EP3319901B1 - Lifting device - Google Patents
Lifting device Download PDFInfo
- Publication number
- EP3319901B1 EP3319901B1 EP16762756.1A EP16762756A EP3319901B1 EP 3319901 B1 EP3319901 B1 EP 3319901B1 EP 16762756 A EP16762756 A EP 16762756A EP 3319901 B1 EP3319901 B1 EP 3319901B1
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- EP
- European Patent Office
- Prior art keywords
- guide
- lifting apparatus
- swing arm
- lifting
- isosceles
- Prior art date
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- 238000004519 manufacturing process Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012994 industrial processing Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- 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
- B66F7/0691—Asymmetric linkages, i.e. Y-configuration
-
- 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
- B66F7/065—Scissor linkages, i.e. X-configuration
-
- 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
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
Definitions
- the invention relates to a lifting device for an industrial processing station according to the preamble of patent claim 1.
- the prior art includes lifting devices which have one or more isosceles straight-draw cranks for guiding a vertically movable load-bearing body, the design and use of which differ from one another.
- the CN 103011013 A describes a lifting device having two load-bearing and swinging pronounced lifting elements and an isosceles Geradschubkurbel.
- the load-carrying body is supported on the two wings via their guides, so that a horizontal displacement of the load-receiving body is prevented by the isosceles Geradschubkurbel connected to the load-receiving body.
- the vertical lifting movement is thus implemented solely by the two wings.
- only the horizontal forces emanating from the load-receiving body are picked up via this isosceles straight-action crank.
- space must also be provided for the isosceles straight-draw crank.
- the vertical guide system of the fixed bearing is very resistant to bending and warping, since this alone is the tilting of the load-carrying body To prevent the hinge point of the swing arm guide and so must hold the load-carrying body with cargo horizontally in balance.
- stationwise Koch the cargo, as is the case in automotive production lines, created by the uneven load distribution a high tilting moment about the hinge point of the swing arm guide, which can easily lead to unwanted sagging of the ends of the load receiving body.
- the addition of a second or even third connected to the drive train rocker and / or an additional vertical guide system increases the tipping stability of this system to a great extent, but also the production cost significantly.
- the JP S53165591 U relates to a lifting device with an isosceles Geradschubkurbel as a vertical guide, which is moved by the actuation of an acting on the rectilinear guide arm traction means.
- a connection between the floating bearing and the isosceles Geradschubkurbel as a fixed bearing is made by a likewise acting on the handlebar guide traction means. This transmitted from the handlebar guide on the traction means rectilinear motion is deflected by a complex designed floating bearing in a vertical stroke.
- the floating bearing is composed of three mutually connected by means of joints support elements, wherein the upper with the load-receiving body in contact support member is guided linearly and the lower support member is a lever which is pivotally contacted via an axis with a support attached to the ground.
- the middle support element serves only as a connecting element.
- the rectilinear movement of the traction means can be converted by a rack unit into a rotational movement on the axis of the lower support element.
- the vertical lifting height is determined by the length of the pivoting lever, which, together with the linear guided support element adversely affects the height of the lifting device.
- a lifting device for an industrial processing station in particular a lifting table for the promotion of a body shell in the automotive mass production, proposed, wherein the lifting device is designed for conveying a workpiece on a moving in a purely vertical upper frame.
- the lifting device has an isosceles Geradschubkurbel operated with a motor drive element as the first vertical guide.
- the isosceles Geradschubkurbel existing from a fixed bearing rocker with the swingarm bearings, a handlebar with the handlebar guide, a handlebar center joint and connected to the upper frame joint in the way that this is moved by the actuation of the attacking the fixed bearing rocker tie rod.
- At least one second vertical guide is advantageously provided to achieve a high mechanical stability, wherein as the second vertical guide particularly advantageous a floating bearing rocker can be provided.
- the second vertical guide is advantageously actuated by the same motor drive element as the first.
- At least two parallel arranged second vertical guides can be provided with coaxial arrangement of the joints.
- the first and the second vertical guide are connected to one another by means of a pull rod for synchronized vertical movement and preferably the motor drive element is connected to the drawbar by means of a drive rod via one of the vertical guides.
- a low overall height results from the fact that the motor drive element is arranged in the horizontal direction outside a base area covered by the upper frame.
- an eccentric drive pulley in conjunction with a synchronous or asynchronous geared motor is used, which preferably has a mechanical holding brake.
- the required torque of the drive and the load of the load-carrying elements can advantageously be further reduced by providing at least one mass balance system.
- the mass balance system can comprise as energy storage a mechanical spring or a pneumatic or hydropneumatic storage device.
- the reference numerals are defined as follows: 1 Bearing joint 8th top frame 2 Center of the handlebar joint 9 pull bar 3 handlebars 10 Loslager operation 4 bearing System 11 Loslagerschwinge 5 steering guide 12 drive rod 6 Bearing rocker 13 drive unit 7 depository 14 Mass balancing element
- a first vertical guide is in the left half of FIG. 1 to see and embodies the fixed bearing side of the lifting device. It consists of a link 3, which is connected via the fixed bearing joint 1 with the upper frame 8 and a handlebar guide 5 with the base frame, wherein the upper frame is preferably designed as a roller conveyor with rollers for conveying a cargo.
- the linkage again interacts with the fixed-link rocker 6 via the middle link between the fixed-bearing joint and the link guide.
- the swing-arm bearings 4 form the fulcrum for both the fixed and the swing-arm 11.
- the floating bearing consists of a movable bearing rocker 11, at the upper end of a floating bearing guide 10 is formed, which establishes contact with the upper frame.
- a floating bearing guide 10 At the floating bearing rocker several bearings 7 are present, which have a coaxial arrangement to the pivot point 4 of the rocker 11.
- the active component of the lifting table according to the invention forms the electromotive drive unit 13.
- electromotive drive unit 13 Various technical solutions are available for realizing the advancing movement proceeding from this drive unit. To mention at this point are linear units in the form of threaded, belt, - and rack and pinion or lifting rollers, but also the above already mentioned, fixed to the geared motor eccentric drive pulley.
- an eccentric drive pulley is preferably used in conjunction with a synchronous or asynchronous geared motor, which has a mechanical holding brake.
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Transmission Devices (AREA)
- Handcart (AREA)
Description
Die Erfindung betrifft eine Hubvorrichtung für eine industrielle Bearbeitungsstation gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a lifting device for an industrial processing station according to the preamble of patent claim 1.
Die verfügbare Technologie im Bereich der Hebetechnik ist breit gefächert und bietet je nach Applikationsfall unterschiedlichste Realisierungsmodelle. Speziell die hohen Anforderungen an die Zuverlässigkeit einer Hubvorrichtung in rauen Fertigungsumgebungen, wie sie beispielsweise in Schweißstationen einer automobilen Fertigungslinie vorzufinden sind, verlangen vorzugsweise einfache und robuste Systemlösungen. Dies betrifft insbesondere Hubtische, die in der Serienfertigung von Kraftfahrzeugen zur vertikalen Förderung von Rohkarossen an Bearbeitungsstationen eingesetzt werden.The available technology in the field of lifting technology is broad and offers a wide variety of implementation models depending on the application. In particular, the high demands on the reliability of a lifting device in harsh manufacturing environments, such as those found in welding stations of an automotive production line, preferably require simple and robust system solutions. This concerns in particular lifting tables, which are used in the mass production of motor vehicles for the vertical conveyance of body shells at processing stations.
Zum Stand der Technik gehören Hubvorrichtungen, die eine oder mehrere gleichschenklige Geradschubkurbeln zur Führung eines vertikalbeweglichen Lastaufnahmekörpers aufweisen, wobei sich deren Gestaltung und Verwendung voneinander unterscheiden.The prior art includes lifting devices which have one or more isosceles straight-draw cranks for guiding a vertically movable load-bearing body, the design and use of which differ from one another.
Die
In der
Dabei ist jedoch von Fall zu Fall abzuwägen, in welcher Relation sich das Gewicht des Lastaufnahmekörpers zu dem Gewicht des Transportguts verhält, in welchem Maß die Getriebegröße durch die Druckfederelemente beeinflusst wird und ob sich der zusätzlich aufzubringende Fertigungsaufwand in die Herstellung von zwei Druckfederelementen und deren Anbindungsstellen wirtschaftlich rentieren kann. Diese Bauart verlangt zwei fertigungsaufwendige Getriebe mit hohen Übersetzungsverhältnissen, die ein entsprechend hohes Drehmoment aufbringen müssen, um den Lastaufnahmekörper mit Transportgut über die gleichschenkligen Geradschubkurbel vertikal zu verfahren.However, it is to be weighed case by case, in which relation the weight of the load-carrying body to the weight of the transported goods behaves, to what extent the transmission size is influenced by the compression spring elements and whether the additionally applied manufacturing effort in the production of two compression spring elements and their attachment points can economically yield. This design requires two production-consuming transmission with high gear ratios, which must apply a correspondingly high torque to move the load-carrying body with cargo over the isosceles Geradschubkurbel vertically.
Es wird in der
Bei der Verwendung von nur einer Schwinge ist das vertikale Führungssystem des Festlagers sehr biege- und verwindungssteif zu gestalten, da allein dieses das Kippen des Lastaufnahmekörpers um den Gelenkpunkt der Schwingenführung verhindern und so den Lastaufnahmekörper mit Transportgut horizontal in Waage halten muss. Beim stationsweisen Überfördern des Transportguts, wie es in automobilen Fertigungslinien der Fall ist, entstände durch die ungleiche Lastverteilung ein hohes Kippmoment um den Gelenkpunkt der Schwingenführung, was leicht zu einem nicht gewünschten Absacken der Enden des Lastaufnahmekörpers führen kann. Das Hinzufügen einer zweiten oder gar dritten mit dem Antriebsstrang verbundenen Schwinge und/oder eines zusätzlichen vertikalen Führungssystems erhöht zwar die Kippstabilität dieses Systems in hohem Maße, jedoch auch den Fertigungsaufwand wesentlich.When using only one rocker, the vertical guide system of the fixed bearing is very resistant to bending and warping, since this alone is the tilting of the load-carrying body To prevent the hinge point of the swing arm guide and so must hold the load-carrying body with cargo horizontally in balance. When stationwise Überfördern the cargo, as is the case in automotive production lines, created by the uneven load distribution a high tilting moment about the hinge point of the swing arm guide, which can easily lead to unwanted sagging of the ends of the load receiving body. The addition of a second or even third connected to the drive train rocker and / or an additional vertical guide system increases the tipping stability of this system to a great extent, but also the production cost significantly.
Die
Es ist somit eine Aufgabe der vorliegenden Erfindung, eine Hubvorrichtung vorzuschlagen, welche geringe Bauhöhen ermöglicht und vor allem durch ihre Einfachheit ökonomische Attraktivität bietet.It is thus an object of the present invention to provide a lifting device which allows low heights and above all offers economic attractiveness by their simplicity.
Die Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst.The object is solved by the features of patent claim 1.
Dabei wird eine Hubvorrichtung für eine industrielle Bearbeitungsstation, insbesondere ein Hubtisch für die Förderung einer Rohkarosse in der Kraftfahrzeug-Serienfertigung, vorgeschlagen, wobei die Hubvorrichtung zur Förderung eines Werkstücks auf einem in rein vertikaler Richtung bewegten Oberrahmen ausgestaltet ist. Dabei weist die Hubvorrichtung eine mit einem motorischen Antriebselement betätigte gleichschenklige Geradschubkurbel als erste Vertikalführung auf. Dabei ist die aus einer Festlagerschwinge mit deren Schwingenlager, einem Lenker mit dessen Lenkerführung, einem Lenkermittengelenk und einem mit dem Oberrahmen verbunden Festlagergelenk bestehende gleichschenklige Geradschubkurbel in der Art ausgebildet, dass diese durch das Betätigen der an der Festlagerschwinge angreifenden Zugstange bewegt wird. Insbesondere durch den Einsatz einer gleichschenkligen Geradschubkurbel, die in der Literatur auch als "Scott-Russel-Mechanismus" bekannt ist, ist eine einfache und effektive Variante eines vertikalen Führungssystems gegeben, welche geringe Bauhöhen bei minimalem Fertigungsaufwand ermöglicht. Wegen der geringen Anzahl der am vertikalen Hub beteiligten Hubelemente, als auch wegen der möglichen einfachen fertigungstechnischen Gestaltung dieser Hubelemente kann im Vergleich zum Stand der Technik die Systemkomplexität minimiert und damit signifikanten Vorteile erzielt werden. Dazu gehören eine flache, kompakte und robuste Bauweise, eine einfache und kostengünstige Fertigung, eine hohe Anlagenverfügbarkeit, geringer Verschleiß sowie minimaler Wartungs- und Instandhaltungsaufwand. Gerade diese Merkmale sind in der Kraftfahrzeug-Serienfertigung von großer Bedeutung.In this case, a lifting device for an industrial processing station, in particular a lifting table for the promotion of a body shell in the automotive mass production, proposed, wherein the lifting device is designed for conveying a workpiece on a moving in a purely vertical upper frame. In this case, the lifting device has an isosceles Geradschubkurbel operated with a motor drive element as the first vertical guide. In this case, the isosceles Geradschubkurbel existing from a fixed bearing rocker with the swingarm bearings, a handlebar with the handlebar guide, a handlebar center joint and connected to the upper frame joint in the way that this is moved by the actuation of the attacking the fixed bearing rocker tie rod. In particular, through the use of an isosceles Geradschubkurbel, which is also known in the literature as "Scott-Russel mechanism", a simple and effective variant of a vertical guide system is given, which allows low heights with minimal manufacturing costs. Because of the small number of lifting elements involved in the vertical stroke, as well as because of the possible simple production engineering design of these lifting elements, the system complexity can be minimized compared to the prior art and thus significant advantages can be achieved. These include a flat, compact and robust design, simple and cost-effective production, high system availability, low wear and minimal maintenance and repair costs. It is precisely these features are of great importance in automotive mass production.
Vorteilhafte Ausgestaltungen der erfindungsgemäßen Lösung sind in den abhängigen Patentansprüchen angegeben. Die dabei beschriebenen Merkmale und deren Vorteile können sowohl einzeln, als auch in sinnvoller Kombination miteinander realisiert sein.Advantageous embodiments of the solution according to the invention are specified in the dependent claims. The features described and their advantages can be realized individually as well as in meaningful combination with each other.
Vorteilhaft ist zur Erreichung einer hohen mechanischen Stabilität zumindest eine zweite Vertikalführung vorgesehen, wobei als die zweite Vertikalführung besonders vorteilhaft eine Loslagerschwinge vorgesehen sein kann. Dabei ist vorteilhaft auch die zweite Vertikalführung von demselben motorischen Antriebselement betätigt, wie die erste.At least one second vertical guide is advantageously provided to achieve a high mechanical stability, wherein as the second vertical guide particularly advantageous a floating bearing rocker can be provided. In this case, the second vertical guide is advantageously actuated by the same motor drive element as the first.
Ebenso können vorteilhaft zumindest zwei parallel angeordnete zweite Vertikalführungen mit koaxialer Anordnung der Gelenke vorgesehen sein. Dabei sind in einer vorteilhaften Variante die erste und die zweite Vertikalführung mittels einer Zugstange zur synchronisierten Vertikalbewegung miteinander verbunden und vorzugsweise ist das motorische Antriebselement mittels einer Antriebsstange über eine der Vertikalführungen mit der Zugstange verbunden.Likewise, advantageously, at least two parallel arranged second vertical guides can be provided with coaxial arrangement of the joints. In this case, in an advantageous variant, the first and the second vertical guide are connected to one another by means of a pull rod for synchronized vertical movement and preferably the motor drive element is connected to the drawbar by means of a drive rod via one of the vertical guides.
Eine geringe Bauhöhe ergibt sich, indem das motorische Antriebselement in horizontaler Richtung außerhalb einer von dem Oberrahmen abgedeckten Grundfläche angeordnet ist.A low overall height results from the fact that the motor drive element is arranged in the horizontal direction outside a base area covered by the upper frame.
Wegen der Einfach- und Robustheit sowie der Wartungs- und Instandhaltungsfreundlichkeit kommt vorzugsweise eine Exzenter-Antriebsscheibe in Verbindung mit einem Synchron- oder Asynchron- Getriebemotor zum Einsatz, wobei dieser vorzugsweise über eine mechanische Haltebremse verfügt.Because of the simplicity and robustness and the ease of maintenance and serviceability is preferably an eccentric drive pulley in conjunction with a synchronous or asynchronous geared motor is used, which preferably has a mechanical holding brake.
Das erforderliche Drehmoment des Antriebs und die Belastung der lastführenden Elemente kann vorteilhaft weiter verringert werden, indem zumindest ein Massenausgleichssystem vorgesehen ist. Dabei kann das Massenausgleichssystem als Energiespeicher eine mechanische Feder oder eine pneumatische oder hydropneumatische Speichereinrichtung umfassen.The required torque of the drive and the load of the load-carrying elements can advantageously be further reduced by providing at least one mass balance system. In this case, the mass balance system can comprise as energy storage a mechanical spring or a pneumatic or hydropneumatic storage device.
Ein Ausführungsbeispiel der erfindungsgemäßen Hubvorrichtung wird nachfolgend anhand der Zeichnungen erläutert.An embodiment of the lifting device according to the invention will be explained below with reference to the drawings.
Dabei zeigen:
- Figur 1
- eine schematische Schnittzeichnung einer erfindungsgemäßen Hubvorrichtung in einer oberen Stellung, und
- Figur 2
- eine perspektivische Ansicht einer Ausführungsform der erfindungsgemäßen Hubvorrichtung.
- FIG. 1
- a schematic sectional view of a lifting device according to the invention in an upper position, and
- FIG. 2
- a perspective view of an embodiment of the lifting device according to the invention.
Die Bezugszeichen sind dabei wie folgt definiert:
Je nach Ausführung kann die Befestigung der Fest- und Loslageranordnung samt der Antriebseinheit mit Massenausgleichselement direkt auf dem Fundament oder zusätzlich auf einem gemeinsamen Grundrahmen (in der
Eine erste Vertikalführung ist in der linken Hälfte der
Der Lenker wiederum interagiert über das mittig zwischen Festlagergelenk und Lenkerführung sitzende Lenkermittengelenk 2 mit der Festlagerschwinge 6. Die Schwingenlager 4 bilden dabei den Drehpunkt für die Fest- als auch für die Loslagerschwinge 11.The linkage again interacts with the fixed-
Das Loslager besteht aus einer Loslagerschwinge 11, an deren oberem Ende eine Loslagerführung 10 ausgebildet ist, die den Kontakt zum Oberrahmen herstellt. An der Loslagerschwinge sind mehrere Lagerstellen 7 vorhanden, die eine koaxiale Anordnung zum Drehpunkt 4 der Schwinge 11 aufweisen. Dadurch kann einerseits die Anbindung der Zugstange 9, welche eine Verbindung zur gleichschenkligen Geradschubkurbel herstellt, und andererseits der Anschluss einer Antriebsstange 12 und ggf. eines optionalen Massenausgleichselements 14 an die Hebelmechanik realisiert werden.The floating bearing consists of a movable bearing
Die aktive Komponente des erfindungsgemäßen Hubtisches bildet die elektromotorische Antriebseinheit 13. Zur Realisierung der von dieser Antriebseinheit ausgehenden Vorschubbewegung stehen verschiedene technische Lösungen zur Verfügung. Zu erwähnen sind an dieser Stelle Lineareinheiten in Form von Gewinde-, Riemen,- und Zahnstangentrieben bzw. Hubwalzen, aber auch die oben bereits genannte, am Getriebemotor befestigte Exzenter- Antriebsscheibe.The active component of the lifting table according to the invention forms the
Aufgrund der Einfach- und Robustheit sowie der Wartungs- und Instandhaltungsfreundlichkeit kommt vorzugsweise eine Exzenter- Antriebsscheibe in Verbindung mit einem Synchron- oder Asynchron- Getriebemotor zum Einsatz, wobei dieser über eine mechanische Haltebremse verfügt.Due to the simplicity and robustness as well as the ease of maintenance and servicing an eccentric drive pulley is preferably used in conjunction with a synchronous or asynchronous geared motor, which has a mechanical holding brake.
Nicht zuletzt wegen der geringen Anzahl der am vertikalen Hub beteiligten Hubelemente (1-13) als auch wegen der möglichen einfachen fertigungstechnischen Gestaltung dieser Hubelemente konnte im Vergleich zum Stand der Technik die Systemkomplexität minimiert und damit die nachfolgenden signifikanten Vorteile erzielt werden:
- Flache, kompakte und robuste Bauweise
- Einfache und kostengünstige Fertigung
- Hohe Anlagenverfügbarkeit
- Geringer Verschleiß
- Minimaler Wartungs- und Instandhaltungsaufwand.
- Flat, compact and robust construction
- Simple and cost-effective production
- High system availability
- Low wear
- Minimal maintenance and upkeep.
Gerade diese Merkmale sind in der Kraftfahrzeug-Serienfertigung von großer Bedeutung.It is precisely these features are of great importance in automotive mass production.
Claims (3)
- Lifting apparatus for an industrial processing station,
in particular a lifting platform for conveying a body-in-white in motor vehicle series production,
wherein the lifting apparatus is constructed to convey a workpiece on an upper frame (8) which can be moved in a purely vertical direction,
wherein the lifting apparatus has an isosceles slider crank mechanism which is actuated with a motorized drive element (13+6, 7, 9, 12) as a first vertical guide and a movable bearing swing arm (11) with the guide (10) thereof as a second vertical guide which is activated by the same drive element (13+7, 12),
characterized in that
the isosceles slider crank mechanism which comprises a fixed bearing swing arm (6) with the swing arm bearing (4) thereof, a link (3) with the link guide (5) thereof, a link center articulation (2) and a fixed bearing articulation (1) which is connected to the upper frame (8) is constructed in such a manner that it is moved by means of the actuation of the pulling rod (9) which engages on the fixed bearing swing arm (6) . - Lifting apparatus according to Patent Claim 1,
characterized in that
the electromotive drive element (13+7, 12) has a cam drive disk for force transmission to the vertical guide (10, 11). - Lifting apparatus according to Patent Claims 1 and 2,
characterized in that
at least one mass compensation system (14) is provided.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL16762756T PL3319901T3 (en) | 2015-09-04 | 2016-08-31 | Lifting device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15183810.9A EP3138807A1 (en) | 2015-09-04 | 2015-09-04 | Lifting device |
PCT/EP2016/070457 WO2017037085A1 (en) | 2015-09-04 | 2016-08-31 | Lifting apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3319901A1 EP3319901A1 (en) | 2018-05-16 |
EP3319901B1 true EP3319901B1 (en) | 2019-08-21 |
Family
ID=54065225
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15183810.9A Withdrawn EP3138807A1 (en) | 2015-09-04 | 2015-09-04 | Lifting device |
EP16762756.1A Active EP3319901B1 (en) | 2015-09-04 | 2016-08-31 | Lifting device |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15183810.9A Withdrawn EP3138807A1 (en) | 2015-09-04 | 2015-09-04 | Lifting device |
Country Status (9)
Country | Link |
---|---|
US (1) | US10843911B2 (en) |
EP (2) | EP3138807A1 (en) |
CN (1) | CN107922176B (en) |
BR (1) | BR112018003974B1 (en) |
ES (1) | ES2758103T3 (en) |
MX (1) | MX2018002556A (en) |
PL (1) | PL3319901T3 (en) |
PT (1) | PT3319901T (en) |
WO (1) | WO2017037085A1 (en) |
Families Citing this family (9)
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CN107161598B (en) * | 2017-05-17 | 2023-06-06 | 东风设备制造有限公司 | Servo lifting rolling machine |
CN109434328A (en) * | 2018-11-09 | 2019-03-08 | 佛山派阁汽车塑料技术有限公司 | A kind of lifting positioning mechanism of production line |
CN109941917B (en) * | 2019-04-29 | 2024-01-23 | 广东嘉腾机器人自动化有限公司 | AGV removes bearing mechanism and AGV dolly |
CN110028014A (en) * | 2019-05-21 | 2019-07-19 | 天津航天机电设备研究所 | A kind of platform for aircraft handling goods |
CN111268586B (en) * | 2020-01-16 | 2022-06-07 | 达闼机器人股份有限公司 | Lifting device and robot |
CN111847338B (en) * | 2020-08-01 | 2024-07-12 | 王昌佑 | Multi-tonnage large-amplitude lifting device with lever push-pull structure |
CN113693843B (en) * | 2021-09-01 | 2023-09-22 | 杭州蚕鱼科技有限公司 | Electric folding wheelchair |
CN114380234B (en) * | 2022-01-20 | 2023-09-01 | 重庆嘉腾机器人自动化有限公司 | Lifting AGV is carried to heavy load |
CN114545779B (en) * | 2022-03-08 | 2023-11-03 | 南京理工大学 | Self-adjusting integral robust control method of quick erection system based on direct-driven pump |
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2015
- 2015-09-04 EP EP15183810.9A patent/EP3138807A1/en not_active Withdrawn
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2016
- 2016-08-31 BR BR112018003974-8A patent/BR112018003974B1/en active IP Right Grant
- 2016-08-31 MX MX2018002556A patent/MX2018002556A/en unknown
- 2016-08-31 PL PL16762756T patent/PL3319901T3/en unknown
- 2016-08-31 WO PCT/EP2016/070457 patent/WO2017037085A1/en active Application Filing
- 2016-08-31 ES ES16762756T patent/ES2758103T3/en active Active
- 2016-08-31 CN CN201680048887.9A patent/CN107922176B/en active Active
- 2016-08-31 PT PT167627561T patent/PT3319901T/en unknown
- 2016-08-31 US US15/757,206 patent/US10843911B2/en active Active
- 2016-08-31 EP EP16762756.1A patent/EP3319901B1/en active Active
Non-Patent Citations (1)
Title |
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None * |
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BR112018003974B1 (en) | 2022-01-18 |
PL3319901T3 (en) | 2020-02-28 |
US20180273362A1 (en) | 2018-09-27 |
CN107922176A (en) | 2018-04-17 |
BR112018003974A2 (en) | 2018-09-25 |
EP3138807A1 (en) | 2017-03-08 |
PT3319901T (en) | 2019-10-14 |
MX2018002556A (en) | 2018-05-28 |
CN107922176B (en) | 2019-08-02 |
US10843911B2 (en) | 2020-11-24 |
EP3319901A1 (en) | 2018-05-16 |
ES2758103T3 (en) | 2020-05-04 |
WO2017037085A1 (en) | 2017-03-09 |
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