EP2902297A1 - Dispositif de transport - Google Patents

Dispositif de transport Download PDF

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Publication number
EP2902297A1
EP2902297A1 EP15153153.0A EP15153153A EP2902297A1 EP 2902297 A1 EP2902297 A1 EP 2902297A1 EP 15153153 A EP15153153 A EP 15153153A EP 2902297 A1 EP2902297 A1 EP 2902297A1
Authority
EP
European Patent Office
Prior art keywords
transport device
pinion
base body
rack
track
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15153153.0A
Other languages
German (de)
English (en)
Other versions
EP2902297B1 (fr
Inventor
Gerhard Schubert
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.)
Gerhard Schubert GmbH
Original Assignee
Gerhard Schubert GmbH
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Filing date
Publication date
Application filed by Gerhard Schubert GmbH filed Critical Gerhard Schubert GmbH
Publication of EP2902297A1 publication Critical patent/EP2902297A1/fr
Application granted granted Critical
Publication of EP2902297B1 publication Critical patent/EP2902297B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
    • B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks

Definitions

  • the invention relates to a transport device.
  • Transport device under the name "Transmodul”, as described, for example, by US Pat EP 2070843 is described:
  • individual vehicles that can be controlled and moved independently of one another drive along a track on which they are positively guided.
  • On track bodies are each formed on both the top and on the bottom of a track, so that the vehicles can drive both on the bottom and along the top of the railway body.
  • a turning module may be present, in which the track body with track on the top and the bottom can be pivoted about its longitudinal axis by 180 ° and thereby can spend a vehicle standing on it from the lower track to the upper track and vice versa.
  • the drive of the vehicles along the track is done by means of a rack / pinion drive, the rack along the track is present and the power driven and controlled pinion at one end of the vehicle.
  • the energy supply of the vehicles via a laid along the track power line, which is tapped inductively from the vehicles.
  • the data transmission takes place from an extending in the center of the railway body leaky waveguide to an antenna in the vehicle.
  • the vehicles could only travel along a straight track and be positioned exactly, so did not allow cornering.
  • the turning modules could only be arranged at the end of a travel because they had at their free end a relatively large-sized energy converter and a gear for the rotation of the railway body, which could not be run over.
  • the position determination along the track was carried out via a detection of the pinion turns and is determined correctly in a non-straight track with a rigid vehicle only for the location of the pinion.
  • each guide head is tangential the rack guided and the main body between the guide heads also tangential to the rack.
  • the position of the central body and attached thereto packaging or tools relative to the track is known exactly at any time without complex compensation calculation, so that packaging or tools can be accurately positioned on the vehicle in a workstation, even if they have previously gone through a curve or Workstation even lies in the area of a curve.
  • each pair of pinion and pinch roller one of these two elements, preferably the pinch roller, transversely to the rack movable and biased towards the rack, so regardless of occurring wear or transverse offset when cornering the pinion mesh with the rack backlash.
  • One of the pinions of the vehicle is designed as a drive pinion and driven by a motor.
  • this drive pinion is detected with respect to its rotation and evaluated for determining the position of the vehicle along the track.
  • each pair of pinion and pinch roller these two elements are exactly one another with respect to the longitudinal direction of the rack so that the connecting line from the center of the pinion to the center of the pinch roller is perpendicular to the longitudinal direction of the rack at this point.
  • the movably mounted pressure rollers are preferably arranged on a rocker eccentrically to the pivot point, and the entire rocker is biased by a spring in the direction of the rack. This considerably reduces the number of necessary parts and the assembly.
  • the sub-circle lines of the upper and lower rack of the track body are exactly above each other and considered in the longitudinal direction of the track this is point-symmetrical.
  • the guide heads be identically formed, even if the pivot axis is not arranged to the main body center-symmetrically on the base body.
  • the toothed rack and pinion module is a metric tooth module that does not have a factor of ⁇ , which makes it easier to create metric modules that can be aligned with each other.
  • both guide heads are pivotable relative to the base body about a pivot axis, which is structurally designed as a turntable, and wherein via the hollow interior of the turntable, the lines for energy and data transmission from the main body into the guide head and can be reversed.
  • the pivot axis in particular the center of the turntable, located exactly in the middle between the two pairs of pinion and pinch roller of this guide head, in particular at the intersection of the connecting lines of a pinion to the pinch roller of the other pair and vice versa.
  • the drive pinion driving motor is arranged so that its motor shaft is located on the pivot axis.
  • a vacuum pump is arranged, which supplies the arranged on the vehicle vacuum cleaner for sucking and holding objects with negative pressure.
  • the waves of motor and vacuum pump are not affected by a pivoting movement of the guide heads because of this arrangement.
  • Each guide head comprises two bearing blocks, of which the two pinch rollers are mounted in one and the two pinions in the other, as well as two rollers in each bearing block, which roll on the running surface of the track.
  • the two bearing blocks in each guide head are identical, possibly up to the bias of the bearing block with the rollers against the rack.
  • a lifting device have to lift the track relative to the base body of this sheet body.
  • a vehicle can not only be turned downwards onto the lower travel path about the longitudinal axis, but also be brought to another height and aligned with another travel path without turning the rail body module.
  • the position of the central body relative to the longitudinal direction, ie the rack can be determined more accurately.
  • both guide heads By a direct coupling of the two guide heads with respect to their pivotal movement around the base body around can be achieved that both guide heads always take the exact same bending angle relative to the base body, which also improves the orientation of the central body relative to the track, so in particular the rack.
  • Fig. 1a shows in the plan view from above a so-called picker road, consisting of several robots 104 which take on a conveyor belt 106, which runs in this case from left to right, delivered products P and put into containers on vehicles 55 of a transport device according to the invention in the opposite direction
  • picker road consisting of several robots 104 which take on a conveyor belt 106, which runs in this case from left to right, delivered products P and put into containers on vehicles 55 of a transport device according to the invention in the opposite direction
  • the conveyor belt 106th for this purpose, in this case on both sides of the conveyor belt 106th
  • the robots 104 are spaced in the longitudinal direction of the conveyor belt 106 , suspended from a respective transversely over the conveyor belt 106 extending bridge and each consist of a movable upper arm 102 and a movable lower arm 103, at the free end of the so-called picker, usually one with Negative pressure the product P sucking sucker, is located.
  • the transport device 100 In the field of picker road, the transport device 100 usually runs straight, but before or after that it is often necessary that the track 50 of the transport device 100 makes a curve, for example, because the upstream or downstream workstation is positioned according to the picker road.
  • the track 50 is formed on the top of a track body 52 , which also carries on its underside another road 50 .
  • the track body 52 is point-symmetrical to its center and thus the leaky waveguide 21 , because both on its top and on its underside a guideway 50 a , b is formed, in the form of grooves in the inner sides of the free-ending legs of the H-shaped profile which serve as raceways for rolling on or off rollers 16 of the vehicles 55 .
  • each rack 51 serves in a certain height range as a running surface for a there rolling roller 4.
  • a drive pinion 13 is present, which is driven by a motor 15 and the vehicle 55 by rolling on the teeth 51 a of the rack 51 along the track 50 a or 50 b moves, the position of the vehicle 55 by an incremental encoder 12 is constantly detected, which is mounted directly on the motor shaft 14 of the motor 15 and counts its revolutions. Lying in the direction behind the engine 15 , the negative pressure for the vehicle 55 generating pump 29 is indicated.
  • the point-symmetrical position of the two teeth 51 a to each other to the center 52 a of the web body 52 is necessary because there are modules of the web body 52 which are pivotable about its longitudinal direction 10 , for example by 180 ° , whereby a first on the upper track 50 b running Vehicle 55 is brought into alignment with the lower track 50 a of an adjacent module of the railway body and there must be able to mesh with the teeth 51 a.
  • teeth 51 a of the rack 51 is also a metric tooth module.
  • Fig. 1c shows a longitudinal section of a piece of the rail body 52, on which both on the top and on the bottom of each vehicle 55 is located, which already carries on its base 1 a format plate 23 which is designed according to the container 101 to be transported, the in the upper vehicle 55 is placed on it, and in which there is already a product P is.
  • the suckers 25 can be seen, with which a container 101 on the vehicle 55 can be held and transported, which is already partially filled with products P.
  • the current conductor 22 can be seen in the lower half of the picture.
  • empty vehicles 55 can be moved back to its original position.
  • FIGS. 2a and 2 B show a vehicle 55 once when cornering on the track and once without a track.
  • the vehicle 55 comprises a main body 1, which in the supervision of FIGS. 2 a . b
  • the batteries 26 are stored for power storage as power to the motor 15 , as well as the servo-controller 27 and the controller 28 of the vehicle 55th
  • each has a plate-like projection, under each of which a guide head 2 a , b is mounted opposite this projection of the body 1 on its longitudinal center 10 ' about a vertical axis 11 by means of a turntable 8 .
  • Such a guide head 2 a is in Fig. 3a shown with an exaggerated curvature of the rack 51 :
  • each guide head 2 a , b seen in the plan view of two pairs of a pinion 3, one of which is a drive pinion 13 , and a pinch roller 4, which press on the non-toothed back of the rack 51 .
  • the axial offset can usually be realized on the pressure roller 4 by the pressure roller is mounted eccentrically in the Anyakrollen unit 30 , indicated by the arcuate arrow on each pinch roller 4 about the pivot axis also drawn.
  • Fig. 3b the two pinch rollers 4 are combined in a pinch roller unit 30 , which not only the two pinch rollers 4 carries, but also the two existing on this page rollers 16, of which only one can be seen because of the view in the longitudinal direction 10 in this figure.
  • the movable in the transverse direction to the longitudinal direction 10 pinch rollers 4 are biased by a rotary spring 7 and eccentrically about an eccentric axis 31, in addition to the axis of rotation of the pinch roller 4 as a dashed line in FIG. 3 b is located opposite the An horrrollen unit 30 and thus the guide head 2 a , b pivotally.
  • each guide head 1 a , b occupies a defined pivot position relative to the base body with a defined bending angle 11 between the longitudinal direction 10 'of the base body 1 and the longitudinal direction of the guide head 1 a and 2 b.
  • both the Andruckrollen units 31 can be preassembled and these are arranged in a guide head 2 a , b as a further preassembled unit.
  • the two guide heads 2 a , b differ only in that in the one guide head 2 a of the pinion 3 is driven by a motor 15 as a drive pinion 13 , while all other pinion 3 are only follower pinion, which serve the leadership of the vehicle 55 ,
  • the drive pinion 13 driving motor 15 is arranged concentrically to the vertical axis 11, ie the center of the turntable 8, its guide head. Concentric with the vertical axis 11 of the other guide head 2 b, however, a pump (see Fig. 1b ) arranged to generate negative pressure, which supplies the vacuum-loaded suckers of the vehicle 55 with negative pressure.
  • An essential point of the transport device described is the ability to pivot a module of the web body 52 about its longitudinal axis 110 , thereby mitzuschwenken a previously on the upper track 50 running vehicle 55, after being driven on such a turning module 54 and in alignment with align lower track 50 of an adjacent track body 52 and let it continue there.
  • the turning module 54 is the end of a track body 52. Therefore, on the front side of the turning module 54, the turning drive 58 is arranged, which is driven by a separate turning rotor 60 and consists essentially of a gear and a control. However, there is often the need for a vehicle 55 can leave the turning module while maintaining its direction of travel again, so can drive over the turning module 54 .
  • the turning module 54 is designed such that the two travel paths 50 can each be raised and lowered in a controlled manner via a lifting device 57 to a base body 56 of the turning module 54 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
EP15153153.0A 2014-01-30 2015-01-30 Dispositif de transport Not-in-force EP2902297B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014101116.3A DE102014101116B4 (de) 2014-01-30 2014-01-30 Transportvorrichtung

Publications (2)

Publication Number Publication Date
EP2902297A1 true EP2902297A1 (fr) 2015-08-05
EP2902297B1 EP2902297B1 (fr) 2016-08-17

Family

ID=52440582

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15153153.0A Not-in-force EP2902297B1 (fr) 2014-01-30 2015-01-30 Dispositif de transport

Country Status (2)

Country Link
EP (1) EP2902297B1 (fr)
DE (1) DE102014101116B4 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110589390A (zh) * 2019-08-29 2019-12-20 江苏金铭智能装备有限公司 一种plc控制移动系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB204432A (en) * 1922-07-07 1923-10-04 Maxwell Mcginness Improvements relating to wheels, wheel mountings and tracks for railway vehicles
DE1254529B (de) * 1964-09-10 1967-11-16 Konrad Grebe Foerderer mit mittlerem Zugstrang
US3759186A (en) * 1971-10-26 1973-09-18 M Sugimoto Monorail railway transportation system
FR2291073A1 (fr) * 1974-11-13 1976-06-11 Scharf Gmbh Maschf Monorail suspendu d'exploitation miniere, specialement pour le service du fond
FR2336287A1 (fr) * 1975-12-27 1977-07-22 Habegger Willy Monorail a cremaillere perfectionne
CH625169A5 (en) * 1978-11-21 1981-09-15 Hermann Bonvin Rack-type transport device
EP2070843A1 (fr) 2007-12-11 2009-06-17 Gerhard Schubert GmbH Procédé et dispositif destinés au transport d'objets

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1126904B (de) * 1956-07-03 1962-04-05 Schwing Friedrich Wilh Einschienen-Transportbahn

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB204432A (en) * 1922-07-07 1923-10-04 Maxwell Mcginness Improvements relating to wheels, wheel mountings and tracks for railway vehicles
DE1254529B (de) * 1964-09-10 1967-11-16 Konrad Grebe Foerderer mit mittlerem Zugstrang
US3759186A (en) * 1971-10-26 1973-09-18 M Sugimoto Monorail railway transportation system
FR2291073A1 (fr) * 1974-11-13 1976-06-11 Scharf Gmbh Maschf Monorail suspendu d'exploitation miniere, specialement pour le service du fond
FR2336287A1 (fr) * 1975-12-27 1977-07-22 Habegger Willy Monorail a cremaillere perfectionne
CH625169A5 (en) * 1978-11-21 1981-09-15 Hermann Bonvin Rack-type transport device
EP2070843A1 (fr) 2007-12-11 2009-06-17 Gerhard Schubert GmbH Procédé et dispositif destinés au transport d'objets

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110589390A (zh) * 2019-08-29 2019-12-20 江苏金铭智能装备有限公司 一种plc控制移动系统

Also Published As

Publication number Publication date
DE102014101116A1 (de) 2015-07-30
DE102014101116B4 (de) 2017-06-29
EP2902297B1 (fr) 2016-08-17

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