gear units arranged in the end areas of the sub-structure (3) are driven synchronously via a cardan shaft (38, 39) with preferably two pressure-spring elements (41, 42) supported (possibly indirectly) by spring force against the load-supporting body (2) and the sub-structure (3), which are arranged in the space between the guiding elements (4, 5 and 6, 7), where the pressure-spring elements (41, 42) absorb a substantial part of the weight transmitted from the load-supporting body (2) to the guiding elements (4, 5 and 6, 7), in such a way that the spring force of the pressure-spring elements (41, 42) is great enough to substantially reduce the load to be overcome by the driving motor (40) at the start of the elevating movement (A - B).
2. Elevating platform in accordance with claim 1, characterised in that the sliding blocks (20, 21 and 22, 23) have U-shaped rails, the legs of which U-shape are turned towards the inside of the sub-frame (3) and in which roller guides for the corresponding guiding element (4, 5 and 6, 7) are arranged on bearings and guided in a straight line.
3. Elevating platform in accordance with claim 1 or claim 2, characterised in that the driving motor (40) in the shape of a reversible electric motor is preferably a synchronous or an ansynchronous motor which is arranged preferably half-way along the length, preferably approximately on the transverse central axis (37) of the sub-structure (3) e.g. centrally.
4. Elevating platform in accordance with claim 1, claim 2 or claim 3, characterised in that the driving motor is arranged on the sub-structure (3) outside the transverse central axis.
5. Elevating platform in accordance with claim 1 or claim 2, characterised in that the driving motor is arranged with its lengthwise axis parallel or approximately parallel to the lengthwise central axis of the sub-structure (3).
6. Elevating platform in accordance with claim 1 or any of the claims 2 to 5, characterised in that the pressure-spring elements (41, 42) are asymmetrical with reference to the transverse central axis (37) of the sub-structure (3) and asymmetrical with reference to the lengthwise central axis of the (24) of the elevating platform (1).
7. Elevating platform in accordance with claim 1 or any of the claims 2 to 5, characterised in that the pressure-spring elements (41, 42) are arranged symmetrically with reference to the transverse central axis (37) of the sub-structure.
8. Elevating platform in accordance with claim 1 or any of the claims 2 to 5, characterised in that the pressure-spring elements (41, 42) are arranged on the lengthwise central axis (24) of the sub-structure (3) or in pairs symmetrically to it and symmetrically to the transverse central axis (37) of the sub-structure (3).
9. Elevating platform in accordance with claim 1 or any of the claims 2 to 8, characterised in that each pressure-spring element (41, 42) is mounted on and guided by peg-shaped guiding elements (43, 44 and 45, 46), preferably sleeves, arranged in pairs coaxially to one another, mounted on the load-supporting body (2) on the one hand and the sub-structure (3) on the other, where the guiding elements (43, 44 and 45, 46) hook, over a certain part of their length, into the corresponding pressure-spring element (41, 42), preferably with a positive fit.
10. Elevating platform in accordance with claim 1 or any of the claims 2 to 8, characterised in that each pressure-spring element (41, 42) is mounted on and guided by peg-shaped or sleeve-type guiding elements (43, 44 and 45, 46), arranged in pairs coaxially to one another, mounted on the load-supporting body (2) on the one hand and the sub-structure (3) on the other, where the guiding elements (43, 44 and 45, 46) embrace, over a certain part of their length, the corresponding pressure-spring element (41, 42), preferably with a positive fit.
11. Elevating platform in accordance with claim 1 or any of the claims 2 to 10, characterised in that the pressure-spring elements (41, 42) counteract more than ten percent of the total weight of the load-supporting body (2) and e.g. its load, but preferably between 26% and 100% thereof.
12. Elevating platform in accordance with claim 1 or any of the claims 2 to 11, characterised in that the pressure-spring elements (41, 42) are formed as helical pressure springs.
13. Elevating platform in accordance with claim 1 or any of the claims 2 to 11, characterised in that the pressure-spring elements (41, 42) are formed as plate-spring elements.
14. Elevating platform in accordance with claim 1 or any of the claims 2 to 13, characterised in that the pressure-spring elements (41, 42) are made of spring steel.
15. Elevating platform in accordance with claim 1 or any of the claims 2 to 14, characterised in that the pressure-spring elements (41, 42), in the position in which the load-supporting body (2) and the sub-structure (3) are at the smallest distance from one another, bear approximately 100% of the weight of the load-supporting body (2) and the load located thereon, and that this diminishes to a considerably smaller percentage e.g. to between 10% and 30%, preferably approximately 26%, as the elevating distance increases.
16. Elevating platform in accordance with claim 1 or any of the claims 2 to 15, characterised in that, when the total weight of the load-supporting body (2) and the load located thereon is approximately 1.500 kg, the load-supporting body (2) can execute a lifting movement from 0 to 600 mm in 2 seconds and a movement from 0 to 800 mm in 2,6 seconds.

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