EP3078621B1 - Axe de levage en particulier pour un robot portique - Google Patents

Axe de levage en particulier pour un robot portique Download PDF

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Publication number
EP3078621B1
EP3078621B1 EP16163612.1A EP16163612A EP3078621B1 EP 3078621 B1 EP3078621 B1 EP 3078621B1 EP 16163612 A EP16163612 A EP 16163612A EP 3078621 B1 EP3078621 B1 EP 3078621B1
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EP
European Patent Office
Prior art keywords
columns
column
lifting mechanism
another
adjacent
Prior art date
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EP16163612.1A
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German (de)
English (en)
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EP3078621A1 (fr
Inventor
Hans Hager
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.)
Hager Sondermaschinenbau GmbH
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Hager Sondermaschinenbau GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/02—Safety gear for retaining load-engaging elements in the event of rope or cable breakage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0616—Suspended platforms, i.e. the load platform hangs from the base

Definitions

  • the present invention relates to a device according to the preamble of claim 1, i. a lifting axis, in particular for a gantry robot, wherein the lifting axle is adapted to move up and down an object attached thereto in the vertical direction.
  • FIG. 1 The basic structure of a plant containing a gantry robot is in FIG. 1 shown. To avoid misunderstandings, it should be noted that the components of the FIG. 1 shown system are shown only highly schematized.
  • the in the FIG. 1 shown plant consists of a gantry robot 1 and this supporting frame 2.
  • the frame 2 is in the example considered by in the FIG. 1 anchoring means not shown anchored to the ground.
  • the frame 2 comprises a linear axis formed by a horizontally arranged rail 21, on which the gantry robot 1, more precisely a carriage 11 of the same is suspended, and along which the carriage 11 is reciprocable.
  • the gantry robot 1 further comprises a carrier unit 12 and a vertical masts connecting the carriages 11 and the carrier unit 12, hereinafter referred to as the lifting axis 13.
  • the carrier unit 12 is (or carries) a docking device by means of which a connection with an object to be transported through the system, for example a connection with a roof bell required in motor vehicle production, can be produced.
  • a connection with an object to be transported through the system for example a connection with a roof bell required in motor vehicle production
  • On the support unit 12 may also be a tool such For example, a welder, a drill, etc. be attached.
  • the carriage 11 (and together with it also the lifting axle 13 and the carrier unit 12) can be moved back and forth along the rail 21 by a drive device accommodated in the carriage 11.
  • the direction of movement is in the FIG. 1 indicated by a double arrow A.
  • the lifting axis 13 is movable. More specifically, the lifting shaft 13 (and together with this also the carrier unit 12 attached to the lower end thereof and the object carried by it) can be moved up and down by means of a further drive device accommodated in the carriage 11.
  • the direction of movement is in the FIG. 1 indicated by a double arrow B.
  • the mentioned drive devices are not shown in FIG.
  • the lifting axis 13 and the up and down moving drive device are part of a hereinafter referred to as Hubachsensystem arrangement.
  • FIGS. 2A and 2B A conventional Hubachsensystem and carrying this carriage 11 are in the FIGS. 2A and 2B illustrated in a side view in more detail.
  • the lifting axle 13 is a one-piece rigid rod and has on its side facing the lifting axle drive device 14 a in the longitudinal direction of the lifting axle 13 extending, fixedly connected to the lifting axle rack 16.
  • the lifting axle driving device 14 is, for example, an electric motor fixed to the carriage 11, which drives a gear 15 meshing with the rack 16.
  • FIG. 2A shows the state in which the Hubachse 13 is moved far a maximum upward
  • FIG. 2B shows the state in which the lifting axle 13 is moved far down at most.
  • the lifting axis according to the invention is characterized in that it comprises a plurality of parallel juxtaposed vertical columns, which are movable relative to each other in the longitudinal direction, and that each of the columns is movable up and down, but the columns are not rigidly coupled together, so that the movement a column does not necessarily cause the movement of the adjacent thereto column, but adjacent columns are movable relative to each other only to a limited extent.
  • Such a trained lifting axis projects beyond the lifting axle supporting component of the gantry robot system in the upwardly moved state not so far as a conventional integrally formed lifting axis. Therefore, such a lifting axis containing portal robot system can be installed in lower rooms or halls as it is the case with gantry robots systems with conventional Hubachsen.
  • Both the portal robot 1 and the frame 2 can be any other structure exhibit.
  • the frame 2 could also stand on rails and be driven back and forth on these. It is not even required that the rail 21 is part of the frame 2; the rail 21 could also be attached to a wall.
  • the stroke axis described is basically suitable for up and down movement of any object by an arbitrarily constructed and arranged gantry robot.
  • FIGS. 3A to 3E show different views of the Hubachse presented here with parts of the Hubachse carrying carriage. Here are in the FIGS. 3A to 3D illustrated different positions of the Hubachse.
  • the lifting axis presented here is designated in the figures by the reference numeral 100 and comprises a plurality of parallel juxtaposed vertical columns, which are movable relative to each other in the longitudinal direction.
  • any number of further pairs of columns can also be provided, that is to say a first fourth column arranged adjacent to the first third column 103-1, and a second fourth column arranged adjacent to the second third column 103-2 Likewise, only the first column and a single pair of columns, ie the columns 101, 102-1 and 102-2 can be provided.
  • the two columns of a respective pair of columns have the same basic structure.
  • the coupling with the adjacent columns which will be described in more detail later, is the same.
  • the two columns of a respective pair of columns thus have the same behavior and the same effect.
  • the lifting axis 100 could consist, for example, only of the pillars 101, 102-1 and 103-1.
  • all the columns are substantially the same length, but with no limitation.
  • a carrier unit 104 is attached.
  • this is a docking device, by means of which a connection can be made to the object which can be moved up and down by the lifting axis, for example a connection with a roof bell required in motor vehicle production is.
  • a tool such as a welder, a drill, etc., or any other object can be attached.
  • each column is movable up and down from the existing columns each column, but adjacent columns are movable relative to each other only to a limited extent.
  • the columns are not rigidly coupled with each other, so that the movement of a column does not necessarily cause the movement of the adjacent column.
  • the columns are arranged and coupled with each other so that they move independently downwards due to their gravity.
  • This drive device is formed in the example considered by an electric motor 105, which is connected via a cable to the lower end of the most downwardly movable column 101. More precisely it is such that by the electric motor 105, a horizontal drive shaft 106 is rotated.
  • a winding roller 107 is arranged, on which a in the figures only partially shown rope 108 is wound. The end of the cable 108 not connected to the winding roller 107 is connected to the carrier unit 104 attached to the bottom of the first column 101.
  • the electric motor 105 is additionally connected to the carrier unit 104 via a second cable 110.
  • a second winding roller 109 is provided on the drive shaft 106 adjacent to the first winding roller 107.
  • the second rope 110 is rolled up; the other end of the second cable 110 is connected to the carrier plate 104.
  • the first cable 108 and the second cable 110 are parallel.
  • the second cable 110 serves only as a safety rope which restricts the amount of downward movement of the pillars in case of rupture of the first cable 108.
  • the second cable 110 carries no load during normal operation (with the first cable 108 not damaged).
  • the unwound from the winding roll 109 part of the second cable 110 is slightly longer than the corresponding part of the first cable 108.
  • the second cable 110 passes through the carrier unit 104 and is held under tension by a provided between the cable end and carrier unit 104 spring.
  • the complementary counterparts unlike the rails, need not extend the full length of the columns.
  • two spaced-apart short counterparts are provided per rail.
  • ball guides or even better roller guides are integrated in the complementary counterparts 112, 114.
  • the rails 111, 113 and the complementary counterparts 112, 114 engage each other so that the adjacent columns can move relative to each other only in the longitudinal direction of the columns.
  • further guide elements are provided, via which at least one of the columns in addition to a non-formed by one of the columns other system component, for example on the vertical plate 115 of Carriage is guided, wherein these other guide elements mesh so that the at least one column can move only in their longitudinal direction.
  • these other guide elements like the other guide elements can be formed by rails and corresponding complementary counterparts. In the example under consideration, these are rails 116 attached to columns 103-1 and 103-2 and complementary counterparts 117 attached to plate 115.
  • Stop acting elements are mounted on the columns and adapted to abut against respective stops of the adjacent column or to the adjacent column itself when the adjacent columns occupy a certain relative position relative to one another. These stops are arranged and configured to limit the extent to which adjacent columns can move relative to one another and to ensure that adjacent columns can not independently disengage during operation of the lifting axis.
  • the attacks are formed in the example considered, at least partially by the existing guide elements, more precisely by the complementary complementary pieces 112, 114.
  • the columns of a respective pair of columns are not interconnected. But this does not have to be this way.
  • the pair of columns containing the second columns 102-1 and 102-2 are realized by a U-profile bar designated by the reference numeral 102
  • the pair of columns containing the third columns 103-1 and 103-2 are denoted by a reference numeral 103 U-shaped bar.
  • FIGS. 4A and 4B Also, the above-mentioned guide means 111-114, 116 and 117 and the plate 115 are shown schematically. In this regard, there are no differences to the in the FIGS. 3A to 3E shown arrangement. The only difference is the way in which the columns are realized.
  • Hubachse presented here proves to be advantageous regardless of the details of the practical implementation: a system containing such a Hubachse can be installed in lower rooms or halls than is the case with systems with conventional Hubachsen.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (14)

  1. Axe de levage, en particulier pour un robot portique, l'axe de levage (100) étant conçu pour lever et abaisser, dans la direction verticale, un objet fixé sur celui-ci, l'axe de levage comprenant plusieurs colonnes verticales (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) disposées parallèlement les unes à côté des autres, qui peuvent être déplacées dans la direction longitudinale les unes par rapport aux autres, caractérisé en ce que chacune des colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) peut être levée et abaissée, les colonnes n'étant toutefois pas accouplées rigidement les unes aux autres, de sorte que le déplacement d'une colonne n'entraîne pas forcément le déplacement des colonnes adjacentes à celle-ci mais que des colonnes adjacentes puissent seulement être déplacées les unes par rapport aux autres dans une mesure limitée.
  2. Axe de levage selon la revendication 1, caractérisé en ce que dans l'état dans lequel toutes les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) sont déplacées vers le bas de la distance maximale, des colonnes adjacentes viennent se placer de manière décalée les unes par rapport aux autres dans la direction longitudinale, mais, perpendiculairement à la direction longitudinale, la région inférieure de la colonne venant se placer le plus en haut et la région supérieure de la colonne venant se placer le plus en bas se chevauchant toujours encore.
  3. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que dans l'état dans lequel toutes les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) sont déplacées vers le haut de la distance maximale, les extrémités inférieures des colonnes se trouvent approximativement à la même hauteur.
  4. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que des éléments de guidage (111-114) sont prévus au niveau des colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103), par le biais desquels les colonnes adjacentes sont guidées les unes contre les autres lors de déplacements relatifs, les éléments de guidage de colonnes adjacentes s'engageant les uns dans les autres de telle sorte que les colonnes adjacentes puissent se déplacer les unes par rapport aux autres exclusivement dans la direction longitudinale des colonnes.
  5. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que des éléments de guidage supplémentaires (116, 117) sont prévus, par le biais desquels au moins l'une des colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) est guidée en outre contre un autre composant de l'installation (115) non formé par l'une des colonnes, ces éléments de guidage supplémentaires s'engageant également les uns dans les autres de telle sorte que l'au moins une colonne puisse seulement se déplacer dans sa direction longitudinale.
  6. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que des éléments agissant en tant que butées, faisant saillie latéralement vers l'extérieur, sont montés ou réalisés sur les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103), lesquels sont conçus pour buter contre des butées associées de la colonne respectivement adjacente ou directement contre la colonne adjacente lorsque les colonnes adjacentes adoptent une position relative déterminée les unes par rapport aux autres et en ce que les butées sont disposées et réalisées de telle sorte qu'elles limitent l'ampleur du déplacement les unes par rapport aux autres de colonnes adjacentes et font en sorte que des colonnes adjacentes ne puissent pas se détacher automatiquement les unes des autres pendant le fonctionnement de l'axe de levage (100).
  7. Axe de levage selon la revendication 6, caractérisé en ce que les butées sont formées au moins en partie par les éléments de guidage selon la revendication 4 ou par une plaque montée sur une extrémité de colonne ou par une bride prévue sur une extrémité de colonne.
  8. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que seulement l'une des colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103), à savoir la colonne (101), dont l'extrémité inférieure, dans l'état dans lequel l'axe de levage (100) est sorti au maximum vers le bas, forme le point de l'axe de levage situé le plus en bas, est connectée par le biais d'un câble (108) à un dispositif d'entraînement (105) faisant monter et descendre les colonnes.
  9. Axe de levage selon la revendication 8, caractérisé en ce que l'extrémité inférieure de la colonne (101) connectée au dispositif d'entraînement (105) est connectée au dispositif d'entraînement.
  10. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) sont disposées et accouplées les unes aux autres de telle sorte qu'elles se déplacent automatiquement vers le bas sous l'effet de la force de pesanteur dans une mesure telle qu'elles ne puissent pas continuer à se déplacer soit en raison du câble tendu (108) selon la revendication 8 soit en raison de la venue en butée les unes contre les autres des butées des colonnes selon les revendications 6 et 7.
  11. Axe de levage selon la revendication 8, caractérisé en ce que les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) sont conçues de manière à être connectées par le biais d'un deuxième câble (110) au dispositif d'entraînement (105), le deuxième câble étant disposé et réalisé de telle sorte qu'il agisse en tant que câble de fixation, en limitant l'ampleur des mouvements de déplacement vers le bas des colonnes dans le cas d'une déchirure du premier câble (108),
    - le deuxième câble s'étendant parallèlement au premier câble,
    - le premier câble et le deuxième câble étant déplacés par le même moteur (105), et
    - le deuxième câble étant disposé et réalisé de telle sorte qu'il ne porte aucune charge pendant le fonctionnement normal de l'axe de levage (100) et qu'il soit tendu par un ressort.
  12. Axe de levage selon l'une quelconque des revendications précédentes, caractérisé en ce que les colonnes (101, 102-1, 102-2, 103-1, 103-2 ; 101, 102, 103) comprennent une première colonne (101) et deux deuxièmes colonnes (102-1, 102-2) adjacente à celle-ci, les deux colonnes de cette première paire de colonnes étant disposées sur des côtés mutuellement opposés de la première colonne, et les deux deuxièmes colonnes de la première paire de colonnes présentant la même structure de base et le même accouplement à la première colonne, ainsi que le même comportement et le même effet, et en ce que les colonnes peuvent comprendre une ou plusieurs paires de colonnes supplémentaires (103-1, 103-2), et l'on a pour tout n ≥ 2, la relation selon laquelle la première colonne de la n ième paire de colonnes est disposée à côté de la première colonne de la n-1 ième paire de colonnes et est accouplée à celle-ci, et la deuxième colonne de la n ième paire de colonnes est disposée à côté de la deuxième colonne de la n-1 ième paire de colonnes et est accouplée à celle-ci.
  13. Axe de levage selon la revendication 12, caractérisé en ce que les deux colonnes d'une paire de colonnes respective ne sont pas connectées l'une à l'autre.
  14. Axe de levage selon la revendication 12, caractérisé en ce que les paires de colonnes sont à chaque fois formées par une tige profilée en U (102, 103), les deux colonnes d'une paire de colonnes respectives étant formées par les deux branches parallèles de la tige profilée en U.
EP16163612.1A 2015-04-06 2016-04-03 Axe de levage en particulier pour un robot portique Active EP3078621B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202015101691.3U DE202015101691U1 (de) 2015-04-06 2015-04-06 Hubachse insbesondere für einen Portalroboter

Publications (2)

Publication Number Publication Date
EP3078621A1 EP3078621A1 (fr) 2016-10-12
EP3078621B1 true EP3078621B1 (fr) 2018-07-25

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CN106348176B (zh) * 2016-11-08 2018-01-23 大连爱渥特机器人科技有限公司 一种防坠落机构

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Publication number Priority date Publication date Assignee Title
US3421635A (en) * 1966-12-29 1969-01-14 Combustion Eng Nuclear fuel hoist
JPS49125482U (fr) * 1973-02-28 1974-10-26
US4069921A (en) * 1976-01-30 1978-01-24 Harnischfeger Corporation Overhead crane including a single failure proof hoist
EP0088168B1 (fr) * 1982-03-08 1986-11-26 ATELIERS DE CONSTRUCTIONS ELECTRIQUES DE CHARLEROI (ACEC) Société Anonyme Dispositif de sécurité pour mécanisme de prises en charge des éléments combustibles nucléaires

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EP3078621A1 (fr) 2016-10-12

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