EP2740706B1 - Transport device and transport method - Google Patents

Transport device and transport method Download PDF

Info

Publication number
EP2740706B1
EP2740706B1 EP12196001.7A EP12196001A EP2740706B1 EP 2740706 B1 EP2740706 B1 EP 2740706B1 EP 12196001 A EP12196001 A EP 12196001A EP 2740706 B1 EP2740706 B1 EP 2740706B1
Authority
EP
European Patent Office
Prior art keywords
cable
transport vehicle
rope
transport
transport device
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.)
Active
Application number
EP12196001.7A
Other languages
German (de)
French (fr)
Other versions
EP2740706A1 (en
Inventor
Josef Konrad
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PL12196001.7T priority Critical patent/PL2740706T3/en
Priority to EP12196001.7A priority patent/EP2740706B1/en
Publication of EP2740706A1 publication Critical patent/EP2740706A1/en
Application granted granted Critical
Publication of EP2740706B1 publication Critical patent/EP2740706B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
    • B66C21/04—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways with cable-ways supported at one end or both ends on bodily movable framework, e.g. framework mounted on rail track

Definitions

  • the invention relates to a transport device comprising a transport vehicle with a drive and a rope mounted at at least two points, wherein the transport vehicle is movable by means of the drive along the rope.
  • the invention relates to a method for moving a transport vehicle along a rope mounted between two points with a transport device of the type mentioned.
  • the invention relates to a use of such a device.
  • this is determined by a deflection of the rope from a direct connection between the two fixed points and an elasticity of the rope. Since steel cables with a high rigidity are usually used, slight changes in the deflection lead to large changes in the cable tension. This can affect a life of the rope and in extreme cases lead to a rupture of the rope. In addition, a continuous movement of the transport vehicle is hampered because of the discontinuous rope tension.
  • the deflection of the steel cable is determined by a vertical deflection due to local ground elevations or depressions and a deflection due to a misalignment of the transport vehicle, with an error angle greater than zero, to a rope direction.
  • the cable direction is defined by the direction of the tensioned cable between the two stationary points.
  • the object of the invention is to provide a transport device which overcomes or at least reduces the disadvantages of the prior art.
  • a cable force or rope tension should not be unacceptably high, even in uneven terrain.
  • the transport device should be designed structurally simple.
  • the first object is achieved in that in a device of the type mentioned the rope is flexibly clamped at one point by means of a movable bearing and / or a control mechanism is provided which automatically corrects a deflection of the rope.
  • the bearing point is preferably flexibly movable in the direction of the tensioned cable and substantially rigid in all other directions in order to keep a transport direction of the transporting vehicle constant even on uneven terrain.
  • the movable bearing point can be designed as a spring, in particular comprising a gas- or liquid-filled piston or a rubber element, in which a cable force increases with the deflection.
  • a cable force in a cable deflection constant-holding element is possible, such as a pure weight load of the rope, especially at one end.
  • the integration of a damper element, the a cable force depending on a speed of the deflection applies is another possibility.
  • elements described above can be combined with one another in order to realize a storage location optimally adapted to the respective conditions.
  • the control mechanism which automatically corrects a deflection of the rope, a rope tension can be automatically reduced due to incorrect alignment of the transport vehicle. Since the orientation of the transport vehicle in the uneven, especially in steep, terrain during a movement due to gravity constant changes, a constant corrective intervention is required to keep the transport vehicle along the defined by the stretched rope route. Only by the automatic control mechanism, for example, a driverless operation can be enabled.
  • the control mechanism may comprise a steering sensor, a control unit and a steering system, in particular a kink or Schemellenkung, the steering sensor measures the orientation of the transport vehicle relative to the rope constantly and controls in a different orientation of transport vehicle and rope on the steering regulatory, until the transport vehicle is again aligned in the direction of the rope.
  • control mechanism may also include GPS sensors, wherein the control unit uses the data of the GPS sensors as a basis for corrective measures.
  • GPS sensors uses the data of the GPS sensors as a basis for corrective measures.
  • the transport vehicle can be moved automatically and / or without driver.
  • An automatic mobility can be realized by means of sensors, in particular distance and speed sensors.
  • an automatic movability is possible, in which a control and regulation via GPS signals.
  • a manual or automatic remote control of the transport vehicle by means of a radio remote control is possible.
  • Advantage of the training in which a driverless operation is possible, in particular, that a risk of injury to an operator can be excluded. In a fully or partially automatic training of the transport vehicle personnel costs can be saved.
  • the cable is attached at a first end to a fixing anchor and at a second end to the movable bearing.
  • a movable bearing is required to achieve the desired effect of deflectability of the rope.
  • the transport device used in steep terrain to transport material over a height difference so has a training of a lower bearing point as a movable bearing found to be useful because of this weight load, which brings the transport vehicle in the rope, does not occur and thus the Bearing point can be constructively simpler.
  • the cable is preferably fastened to a fixed point serving as a fix anchor, for example a support anchored in the terrain, concrete base or a stable tree.
  • the rope can also be moved, in particular deflected, mounted at the upper bearing point.
  • the transport vehicle has an articulated steering.
  • Such steering has proved to be particularly advantageous in vehicles for rough terrain and high forces.
  • the drive comprises two pulleys.
  • the transport vehicle can move stable well guided along the rope, the drive is also structurally simple. Also, a particularly good power transmission is possible over a large wrap angle.
  • a cable tension by means of the movable bearing point during the movement of the transport vehicle along the rope is approximately constant preserved.
  • Devices in which a force can be kept constant via a deflection, are known from the prior art, for example for hanging pipes.
  • the integration of such a device as a movable bearing has the particular advantage that a cable force is no longer subject to fluctuations and thus the life of the rope is increased.
  • the second object is achieved in that in a method of the type mentioned, the rope is flexibly clamped at one point by means of a movable bearing and / or a deflection of the transport vehicle is automatically corrected by the rope.
  • a force in the rope is kept approximately constant during a movement of the transport vehicle. As a result, the life of the rope is significantly increased.
  • the third object is achieved in that a transport device according to the invention is used for transporting wood in rough terrain.
  • Fig. 1 schematically shows a transport vehicle 1 of a transport device according to the invention, wherein a cable 5 and a cable guide is shown with a steering sensor 4.
  • the vehicle has a transport basket 10 in which, for example, wood can be transported. In order to produce a particularly good ground contact, this transport vehicle 1 is equipped with eight wheels. In order to load the transport vehicle 1, additionally connected to the transport vehicle 1 crane or a Be provided gripping arm, as is known for example in agricultural and forestry machinery.
  • Fig. 2 shows the transport vehicle 1 with the rope 5 in side view, wherein in addition to the transport basket 10 and the frame 2, a drive 3 is shown with two pulleys.
  • a steerable axle 7 and a steering cylinder 9 for actuating a not shown articulated steering can be seen.
  • Schematically illustrated is a motor 8, with which the sheaves of the drive 3 are driven.
  • the function of the transport vehicle 1 is such that a weight of a load, such as wood, via the transport basket 10 and the frame 2 is derived on the eight wheels, so that an approximately uniform distribution of the force can be achieved.
  • the sheaves are driven by the motor 8, wherein combustion, electric or hydraulic motors are used.
  • a position determination of the transport vehicle 1 and thus a measurement of the deflection by means of GPS data is possible, which can then be used to control and / or control the movement.
  • This controlled, in particular remote-controlled, and / or regulated partially or fully automatic operation makes it possible that the transport vehicle 1 can be operated without a driver. As a result, a loading capacity can be increased and a risk of injury to operating personnel can be excluded.
  • the steering of the vehicle is preferred as a kink or Schemellenkung performed to allow sufficient stability with a large load capacity.
  • Fig. 3 shows a schematic representation of the transport device according to the invention on a rugged steep terrain such as a wooded mountainside. Shown is the transport vehicle 1, as in Fig. 2 shown connected to the cable 5, and the rope 5 in two different positions of the transport vehicle 1.
  • the cable 5 is mounted on a rigidly connected to a base fixing anchor 6 and a movable bearing 11. It can be seen that the transport vehicle 1 is located in the representation executed by solid lines on a direct connection between the fixing armature 6 and the movable bearing 11 and thus a deflection of the cable 5 from a direct connection of these two points is negligibly small.
  • the movable bearing 11 can be realized via springs, dampers or elements that hold constant a force independent of a deflection.
  • a combination of the individual elements is possible. This makes it possible to deflect the cable 5 on the movable bearing 11 in the direction of the fixed anchor 6, without resulting in an additional force in the cable 5. This can ensure that the cable 5 is stretched along a connecting line between the fixing anchor 6 and movable bearing 11 and a movement of the transport vehicle 1 along this rope 5 is possible, with the tracking along an uneven track transport vehicle 1 not to an unacceptably high rope tension in the rope 5 leads. As a result, the movement of the transport vehicle 1 can also be more uniform.
  • the rope 5 is defined only in the direction defined by the two points Fixanker 6 and movable bearing 11 flexibly clamped and rigidly mounted in all other directions. This allows a particularly good guidance of the transport vehicle 1.
  • the movable bearing 11 is preferably carried out at the lower end of the rope 5, since this then only has to absorb forces for tensioning the rope 5.
  • a device for transporting wood in uneven and steep terrain used.
  • the rope 5 is fixed on the fix anchor 6 and clamped flexibly to the movable bearing 11 and the transport vehicle 1 is connected to the sheaves with the cable 5.
  • a force in the rope 5 during the movement of the transport vehicle 1 is kept approximately constant.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

Die Erfindung betrifft eine Transportvorrichtung, umfassend ein Transportfahrzeug mit einem Antrieb und ein an mindestens zwei Punkten gelagertes Seil, wobei das Transportfahrzeug mittels des Antriebes entlang des Seiles bewegbar ist.The invention relates to a transport device comprising a transport vehicle with a drive and a rope mounted at at least two points, wherein the transport vehicle is movable by means of the drive along the rope.

Weiter betrifft die Erfindung ein Verfahren zum Bewegen eines Transportfahrzeuges entlang eines zwischen zwei Punkten gelagerten Seiles mit einer Transportvorrichtung der eingangs genannten Art.Furthermore, the invention relates to a method for moving a transport vehicle along a rope mounted between two points with a transport device of the type mentioned.

Darüber hinaus betrifft die Erfindung eine Verwendung einer derartigen Vorrichtung.Moreover, the invention relates to a use of such a device.

Gemäß dem Stand der Technik sind verschiedene Transportvorrichtungen bekannt geworden. Aus der DE 198 50 598 A1 ist eine verfahrbare Vorrichtung zur Holzbringung bekannt, die mittels zweier Seiltrommeln entlang zweier Seile verfahrbar ist, wobei ein Seil vor und das andere Seil hinter der Vorrichtung an einem ortsfesten Punkt befestigt ist. Dies hat sich jedoch nur bei Anwendungen im ebenen Gelände als zielführend verwiesen. Bei einer Anwendung im unebenen Gelände, beispielsweise beim Führen eines Transportfahrzeuges an steilen Waldhängen, erweist sich eine derartige Vorrichtung insofern als nachteilig, als sich eine Auslenkung des Seiles aufgrund eines ständigen Bodenkontaktes des Transportfahrzeuges entsprechend einer Bodenunebenheit ändert und eine Seilspannung starken Schwankungen unterliegt. Die Seilspannung hängt zum einen im Bereich zwischen einem oberen ortsfesten Punkt und dem Transportfahrzeug von der Gewichtskraft des Transportfahrzeuges und einer Geländesteigung ab. Zum anderen wird diese bestimmt von einer Auslenkung des Seiles aus einer direkten Verbindung zwischen den beiden ortsfesten Punkten und einer Elastizität des Seiles. Da üblicherweise Stahlseile mit einer hohen Steifigkeit verwendet werden, führen geringfügige Änderungen der Auslenkung zu großen Änderungen der Seilspannung. Dies kann eine Lebensdauer des Seiles beeinträchtigen und im Extremfall zu einem Reißen des Seiles führen. Darüber hinaus wird eine kontinuierliche Bewegung des Transportfahrzeuges wegen der diskontinuierlichen Seilspannung erschwert. Die Auslenkung des Stahlseiles wird bestimmt durch eine vertikale Auslenkung aufgrund von lokalen Bodenerhebungen oder -vertiefungen und eine Ablenkung aufgrund einer Fehlausrichtung des Transportfahrzeuges, mit einem Fehlerwinkel, der größer als Null ist, zu einer Seilrichtung. Die Seilrichtung ist dabei durch die Richtung des gespannten Seiles zwischen den beiden ortsfesten Punkten definiert.According to the prior art, various transport devices have become known. From the DE 198 50 598 A1 For example, there is known a traveling wood-making device which is movable along two ropes by means of two rope drums, with one rope in front of and the other rope behind the device at a fixed point. However, this has been pointed out as useful only for applications in flat terrain. When used in uneven terrain, for example when driving a transport vehicle on steep forest slopes, such a device proves to be disadvantageous, as a deflection of the rope changes due to a continuous ground contact of the transport vehicle according to a bump and rope tension is subject to strong fluctuations. The rope tension depends on the one hand in the area between an upper stationary point and the transport vehicle on the weight of the transport vehicle and a terrain slope. On the other hand, this is determined by a deflection of the rope from a direct connection between the two fixed points and an elasticity of the rope. Since steel cables with a high rigidity are usually used, slight changes in the deflection lead to large changes in the cable tension. This can affect a life of the rope and in extreme cases lead to a rupture of the rope. In addition, a continuous movement of the transport vehicle is hampered because of the discontinuous rope tension. The deflection of the steel cable is determined by a vertical deflection due to local ground elevations or depressions and a deflection due to a misalignment of the transport vehicle, with an error angle greater than zero, to a rope direction. The cable direction is defined by the direction of the tensioned cable between the two stationary points.

Aufgabe der Erfindung ist es, eine Transportvorrichtung anzugeben, welche die Nachteile des Standes der Technik behebt oder zumindest reduziert. Insbesondere soll dabei eine Seilkraft bzw. Seilspannung auch im unebenen Gelände nicht unzulässig hoch werden. Weiter soll die Transportvorrichtung konstruktiv einfach ausgestaltet sein.The object of the invention is to provide a transport device which overcomes or at least reduces the disadvantages of the prior art. In particular, a cable force or rope tension should not be unacceptably high, even in uneven terrain. Next, the transport device should be designed structurally simple.

Darüber hinaus soll ein Verfahren der eingangs genannten Art angegeben werden, mit dem ein Transportfahrzeug auch im unebenen Gelände bewegbar ist.In addition, a method of the aforementioned type is to be specified, with which a transport vehicle is movable even on uneven terrain.

Des Weiteren soll eine Verwendung einer entsprechenden Transportvorrichtung angegeben werden.Furthermore, a use of a corresponding transport device should be specified.

Die erste Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einer Vorrichtung der eingangs genannten Art das Seil an einem Punkt mittels einer bewegbaren Lagerstelle flexibel eingespannt ist und/oder ein Regelmechanismus vorgesehen ist, der eine Ablenkung vom Seil automatisch korrigiert.The first object is achieved in that in a device of the type mentioned the rope is flexibly clamped at one point by means of a movable bearing and / or a control mechanism is provided which automatically corrects a deflection of the rope.

Mittels der bewegbaren Lagerstelle, die einerseits starr mit einem Untergrund und andererseits starr mit dem Seil verbunden ist und mittels einer Flexibilität eine Bewegung zwischen dem Seil und dem Untergrund in mindestens einer Richtung ermöglicht, wird eine Seilauslenkung ermöglicht, die nicht gleichzeitig zu einem starken Ansteigen der Seilspannung führt. Dadurch ist es möglich, das Transportfahrzeug auch im unebenen Gelände mit etwa gleichmäßiger Geschwindigkeit am Seil geführt zu bewegen und die Lebensdauer des Seiles zu erhöhen. Dabei ist die Lagerstelle bevorzugt in Richtung des gespannten Seiles flexibel bewegbar und in allen anderen Richtungen im Wesentlichen steif ausgebildet, um eine Transportrichtung des Transportfährzeuges auch bei unebenem Gelände konstant zu halten. Die bewegbare Lagerstelle kann dabei als Feder, insbesondere umfassend einen gas- oder flüssigkeitsgefüllten Kolben oder ein Gummielement, ausgebildet sein, bei der eine Seilkraft mit der Auslenkung steigt. Alternativ ist auch eine Ausbildung als ein die Seilkraft bei einer Seilauslenkung konstanthaltendes Element möglich, wie beispielsweise eine reine Gewichtsbelastung des Seiles, insbesondere an einem Ende. Auch die Integration eines Dämpferelementes, das eine Seilkraft abhängig von einer Geschwindigkeit der Auslenkung aufbringt, ist eine weitere Möglichkeit. Darüber hinaus können oben beschriebene Elemente miteinander kombiniert sein, um eine den jeweiligen Bedingungen optimal angepasste Lagerstelle zu realisieren.By means of the movable bearing, on the one hand rigidly connected to a substrate and on the other hand rigidly connected to the rope and by means of a flexibility movement between the rope and the ground in at least one direction, a cable deflection is possible, which does not simultaneously increase the Rope tension leads. This makes it possible to move the transport vehicle even in rough terrain with approximately uniform speed on the rope and to increase the life of the rope. In this case, the bearing point is preferably flexibly movable in the direction of the tensioned cable and substantially rigid in all other directions in order to keep a transport direction of the transporting vehicle constant even on uneven terrain. The movable bearing point can be designed as a spring, in particular comprising a gas- or liquid-filled piston or a rubber element, in which a cable force increases with the deflection. Alternatively, training as a cable force in a cable deflection constant-holding element is possible, such as a pure weight load of the rope, especially at one end. Also, the integration of a damper element, the a cable force depending on a speed of the deflection applies is another possibility. In addition, elements described above can be combined with one another in order to realize a storage location optimally adapted to the respective conditions.

Mit dem Regelmechanismus, der eine Ablenkung vom Seil automatisch korrigiert, kann eine Seilspannung aufgrund fehlerhafter Ausrichtung des Transportfahrzeuges automatisch reduziert werden. Da die Ausrichtung des Transportfahrzeuges im unebenen, insbesondere im steilen, Gelände während einer Bewegung schwerkraftbedingt ständigen Änderungen unterliegt, ist ein ständiges korrigierendes Eingreifen erforderlich, um das Transportfahrzeug entlang der durch das gespannte Seil definierten Strecke zu halten. Nur durch den automatischen Regelmechanismus kann beispielsweise ein fahrerloser Betrieb ermöglicht werden. Der Regelmechanismus kann einen Lenksensor, eine Regeleinheit und eine Lenkung, insbesondere eine Knick- oder Schemellenkung, umfassen, wobei der Lenksensor die Ausrichtung des Transportfahrzeuges relativ zum Seil ständig misst und bei abweichender Ausrichtung von Transportfahrzeug und Seil über die Lenkung regelnd eingreift, bis das Transportfahrzeug wieder in Richtung des Seiles ausgerichtet ist. Alternativ kann der Regelmechanismus auch GPS-Sensoren aufweisen, wobei die Regeleinheit die Daten der GPS-Sensoren als Basis für Korrekturmaßnahmen heranzieht. So kann mittels der GPS-Sensoren auch ein programmiertes Fahrziel und eine Fahrstrecke automatisiert und kontrolliert abgefahren werden. Mit einer derartigen Ausbildung sind Fahrstrecken mit einer Länge von etwa 500 Metern und weniger als 10 Metern Breite auch im unwegsamen Gelände möglich.With the control mechanism, which automatically corrects a deflection of the rope, a rope tension can be automatically reduced due to incorrect alignment of the transport vehicle. Since the orientation of the transport vehicle in the uneven, especially in steep, terrain during a movement due to gravity constant changes, a constant corrective intervention is required to keep the transport vehicle along the defined by the stretched rope route. Only by the automatic control mechanism, for example, a driverless operation can be enabled. The control mechanism may comprise a steering sensor, a control unit and a steering system, in particular a kink or Schemellenkung, the steering sensor measures the orientation of the transport vehicle relative to the rope constantly and controls in a different orientation of transport vehicle and rope on the steering regulatory, until the transport vehicle is again aligned in the direction of the rope. Alternatively, the control mechanism may also include GPS sensors, wherein the control unit uses the data of the GPS sensors as a basis for corrective measures. Thus, by means of the GPS sensors, a programmed destination and a route can be automated and controlled. With such a training routes are possible with a length of about 500 meters and less than 10 meters wide, even in rough terrain.

Es ist von Vorteil, dass das Transportfahrzeug automatisch und/oder fahrerlos verfahrbar ist. Eine automatische Verfahrbarkeit kann dabei mittels Sensoren, insbesondere Abstands- und Geschwindigkeitssensoren, realisiert werden. Weiter ist auch eine automatische Verfahrbarkeit möglich, bei welcher eine Steuerung und Regelung über GPS-Signale erfolgt. Daneben ist eine manuelle oder automatische Fernsteuerung des Transportfahrzeuges mittels einer Funkfernsteuerung möglich. Vorteil der Ausbildung, bei der ein fahrerloser Betrieb möglich ist, ist insbesondere, dass ein Verletzungsrisiko für ein Bedienpersonal ausgeschlossen werden kann. Bei einer voll- oder teilautomatischen Ausbildung des Transportfahrzeuges können Personalkosten gespart werden.It is advantageous that the transport vehicle can be moved automatically and / or without driver. An automatic mobility can be realized by means of sensors, in particular distance and speed sensors. Furthermore, an automatic movability is possible, in which a control and regulation via GPS signals. In addition, a manual or automatic remote control of the transport vehicle by means of a radio remote control is possible. Advantage of the training, in which a driverless operation is possible, in particular, that a risk of injury to an operator can be excluded. In a fully or partially automatic training of the transport vehicle personnel costs can be saved.

Es hat sich bewährt, dass das Seil an einem ersten Ende an einem Fixanker und an einem zweiten Ende an der bewegbaren Lagerstelle befestigt ist. Damit ist lediglich eine bewegbare Lagerstelle erforderlich, um den gewünschten Effekt einer Auslenkbarkeit des Seiles zu erreichen. Wird die Transportvorrichtung im steilen Gelände eingesetzt, um Material über eine Höhendifferenz zu transportieren, so hat sich eine Ausbildung einer unteren Lagerstelle als bewegbare Lagerstelle als nützlich erwiesen, da an dieser eine Gewichtsbelastung, welche das Transportfahrzeug in das Seil einbringt, nicht auftritt und dadurch die Lagerstelle konstruktiv einfacher ausgebildet werden kann. An einer oberen Lagerstelle wird das Seil bevorzugt an einem als Fixanker dienenden ortsfesten Punkt, beispielsweise einem im Gelände verankerten Träger, Betonsockel oder einem stabilen Baum, befestigt. Alternativ kann das Seil an der oberen Lagerstelle auch bewegbar, insbesondere umgelenkt, gelagert sein.It has been proven that the cable is attached at a first end to a fixing anchor and at a second end to the movable bearing. Thus, only a movable bearing is required to achieve the desired effect of deflectability of the rope. If the transport device used in steep terrain to transport material over a height difference, so has a training of a lower bearing point as a movable bearing found to be useful because of this weight load, which brings the transport vehicle in the rope, does not occur and thus the Bearing point can be constructively simpler. At an upper bearing point, the cable is preferably fastened to a fixed point serving as a fix anchor, for example a support anchored in the terrain, concrete base or a stable tree. Alternatively, the rope can also be moved, in particular deflected, mounted at the upper bearing point.

Zweckmäßigerweise ist vorgesehen, dass das Transportfahrzeug eine Knicklenkung aufweist. Eine derartige Lenkung hat sich bei Fahrzeugen für unwegsames Gelände und bei hohen auftretenden Kräften als besonders vorteilhaft erwiesen.Appropriately, it is provided that the transport vehicle has an articulated steering. Such steering has proved to be particularly advantageous in vehicles for rough terrain and high forces.

Besonders bevorzugt ist vorgesehen, dass der Antrieb zwei Seilscheiben umfasst. Mit einem derartigen Antrieb kann sich das Transportfahrzeug stabil gut geführt entlang des Seiles bewegen, wobei der Antrieb auch konstruktiv einfach ausgebildet ist. Auch ist über einen großen Umschlingungswinkel eine besonders gute Kraftübertragung möglich.It is particularly preferred that the drive comprises two pulleys. With such a drive, the transport vehicle can move stable well guided along the rope, the drive is also structurally simple. Also, a particularly good power transmission is possible over a large wrap angle.

Es kann auch vorgesehen sein, dass eine Seilspannung mittels der bewegbaren Lagerstelle während des Bewegens des Transportfahrzeuges entlang des Seiles in etwa konstant haltbar ist. Einrichtungen bei denen eine Kraft über eine Auslenkung konstant gehalten werden kann, sind aus dem Stand der Technik bekannt, beispielsweise zum Aufhängen von Rohrleitungen. Die Integration einer derartigen Einrichtung als bewegbare Lagerstelle hat insbesondere den Vorteil, dass eine Seilkraft keinen Schwankungen mehr unterliegt und damit die Lebensdauer des Seiles erhöht wird.It can also be provided that a cable tension by means of the movable bearing point during the movement of the transport vehicle along the rope is approximately constant preserved. Devices in which a force can be kept constant via a deflection, are known from the prior art, for example for hanging pipes. The integration of such a device as a movable bearing has the particular advantage that a cable force is no longer subject to fluctuations and thus the life of the rope is increased.

Die zweite Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einem Verfahren der eingangs genannten Art das Seil an einem Punkt mittels einer bewegbaren Lagerstelle flexibel eingespannt wird und/oder eine Ablenkung des Transportfahrzeuges vom Seil automatisch korrigiert wird.The second object is achieved in that in a method of the type mentioned, the rope is flexibly clamped at one point by means of a movable bearing and / or a deflection of the transport vehicle is automatically corrected by the rope.

Dadurch kann eine Seilauslenkung, wie dies beispielsweise beim Verfahren des Transportfahrzeuges entlang eines unebenen Geländes erforderlich ist, ermöglicht werden, ohne dass es zu unzulässig hohen mechanischen Beanspruchungen des Seiles kommt.This allows a cable deflection, as required, for example, when moving the transport vehicle along an uneven terrain, are made possible, without causing unacceptably high mechanical stress on the rope.

Dadurch, dass eine Ablenkung des Transportfahrzeuges vom Seil automatisch korrigiert wird, kann die mechanische Beanspruchung des Seiles weiter reduziert werden.The fact that a deflection of the transport vehicle is automatically corrected by the rope, the mechanical stress of the rope can be further reduced.

Bevorzugt kann es auch sein, dass eine Kraft im Seil während einer Bewegung des Transportfahrzeuges etwa konstant gehalten wird. Dadurch wird die Lebensdauer des Seiles wesentlich erhöht.It may also be preferred that a force in the rope is kept approximately constant during a movement of the transport vehicle. As a result, the life of the rope is significantly increased.

Die dritte Aufgabe wird dadurch gelöst, dass eine erfindungsgemäße Transportvorrichtung zum Transportieren von Holz im unwegsamen Gelände verwendet wird.The third object is achieved in that a transport device according to the invention is used for transporting wood in rough terrain.

Dadurch kann ein Abtransport von Holz aus schwer erreichbarem Gelände, insbesondere über große Höhendifferenzen, stark vereinfacht werden.As a result, a removal of wood from hard-to-reach terrain, especially over large height differences, are greatly simplified.

Weitere Merkmale, Vorteile und Wirkungen der Erfindung ergeben sich anhand des nachfolgend dargestellten Ausführungsbeispiels. In den Zeichnungen, auf welche dabei Bezug genommen wird, zeigen:

  • Fig. 1 ein Transportfahrzeug einer erfindungsgemäßen Transportvorrichtung;
  • Fig. 2 ein Transportfahrzeug einer erfindungsgemäßen Transportvorrichtung in Seitenansicht;
  • Fig. 3 eine erfindungsgemäße Transportvorrichtung.
Further features, advantages and effects of the invention will become apparent from the embodiment illustrated below. In the drawings, to which reference is made, show:
  • Fig. 1 a transport vehicle of a transport device according to the invention;
  • Fig. 2 a transport vehicle of a transport device according to the invention in side view;
  • Fig. 3 a transport device according to the invention.

Fig. 1 zeigt schematisch ein Transportfahrzeug 1 einer erfindungsgemäßen Transportvorrichtung, wobei auch ein Seil 5 und eine Seilführung mit einem Lenksensor 4 dargestellt ist. Das Fahrzeug weist einen Transportkorb 10 auf, in dem beispielsweise Holz transportiert werden kann. Um einen besonders guten Bodenkontakt herzustellen, ist dieses Transportfahrzeug 1 mit acht Rädern ausgestattet. Um das Transportfahrzeug 1 zu beladen, kann zusätzlich ein mit dem Transportfahrzeug 1 verbundener Kran oder ein Greifarm vorgesehen sein, wie dies beispielsweise bei Maschinen der Land- und Forstwirtschaft bekannt ist. Fig. 1 schematically shows a transport vehicle 1 of a transport device according to the invention, wherein a cable 5 and a cable guide is shown with a steering sensor 4. The vehicle has a transport basket 10 in which, for example, wood can be transported. In order to produce a particularly good ground contact, this transport vehicle 1 is equipped with eight wheels. In order to load the transport vehicle 1, additionally connected to the transport vehicle 1 crane or a Be provided gripping arm, as is known for example in agricultural and forestry machinery.

Fig. 2 zeigt das Transportfahrzeug 1 mit dem Seil 5 in Seitenansicht, wobei neben dem Transportkorb 10 und dem Rahmen 2 auch ein Antrieb 3 mit zwei Seilscheiben dargestellt ist. Weiter sind ein lenkbarer Achsträger 7 sowie ein Lenkzylinder 9 zum Betätigen einer nicht gesondert dargestellten Knicklenkung erkennbar. Schematisch dargestellt ist ein Motor 8, mit dem die Seilscheiben des Antriebes 3 angetrieben werden. Die Funktion des Transportfahrzeuges 1 ist derart gegeben, dass eine Gewichtskraft eines Ladegutes, wie beispielsweise Holz, über den Transportkorb 10 und den Rahmen 2 auf die acht Räder abgeleitet wird, sodass eine annähernd gleichmäßige Verteilung der Kraft erreicht werden kann. Zum Antrieb des Transportfahrzeuges 1 werden die Seilscheiben mittels des Motors 8 angetrieben, wobei Verbrennungs-, Elektro- oder Hydraulikmotoren einsetzbar sind. Über den großen Umschlingungswinkel der beiden Seilscheiben, wie dargestellt jeweils etwa 180°, wird eine besonders gute Kraftübertragung gewährleistet, sodass damit das Transportfahrzeug 1 auch im steilen Gelände mit schwerer Beladung sicher bergauf bewegt werden kann. Über die Seilführung mit dem Lenksensor 4 wird kontinuierlich eine Ausrichtung des Transportfahrzeuges 1 relativ zu einer Richtung des Seiles 5 ermittelt, wodurch Lenkkorrekturen bereits bei geringen Abweichungen ermöglicht werden. Aufgrund von Geländeunebenheiten kann es vorkommen, dass das Transportfahrzeug 1 temporär eine Ausrichtung aufweist, die nicht der direkten Verbindung der beiden Einspannstellen des Seiles 5 entspricht. Es kommt dabei zu einer Ablenkung des Transportfahrzeuges 1 gegenüber dem Seil 5. In einem derartigen Fall ist eine Korrektur über einen Lenkeingriff möglich, der über den Lenksensor 4 geregelt auch automatisch besonders einfach ausgeführt werden kann. Darüber hinaus ist auch eine Positionsbestimmung des Transportfahrzeuges 1 und damit eine Messung der Ablenkung mittels GPS-Daten möglich, die dann zur Regelung und/oder Steuerung der Bewegung verwendet werden können. Weiter ist eine Fernsteuerung des Transportfahrzeuges 1, beispielsweise mittels einer Funkfernsteuerung, eine geeignete Alternative. Dieser gesteuerte, insbesondere ferngesteuerte, und/oder geregelte teil- oder vollautomatische Betrieb ermöglicht es, dass das Transportfahrzeug 1 fahrerlos betrieben werden kann. Dadurch kann eine Ladekapazität erhöht und ein Verletzungsrisiko für ein Bedienpersonal ausgeschlossen werden. Die Lenkung des Fahrzeuges ist dabei bevorzugt als Knick- oder Schemellenkung ausgeführt um ausreichende Stabilität bei großer Ladekapazität zu ermöglichen. Fig. 2 shows the transport vehicle 1 with the rope 5 in side view, wherein in addition to the transport basket 10 and the frame 2, a drive 3 is shown with two pulleys. Next, a steerable axle 7 and a steering cylinder 9 for actuating a not shown articulated steering can be seen. Schematically illustrated is a motor 8, with which the sheaves of the drive 3 are driven. The function of the transport vehicle 1 is such that a weight of a load, such as wood, via the transport basket 10 and the frame 2 is derived on the eight wheels, so that an approximately uniform distribution of the force can be achieved. To drive the transport vehicle 1, the sheaves are driven by the motor 8, wherein combustion, electric or hydraulic motors are used. About the large wrap angle of the two pulleys, as shown in each case about 180 °, a particularly good power transmission is ensured, so that so that the transport vehicle 1 can be safely moved uphill on steep terrain with heavy load. An alignment of the transport vehicle 1 relative to a direction of the cable 5 is continuously determined via the cable guide with the steering sensor 4, whereby steering corrections are made possible even with small deviations. Due to uneven terrain, it may happen that the transport vehicle 1 temporarily has an orientation that does not correspond to the direct connection of the two clamping points of the cable 5. In this case, a correction by means of a steering intervention is possible, which can also be automatically controlled in a particularly simple manner via the steering sensor 4. In addition, a position determination of the transport vehicle 1 and thus a measurement of the deflection by means of GPS data is possible, which can then be used to control and / or control the movement. Further, a remote control of the transport vehicle 1, for example by means of a radio remote control, a suitable alternative. This controlled, in particular remote-controlled, and / or regulated partially or fully automatic operation makes it possible that the transport vehicle 1 can be operated without a driver. As a result, a loading capacity can be increased and a risk of injury to operating personnel can be excluded. The steering of the vehicle is preferred as a kink or Schemellenkung performed to allow sufficient stability with a large load capacity.

Fig. 3 zeigt eine schematische Darstellung der erfindungsgemäßen Transportvorrichtung an einem unebenen steilen Gelände wie beispielsweise einem bewaldeten Berghang. Dargestellt ist das Transportfahrzeug 1, das wie in Fig. 2 dargestellt mit dem Seil 5 verbunden ist, und das Seil 5 in zwei unterschiedlichen Positionen des Transportfahrzeuges 1. Das Seil 5 ist dabei an einem starr mit einem Untergrund verbundenen Fixanker 6 und einer bewegbaren Lagerstelle 11 gelagert. Erkennbar ist, dass das Transportfahrzeug 1 in der mit durchgezogenen Strichen ausgeführten Darstellung auf einer direkten Verbindung zwischen dem Fixanker 6 und der bewegbaren Lagerstelle 11 befindlich ist und somit eine Auslenkung des Seiles 5 aus einer direkten Verbindung dieser beiden Punkte vernachlässigbar klein ist. Bei einem Verfahren des Transportfahrzeuges 1 entlang des unebenen Geländes bis in eine Position, die mittels der strichlierten Darstellung schematisch abgebildet ist, ergibt sich eine beachtliche Auslenkung des Seiles 5 aus der direkten Verbindung der beiden Punkte. Wären beide Lagerstellen als starre Lagerstellen ausgebildet, so würde aufgrund einer erzwungenen Auslenkung des Seiles 5 eine Spannung im Seil 5, das üblicherweise aus Stahl besteht, stark zunehmen und eine Lebensdauer des Seiles 5 beeinträchtigen oder sogar zum Reißen des Seiles 5 führen. Weiter würden auch Bauteile des Transportfahrzeuges 1 mit dieser zusätzlichen, von der Auslenkung des Seiles 5 hervorgerufenen, Kraft belastet werden. Die bewegbare Lagerstelle 11 ermöglicht es, dass eine Auslenkung des Seiles 5 nicht zu unzulässig hohen Kräften im Seil 5 führt. Dabei kann die bewegbare Lagerstelle 11 über Federn, Dämpfer oder Elemente realisiert sein, die eine Kraft unabhängig von einer Auslenkung konstant halten. Weiter ist auch eine Kombination der einzelnen Elemente möglich. Dadurch wird es möglich, das Seil 5 an der bewegbaren Lagerstelle 11 in Richtung des Fixankers 6 auszulenken, ohne dass daraus eine zusätzliche Kraft im Seil 5 resultiert. Damit kann gewährleistet werden, dass das Seil 5 entlang einer Verbindungslinie zwischen Fixanker 6 und bewegbarer Lagerstelle 11 gespannt ist und ein Bewegen des Transportfahrzeuges 1 entlang dieses Seiles 5 möglich wird, wobei auch das entlang einer unebenen Fahrstrecke nachgeführte Transportfahrzeug 1 nicht zu einer unzulässig hohen Seilspannung im Seil 5 führt. Dadurch kann auch die Bewegung des Transportfahrzeuges 1 gleichmäßiger verlaufen. Bevorzugt ist das Seil 5 nur in der durch die beiden Punkte Fixanker 6 und bewegbare Lagerstelle 11 definierten Richtung flexibel eingespannt und in allen anderen Richtungen starr gelagert. Dies ermöglicht eine besonders gute Führung des Transportfahrzeuges 1. Die bewegbare Lagerstelle 11 ist bevorzugt am unteren Ende des Seiles 5 ausgeführt, da diese dann nur Kräfte zum Spannen des Seiles 5 aufnehmen muss. Abhängig von einer Zugänglichkeit zu den Lagerstellen des Seiles 5 kann es aber auch erforderlich sein, die bewegbare Lagerstelle 11 am oberen Ende des Seiles 5 auszuführen, wodurch eine grundsätzliche Funktion nicht beeinträchtigt wird. Fig. 3 shows a schematic representation of the transport device according to the invention on a rugged steep terrain such as a wooded mountainside. Shown is the transport vehicle 1, as in Fig. 2 shown connected to the cable 5, and the rope 5 in two different positions of the transport vehicle 1. The cable 5 is mounted on a rigidly connected to a base fixing anchor 6 and a movable bearing 11. It can be seen that the transport vehicle 1 is located in the representation executed by solid lines on a direct connection between the fixing armature 6 and the movable bearing 11 and thus a deflection of the cable 5 from a direct connection of these two points is negligibly small. In a method of the transport vehicle 1 along the uneven terrain to a position which is shown schematically by means of the dashed representation, there is a considerable deflection of the cable 5 from the direct connection of the two points. If both bearings designed as a rigid bearings, so would be due to a forced deflection of the rope 5, a tension in the cable 5, which usually consists of steel, increase sharply and affect a life of the rope 5 or even lead to the rupture of the rope 5. Next components of the transport vehicle 1 would be charged with this additional, caused by the deflection of the cable 5, force. The movable bearing 11 makes it possible that a deflection of the cable 5 does not lead to unacceptably high forces in the cable 5. In this case, the movable bearing 11 can be realized via springs, dampers or elements that hold constant a force independent of a deflection. Next, a combination of the individual elements is possible. This makes it possible to deflect the cable 5 on the movable bearing 11 in the direction of the fixed anchor 6, without resulting in an additional force in the cable 5. This can ensure that the cable 5 is stretched along a connecting line between the fixing anchor 6 and movable bearing 11 and a movement of the transport vehicle 1 along this rope 5 is possible, with the tracking along an uneven track transport vehicle 1 not to an unacceptably high rope tension in the rope 5 leads. As a result, the movement of the transport vehicle 1 can also be more uniform. Preferably, the rope 5 is defined only in the direction defined by the two points Fixanker 6 and movable bearing 11 flexibly clamped and rigidly mounted in all other directions. This allows a particularly good guidance of the transport vehicle 1. The movable bearing 11 is preferably carried out at the lower end of the rope 5, since this then only has to absorb forces for tensioning the rope 5. Depending on accessibility to the bearings of the rope 5 but it may also be necessary to perform the movable bearing 11 at the upper end of the rope 5, whereby a fundamental function is not impaired.

Besonders vorteilhaft wird eine erfindungsgemäße Vorrichtung zum Transport von Holz im unebenen und steilen Gelände eingesetzt. Dabei wird das Seil 5 am Fixanker 6 fix und an der bewegbaren Lagerstelle 11 flexibel eingespannt und das Transportfahrzeug 1 an den Seilscheiben mit dem Seil 5 verbunden. Bevorzugt wird dabei, um eine Lebensdauer des Seiles 5 zu maximieren, eine Kraft im Seil 5 während der Bewegung des Transportfahrzeuges 1 etwa konstant gehalten. Mit einer derartigen Vorrichtung lassen sich schwere Transporte im unwegsamen und Höhenunterschiede aufweisenden Gelände besonders günstig durchführen.Particularly advantageous is a device according to the invention for transporting wood in uneven and steep terrain used. In this case, the rope 5 is fixed on the fix anchor 6 and clamped flexibly to the movable bearing 11 and the transport vehicle 1 is connected to the sheaves with the cable 5. Preferably, in order to maximize the life of the rope 5, a force in the rope 5 during the movement of the transport vehicle 1 is kept approximately constant. With such a device, heavy transports can be carried out particularly favorably in rough terrain with differences in height.

Claims (9)

  1. A transport device, comprising a transport vehicle (1) with a drive (3) and with a cable (5) that is mounted at at least two points, wherein the transport vehicle (1) is moveable along the cable (5) by means of the drive (3), characterized in that the cable (5) at a point is flexibly clamped in by means of a moveable bearing (11) and/or a regulating mechanism is provided which automatically corrects a deflection from the cable (5).
  2. The transport device according to Claim 1, characterized in that the transport vehicle (1) is automatically and/or driverlessly moveable.
  3. The transport device according to Claim 1 or 2, characterized in that the cable (5) is fastened at a first end on a fixed anchor (6) and at a second end on the moveable bearing (11).
  4. The transport device according to any one of the Claims 1 to 3, characterized in that the transport vehicle (1) comprises an articulated steering.
  5. The transport device according to any one of the Claims 1 to 4, characterized in that the drive (3) comprises two cable sheaves.
  6. The transport device according to any one of the Claims 1 to 5, characterized in that a cable tension can be held approximately constant by means of the moveable bearing (11) while the transport vehicle (1) is moved along the cable (5).
  7. A method for moving a transport vehicle (1) along a cable (5) mounted between two points with a transport device according to any one of the Claims 1 to 6, characterized in that the cable (5) is flexibly clamped in at a point by means of a moveable bearing (11) and/or a deflection of the transport vehicle (1) from the cable (5) is automatically corrected.
  8. The method according to Claim 7, characterized in that a force in the cable (5) during a movement of the transport vehicle (1) is kept approximately constant.
  9. Use of a transport device according to any one of the Claims 1 to 6 for transporting wood in difficult terrain.
EP12196001.7A 2012-12-07 2012-12-07 Transport device and transport method Active EP2740706B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL12196001.7T PL2740706T3 (en) 2012-12-07 2012-12-07 Transport device and transport method
EP12196001.7A EP2740706B1 (en) 2012-12-07 2012-12-07 Transport device and transport method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12196001.7A EP2740706B1 (en) 2012-12-07 2012-12-07 Transport device and transport method

Publications (2)

Publication Number Publication Date
EP2740706A1 EP2740706A1 (en) 2014-06-11
EP2740706B1 true EP2740706B1 (en) 2016-02-24

Family

ID=47471539

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12196001.7A Active EP2740706B1 (en) 2012-12-07 2012-12-07 Transport device and transport method

Country Status (2)

Country Link
EP (1) EP2740706B1 (en)
PL (1) PL2740706T3 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3850304A (en) * 1973-05-04 1974-11-26 W Howell Radio controlled skyline skidder
AT381686B (en) * 1983-12-07 1986-11-10 Hinteregger R Masch HYDRAULIC ROPE REEL DRIVE FOR A ROPE CRANE
ZM4889A1 (en) * 1989-12-29 1990-05-28 Giuseppe Raimo Zambia Cableway transportation
JP2930514B2 (en) * 1993-12-09 1999-08-03 三菱重工業株式会社 Transfer equipment
DE19850598A1 (en) 1997-11-25 1999-06-02 Johann Wolf Timber transport device for use on sloping grounds after harvesting

Also Published As

Publication number Publication date
EP2740706A1 (en) 2014-06-11
PL2740706T3 (en) 2016-10-31

Similar Documents

Publication Publication Date Title
DE102016102713B4 (en) leveling unit
EP0900719B1 (en) Pedestrian truck with drawbar
EP3119636B1 (en) Current-collector system having a telescopic arm for cranes, container cranes, ertgs, and conveying devices
EP2944549A2 (en) Trackless route train and method for steering a trackless route train
EP2332209B1 (en) Stabilization of a mast for vehicles and ships
EP3555365B1 (en) Measurement device and method for detecting a track geometry
EP0007554B1 (en) Device for maintaining the tension in a tow cable
EP3933109B1 (en) Soil working machine with variable length raising device with several different operating positions
EP3409636A1 (en) Method for damping torsional vibrations of a load-bearing element of a lifting device
EP1118580A1 (en) Device for automatic tension control of a cable for a piste grooming device
EP1729037A1 (en) Friction ring transmission
EP2883435A1 (en) Agricultural vehicle combination
EP2740706B1 (en) Transport device and transport method
AT511985B1 (en) TRANSPORT DEVICE AND TRANSPORT PROCESS
DE102010050930B4 (en) Mobile hoist and method for monitoring a chassis of the mobile hoist
AT11687U1 (en) CABLE WINDING DEVICE WITH GUIDE SLICES AND CABLE TENSIONERS
WO2018137733A1 (en) Rotor blade access system and method for positioning the maintenance chamber of a rotor blade access system
DE102018200506A1 (en) Support structure for a vertical band memory, vertical band memory, and method for storing a metal band in a vertical band memory
WO2019196987A1 (en) Receiving apparatus, conveying system and assembly installation
AT506655B1 (en) TRANSPORTER
EP1362821A1 (en) Straddle carrier
EP3765349B1 (en) Multidirectional transport vehicle
EP3205607A1 (en) Method and device for supplying a shelf transport vehicle
AT506389B1 (en) TRANSPORT SYSTEM
DE102024001237A1 (en) Procedure for calibrating radar sensors in a vehicle during production

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20121207

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

R17P Request for examination filed (corrected)

Effective date: 20141211

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150909

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 776580

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502012006040

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160224

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160524

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502012006040

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20161125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160524

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161231

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20161207

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161231

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161207

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161207

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161207

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20161231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161207

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20121207

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160224

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20231221

Year of fee payment: 12

Ref country code: DE

Payment date: 20231214

Year of fee payment: 12

Ref country code: AT

Payment date: 20231207

Year of fee payment: 12