WO2012019826A1

WO2012019826A1 - Device for transporting loads having at least partial weight compensation

Info

Publication number: WO2012019826A1
Application number: PCT/EP2011/061110
Authority: WO
Inventors: Harald Stuehrenberg
Original assignee: Harald Stuehrenberg
Priority date: 2010-08-13
Filing date: 2011-07-01
Publication date: 2012-02-16
Also published as: EP2741994A1

Abstract

The invention relates to a device for transporting loads having at least partial weight compensation, having a traveling trolley rail (12) and a traveling trolley (16) able to travel within a transport path along the traveling trolley rail (12) and having first deflecting rollers (32) for a load cable (18). The device further comprises at least one first load bearing unit (40) comprising a loose roll (38, 39) for receiving a load (46) and a load cable (18) running along the traveling trolley rail (12) and guided about the first deflecting rollers (32) of the traveling trolley (16) and between said rollers about the at least one loose roll (38, 39) of the load bearing unit (40). A counterforce generating unit (31, 30) for at least partially compensating for the weight of the load (46) is coupled to the load cable. The load cable (18) is coupled to the counterforce generating unit (31, 30) outside of the transport path of the traveling trolley (16).

Description

Device for moving loads with at least partly

Gewichtsausqleich

The invention relates to a device for the in particular horizontal movement of loads under weight compensation,

Devices for the method and in particular also for the lifting of loads are known in the form of cranes, in particular gantry cranes. With such cranes can transport a variety of loads. In addition, devices for moving and lifting loads are also used in theaters and for show purposes. Such facilities are also called airframes. These facilities are mostly operated manually.

When lifting loads, it is known to provide (at least in part) weight compensation by using counterweights or generally by counter-force generating units, so that the forces to be applied to raising and lowering the load are reduced. Depending on the degree of balance, even heavier loads can be lifted and moved by hand. A disadvantage of devices for lifting loads by utilizing a counterbalance is that the counterweight and thus the counter-force generating unit moves not only when lifting and lowering the load but also when moving the load, so when moving the load in a substantially horizontal plane.

Examples of the aforementioned devices can be found in DE-U-18 64 450, DE-U-19 30 936, DE-A-26 26 950, DE-U-89 00 981, DE-U-295 02 468, DE -U-295 13 936, DE-A-2 35 545 and DE-A-36 14 402.

As can be seen from the above documents, a counterbalance in a device for moving loads in two dimensions is still not realized. If balancing weights are used, pulleys, electric winches or diagonal braces are used which work with or without counterweights, sometimes with or without motor power and which also require partial diagonal bracing, which almost completely fill the space above the load and thus render it useless for other actions. In particular, the space in which the device is used to move the load is not used optimally, since lifting devices for loads, if they are motor-driven, require height. The object of the invention is to provide a device for moving loads with at least partial weight compensation, which is simple in construction and only has a comparatively small overall height. In particular, the invention intends to use such a device for therapeutic purposes and as an aid to persons restricted in their movement. In that regard, the device according to the invention should be able to be installed in particular in living spaces.

The invention proposes a device for moving loads with at least partial weight compensation, which is provided with

- a trolley track,

a trolley, which can be moved within a travel path along the trolley track, with first rollers for a load rope,

a load-bearing unit having at least one first loose roller for receiving a load,

- A load rope, which runs along the trolley rail and is guided around the first pulleys of the trolley and between them around the loose role of the load-bearing unit, and

a counter-force generating unit coupled to the load cable for at least partial weight compensation of the load,

- The load rope is coupled outside the travel of the trolley with the counter-force generating unit. In its simplest and most general form, the invention has an apparatus for the one-dimensional method of a load with weight compensation. Here, the device has a (trolley) rail, iängs which a trolley is movable. Along the rail runs a load rope, which is guided to first Umlenkroiien the trolley down to a load-receiving unit for receiving the load. The load-bearing unit has one or more (eg two) so-called "loose" rollers, it being noted in this context that in the context of the invention with "loose roller" is not necessarily meant a roller body. Rather, it is meant that the load rope has a "loosely", which is suspended between the first pulleys of the trolley and about one or more roles, Bügei o.dgl. the load-bearing unit is guided. The Lastseii can be attached at one end to the trolley rail or other relative to the trolley rail fixed element, while at the other end of the load rope outside the travel path of the trolley engages the counter-force generating unit. In the counter-force generating unit, the counterbalance is generated either by the generation of a corresponding weight force, ie by a counterweight, or else by a motor or in some other way, such as, for example, by spring force.

If, in the device according to the invention, the trolley is displaced along the trolley rail, ie the load is not raised, then the counter-force generating unit and in particular when using a counterweight remains the counterweight even in its or its once occupied position. An up or down movement as a function of the trolley movement is thus not to be recorded according to the invention. Only when the load is lowered or raised, the position of the counter-force generating unit changes, In an advantageous embodiment of the device according to the invention in its application for one-dimensional method of loads is provided that the load receiving unit at least a second loose RoNe and the running cat has a second Umlenkroile for Lastseii that the load rope on the trolley rail is guided around a pulley and runs along the trolley rail to form two parallel Tragseifabschnitte, the load rope in each of its load cable sections to the first and second Umlenkroilen the trolley and between this is guided around the first or second loose role of the load-bearing unit, and that both Tragseüenden are connected to the counter-force generating unit or both load cable ends are interconnected and the Endiosseil thus formed is coupled to the counter-force generating unit. The load cable thus extends along two mutually parallel load cable sections along the trolley rail, wherein the rope is guided in each of its sections to at least two pulleys of the trolley around to a loose role or more (eg two) loose rollers of the load receiving unit. The entire load rope may be formed as an endless rope, which then the formation of the counter-force generating unit as a counterweight to a loose Rolie, a bracket or the like. is guided on the counterweight. Due to the "double design" of the load rope, the load capacity of the entire device is increased

However, the device according to the invention can be used not only for the one-dimensional method of loads using weight compensation but also for the two-dimensional method of loads with the possibility of weight compensation. In this embodiment of the invention is provided

the trolley rail can be moved along its ends along two parallel support rails,

that the trolley rail has at one end a deflection roller for deflecting the load rope to form two parallel load cable sections running along the trolley track, one of which is guided around the first deflection rollers of the trolley and between these around the first loose roller of the load suspension unit,

that the trolley rail at its other end two pulleys for each load cable section for Umienkung the load rope along two along one of the support rails has successively extending DIN rail Lastseilteilabschnitten and

that the load rope is fixed at one of its ends to the support rail or another fixed element and coupled at its other end to the counter-force generating unit, or

in that the load cable] runs to form two DIN rail load cable sections, one of which comprises the two DIN rail load subsection sections, the two load cable ends being either coupled or interconnected to the counter force generating unit, the endless cable thus formed being coupled to the counter force generating unit.

In this development, the entire apparatus has a portaikranähn- fichen structure, wherein the support rails either supported by supports on a substrate or arranged hanging down from a building ceiling or attached to a building ceiling or building walls.

Also in the aforementioned advantageous development of the invention, it is possible that the load rope is designed as an endless rope.

The device according to the invention can in principle be operated manually; this means that the load can be moved manually. The degree of weight balance ultimately determines the force required to raise or lower a load.

In the foregoing, the invention has been described with reference to the feature of a rail along which a trolley moves. With "rail" is in the sense of the invention but not necessarily a rigid professional! meant. Rather, the rail can also be realized by a support cable on which then moves the trolley or a carriage in general. The term "rail" as the element on which the trolley or carriage can travel along, thus comes in the context of the invention, a far-reaching significance.

In a further advantageous embodiment of the invention, a first drive unit for automatically moving the trolley along the trolley rail and a second drive unit for automatically moving the trolley rail along the support rails may be provided. Through these drives, a movement of the trolley is mechanically supported in one or two dimensions. In this case, a third drive unit is also to call, which serves the automatic raising or lowering of the load. It is expedient if a drive unit for the first drive unit and / or, if present, for the second drive unit and / or, if present, for the third drive unit, wherein the drive unit, the first drive unit and / or, if present, the second drive unit and / or, if present, the third drive unit is provided for automatic movement of the load along a trajectory extending in up to three dimensions from an initial position to a drawing position. The drives can be controlled automatically, depending on the output signal of a sensor unit, which detects a load movement. If, for example, a load balanced by the balance weight, for example, should be moved horizontally, then the sensor unit can recognize an initial movement of the running cat or of the trolley rail (on the mounting rails) induced by a manual displacement of the load in order to immediately control the load movement by automatic movement of the runner Track trolley or trolley track (on the mounting rails) nachzuführen. Alternatively, the detection of an initial movement of the trolley or the trolley rail is not required if the sensor unit detects the deviation of a load section between the load receiving unit and the trolley from the vertical or another predetermined orientation. This can be done, for example, optically, magnetically or in other ways without contact or even under contact with the load rope section.

The drive units for the trolley or the trolley rail can expediently have one or more drive wheels, which are formed in engagement with or for engagement with the trolley rail or at least one of the support rails. Examples here are friction wheels or gears, but alternatively it is also possible to realize the drives in the X and Y directions, ie the trolley drive or the trolley rail drive via cable drives, wherein such a cable drive comprises a drive cable between its ends, which are guided in the direction of the course of the trolley rail or one of the support rails facing, opposite sides of the trolley and the trolley rail, is guided on rollers, of which at least one is drivable

The third drive, namely the drive in the direction of the Z-axis for raising and lowering the load, can expediently be designed as Lastseillängenverände- tion unit. In this embodiment, so the load load length is "added" to lower the load, so the load cable extended, while in the opposite case the Lastseii is shortened. This can be realized for example by a winch or the like. drivable (Wicke! -) We !! e, on the e.g. a load rope lot is more or less wound up. Alternatively, also mutually movable tension rollers, around which the load rope is alternately guided. For example, a pulley system which is integrated in the load train is suitable, in which the rollers of the upper ones can be changed in their intervals relative to those of the lower ones, which is expediently carried out by a motor.

The shortening or lengthening of the load cable for lifting or lowering the load is expediently carried out with the counter-force generating unit deactivated. If, for example, this is designed as a counterweight in its simplest form, then one could height-lock the counterweight to lock in this position of the counterweight then the Lastsei! for a lowering of the load and to shorten for a lifting of the load.

In other words, the invention relates in its most general form and according to various developments, an apparatus and a method for free and easy movement of a variable in its mass work weight (a load), which or directly by ropes and rollers or other mechanical So-weighted equipment is so connected that the working weight (the load) can move in up to three dimensions regardless of the weight balance. For this purpose, the invention has a structural design, which has a special load cable guide that provides a working weight with a counterbalance that the working weight can be moved by light and fast manipulations manually or mechanically directly and quickly in all directions, while the Weight balance exclusively moved up and down, and then only when the working weight is lowered or raised. A movement of the weight balance in the other two dimensions when the working weight moves in a horizontal plane is thus prevented as a result of the cable guide according to the invention.

The working weight is thus compensated in whole or in part according to the invention by the use of a weight balance with full mobility of the working weight in all three spatial axes (X, Y and Z axes) over the entire base of the room with limited mobility of the weight balance. The cable guide according to the invention connects the two weights with each other so that a variable l; l Equal weight or an adjustable weight inequality is possible. The rope guide separates the possibility of movement of working weight and weight balance from each other such that the variable working weight is three-dimensionally free to move and the variable weight compensation receives only a one-dimensional movement possibility. The working weight is movable in the direction of the X- and / or Y- and / or Z-axis, while the Gewichtausgaeich is moved up and down exclusively in Z-axisrtchtung and thus does not affect the working weight by natural oscillations (oscillations).

In an advantageous embodiment of the invention, the device has two parallel fixed cross members (rails or suspension cables), which are connected by a trolley (rail or driving rope) transversely so firmly on rollers that the trolley or the driving rope over the entire length the fixed trusses or the ropes can move freely through the entrained Lastseii. On the truck traversing the trolley or the trolley, are arranged on the / umienkrollen. Under the carriage or the trolley hangs the working weight, which is received by a load-bearing unit, which in turn depends on the load rope on the trolley.

An essential feature of the invention is the free mobility of the working weight in the X and Y directions without any resonance (feedback) by the balance weight

The device according to the invention is particularly suitable for mounting heavy loads on structures (eg engines on aircraft). Furthermore, the invention can serve the transport of goods, for example, the transport of containers in container loading stations. Finally, the invention is also in theaters, studios or the like. can be used to namely to be able to move people in a stage area. Another application example is astronaut training, where people can learn how to handle weightlessness. Moreover, the device according to the invention can be used, for example, in veterinary clinics, namely to treat heavy animals such as horses, cows or the like. to carry or controlled to take off or (again) to transfer to the state. The device according to the invention can also be used for processing horizontal large areas deploy. Thus, for example, with the aid of the device, one could realize a large-scale background painting which lies on the floor during its production, while the maier is carried by the device and hovers over the painted surface. Another such application detail is, for example, the access to model landscapes (fashion railways) from above. Further applications of the invention are in mining or civil engineering, the entire device can be carried out mobile, so can spend at their place of use. On a larger area, the device can be designed as a movable gantry crane and moved accordingly,

Another essential application of the device according to the invention can be seen in the therapy application. For example, the device according to the invention can be installed in normal living spaces in which physically disabled persons can move with the aid of the device. These persons are given the opportunity by the weight compensation to move independently while applying only minimal forces standing. When settling on a chair, for example, the load force can be changed by adding load rope length or by motorized or motorized modification of the counter-force generating unit (counterweight), so that a relief of the legs of the person, e.g. when sitting down, the person is not raised again automatically. The Lastseiugugabe or shortening is in the therapy application of the device according to the invention also to the extent advantageous in that the person moving with the help of the device according to the invention enter independently in a support frame and can get out of this.

The device according to the invention can be embodied in a wealth of different configurations: First, the device according to the invention can be present in a purely mechanical basic design, which can then have additional functions if desired. In the purely mechanical design, the invention provides For example, therapists have the opportunity to give their patients, who no longer eg 100 kg but z. B. weighs only 10 kg to take the hand and carry out a walking training with him. In other embodiments of the device according to the invention one is able to reduce the force of gravity, which acts on the person, as desired. This means that eg an astronaut training with gravity 0 G, as it exists in the space, can be carried out, that a person without any resistance (thus also no water resistance, as with the previous training methods for astronauts the case) can fly while in fitness training, for example, it may be desirable to simulate any gravitational force below g 1, so that, for example, exercisers can make long, long, wide jumps that are even lighter, for example, than the jumps of the astronauts on the moon. The resulting feeling of happiness motivates the trainee in addition to the fact that it can perform this training, for example, all alone to his favorite music.

The bandwidth of possible users of the device according to the invention is exceptionally large.

The main reason is that the (up to 3D) airframe was specially designed for people who suffered paralysis of their extremities, either after an accident with cross-sectional consequences or similar, whose life prospects are completely due to a severe or final illness Parkinson's disease, MS, stroke, brain lesions with paresis of the extremities, etc.) or that they have to learn to walk again after massive fractures or joint transplants.

Then there is an extremely important group: people, above all children, who have never been able to walk or move independently in their lives, whose own strength would never be enough to allow them to carry their own body weight. A hint of weightlessness can only be achieved in the water. In the water, however, completely different conditions and other conditions prevail, the state of weightlessness can not be achieved there either. With the invention, it is possible to be completely self-contained in a normal room (which, for example, enables a motor which can replace missing body movement functions).

This results in a variety of applications: Therapy facilities such as rehabilitation clinics, neurological therapy centers and physiotherapy practices allow disabled people, not only to achieve a pleasant attitude to life for the moment, but also and above all by an exact Austerntern the weight, resulting in a continuous regulation of 0% up to 100%, to create the opportunity to rebuild their own strength by increasing their own performance in repeated therapies.

For children or persons handicapped by birth, the device according to the invention means the premiere of an upright position, which in addition makes it possible to be mobile in a certainly limited area but completely free.

In summary, therefore, a therapy still to be developed for neurological patients (children and adults) must relate to a person's ability to learn or relearn movement patterns.

And as all learning works best when there are constant repetitions, walking movements that are not or not yet programmed in the brain of the affected person, by frequent repetition to create a new movement pattern. In the context of therapeutic applications, it has been assumed in the invention to find for the patient the highest possible optimum of free mobility, out of which he exercises alone or with the assistance of a therapist or with the aid of other, well-known 5 training devices and a self-determined, as far as possible - even in one's own walls - can lead a certain life.

One of the great problems many disabled people face is the limitation of their own mobility - triggered by psychological, physiological or neurological causes.

The diminished functioning of the musculature is still significantly increased in disabled people by the action of gravity.

In this respect, the aim of the invention is first of all to reduce the effect of gravity on the patient and to differentiate them in such a way that the patient can again make larger movements with the least own muscle power and thus be able to do independently controlled exercise training.

20 The possibility of movement of the patient with the aid of the invention has to be thought of as if a non-handicapped person is standing in the water and able to walk in any desired direction, as a result of which gravity is partially canceled. The gene resistance, which in this case forms the water, can largely

25 be neglected.

Since a certain resistance, however, may be desirable for training reasons, this resistance must be adjustable. Of course, it is possible to supplement the therapy 30 performed using the invention with conventionally known devices such as a roNator or ingot. With the invention but also completely new therapies are possible and also a! Therbekannte gymnastic exercises or therapies other areas may possibly be used again (for example, very simple squats).

Another effect that can occur at work is the following:

Through long, high jumps, such as are also limited on the trampoline possible, euphoria is generated, which makes the therapeutic work for fun. A dance-like work with the patients is ideal.

In order to clarify, which neuromuscular disease brothers will benefit from a therapy with the device according to the invention, the clinical pictures are to be presented in detail here: 1. Backbone transpositions

Spinal cord injury is a complete or incomplete injury to the spinal cord, often due to an accident or as a result of surgery or disease. There are motor, sensory and vegetative disorders, predominantly a lesion of the extremities.

There are paraplegics whose damage is at the level of the thoracic or lumbar spine, resulting in damage to the torso and leg muscles.

In addition, tetraplegics are usually paralyzed on all four extremities, ie legs and arms, which results in the need for a special therapy in which the device according to the invention by servo motors (generally drive units) is to equip. There is a difference between a complete and an incompetent paraplegia, where therapy should be tailored to the individual patient. In complete spinal cord injury, therapy with the device of the invention may not lead to measurable progress, but the upright posture enhancement of self-esteem is invaluable, which may help the patient and his or her environment to better deal with the disease , 2. Traumatic brain injury

The next large group of patients who have to deal with the consequences of an accident are people with a so-called craniocerebral trauma. In addition to the motor failures above all, failures are recorded in which the patient has to completely re-learn activities of daily life (fine motor skills, physiotherapy and occupational therapy). Because our brain has the wonderful plasticity to compensate for lost functions by training new areas of the brain, this training must be easy to achieve; since the device according to the invention allows the body to regain functions in a simple manner, the head is freed to re-exercise and recover other lost functions.

These are the main features of a therapy using the device according to the invention:

the spasticity is reduced

~ The ability to walk is trained, regained or improved

the leg muscles are strengthened the motivation for training is increased due to the absolute ease of training,

3. Sleepfall

The effects of a stroke are, above all, hemiplegia, balance and visual disturbances, as well as speech disorders and cognitive disorders. Of course, there are a variety of therapies that work in such a case.

When working with the device according to the invention, it is of primary importance to restore the ability to walk and the sense of balance in order to compensate for the resulting nerve failures.

4. Multiple sclerosis

Muitiple sclerosis (MS) is a central nervous system disorder in which inflammatory processes in the brain and spinal cord damage the enveloping myelin layer of the nerve fibers, which can affect very different nervous complexes, as the MS has a very diverse appearance. At a relatively early stage of the disease, MS often relapses with good remissions, after which the disease is usually chronic-progre- cient, whatever the disease may be from the beginning.

There are some features that are similar in many MS patients: Loss of strength, gait and balance disorders up to the complete loss of ability to walk, sensory disturbances, when the disease is very advanced, it comes to the cross-sectional symptoms. 5. Cerebral palsy

This is the wide field of neonatal or embryonic brain damage. Generally, it can be said that if the pattern of walking is not yet anchored in the brain, it is about creating functional and structural changes that will enable the children (the corresponding patients are usually children) for the first time in their lives Living on your own two feet.

Children who have never been able to walk in their lives can now move freely. This will increase the joie de vivre for all and promote a rebuilding of one's own musculature and mobility. The fun factor plays an essential role, the patients can move like the astronauts after the moon landing by big wide jumps. This therapy is fun.

Other therapeutic fields include orthopedics and epilepsy. There are a variety of new applications, for example in physiotherapy, in therapy centers and clinics, in the gym and of course at home - the development of completely new therapies or the rediscovery of old exercises such as Squats has now become possible. These are only rudimentary the Krankheitsbtlder, where a therapy using the invention makes sense. It should be noted that even if disease images are comparable, each person has different requirements and different load capacity.

It follows inevitably that in the therapy, as it says in the special education, "everyone must be picked up at the place where he is".

The therapy option is determined by the patient himself.

It is common, especially in neurological diseases, that it comes to severe failures, in which it is important to make it as easy as possible for the patient (and of course as difficult as necessary), additional help in the form of Install servomotors.

The technical features of the invention, which bring about these therapeutic options, will be briefly summarized below with reference to an embodiment of the invention.

Based on the construction of a gantry crane, it is possible to reach every point of the floor with the built-in trolley in a room.

Now, if a person is hung in the trolley, so it is possible by the invention, this person with counterweights "auszutern" d. h. that the person's own weight is completely or partially canceled as desired.

Due to the cable guide according to the invention, it is possible that the person can really move freely three-dimensionally.

The suspended person can reach again by their own - possibly diminished -Bein force every point of the room. A special feature of the invention is that the counterweight, due to the cable guide according to the invention does not participate in any horizontal movement, but constantly remains in the same place, thus avoiding unwanted oscillation and the associated unwanted feedback on the trolley and the horizontal movement of the person become.

In a preferred embodiment of the invention, e.g. with a footprint of 4 m x 4 m, two parallel rails that are hung, for example, on the ceiling or in a scaffold at any height.

Another rail, which runs at a 90 ° angle to the two outer rails is connected by roller carriage with the outer rails. On this another roller carriage (trolley) runs, in which a fixture is hung, the e.g. by appropriate snap hooks, pulleys and a parachute spring strap enables a person within this area completely free in each direction up and down, back and forth to move and rotate, i. to move in four degrees of freedom.

By a special cable management a Auskontern of the person's own weight is given by an appropriately adjusted counterweight, which is stable and without having to move back and forth with the person at any position - even externally located. This is the hinged person in the

Able to move completely freely in three dimensions - in space.

A scenario can be A person closes all the doors and is completely private, all doors are closed: It is located in the device according to the invention, puts her Their favorite music moves, and slowly heaves to the music and may begin to dance for the first time in their lives.

The music and the free movement encourage the letting go and it is quite possible that the person afterwards is sweaty and completely exhausted, but perhaps she will experience an absolute liberation on the first of May in her life.

The important aspect for the human sensibility and self-esteem of patients treated with the invention is to rediscover the world with joy and ease and without effort. The result of a therapy with the aid of the device according to the invention is a great step in the direction of self-determination, quality of life and regained joy in life.

The invention will be explained in more detail with reference to several embodiments and with reference to the drawings. In detail, they show:

1 shows a first embodiment of the invention in its application to the one-dimensional method of a load,

2 shows a variant of the first embodiment of the invention according to FIG. 1 with endless load transmission,

3 shows a second embodiment of the invention, in which a load can be moved two-dimensionally,

Fig. 4 shows a variant of the second embodiment of the invention with

Endless load cable guide

5 shows a further variation of the second embodiment of the invention, also with endless load cable guide, 6 shows a further exemplary embodiment of an apparatus for the 2D method of a load with endless load guide,

7 is a plan view and schematically another embodiment of the device according to the invention with auxiliary drives for a motorized method of the load and a Z-drive for the load,

Fig. 8 in plan view and schematically another Ausführungsbeispiei the device according to the invention with auxiliary drives for a motorized process of the load and a Z-drive for the load and

9 schematically shows the representation of a scenario in which the device according to the invention is used for therapy purposes for the mobility support of persons, for example in the household.

Based on Fig. 1, the basic principle is explained below, which is used in the invention.

Fig. 1 shows schematically a device 10 for one-dimensional movement of a load. The device 10 has a trolley rail 12, on the rollers 14 a trolley 16 is movably guided. Along the trolley rail 12 extends a load cable 18, which is fastened in this embodiment at one end 20 of the trolley rail 12. At the other end 22 of the trolley rail 12, the load cable 18 is guided around a guide roller 24 down. At the end 26 of this downwardly extending load rope section 28 is a counterweight 30 as a counter-force generating unit 31 for a load to be traversed.

The trolley 16 is provided with a pair of first guide rollers 32 around which the parallel to the trolley rail 12 extending load cable section 34 is guided. Between the two Umienkrollen 32 the load rope 18 forms a loose or loop 36, which is around a loose roll 38 of a load receiving unit 40 GE. leads is. The load-bearing unit 40 has a load receiver 42, which is rotatable about a vertical axis 44. On the load suspension 42 depends, for example on straps or the like. the load 46 to be moved. A variant of the device 10 according to FIG. 1 is shown in FIG. 2 as a device 10a. The device 10a according to FIG. 2 differs from FIG. 1 in the design of the load nozzle 18 as an endless cable. In this way, the load cable 18 comprises two load cable sections 28 extending to the counterweight 30 and two load cable sections 34 running parallel to the trolley rail 12. Each of these two sections 34 is connected via a pair of first and second guide rollers 32, 33 to form a loose or loop 36, 37 led to at least one loose roll 38,39. The two lots or loops 36,37 associated loose rollers 38,39 are connected to the load-bearing unit 40. The Endios load rope! 18 is also guided by a loose roller on the counterweight 30.

It should be emphasized at this point that in the context of this invention with "load rope" not necessarily a rope, ie a pulling member is meant with substantially circular cross-section. With Lastseii in the context of this invention, for example, a Fiachband or other band, a belt drive belt, a toothed belt, a V-belt or the like. be meant. Likewise it should be emphasized at this point that with "loose role" not necessarily a Rolfenkörper is meant. Thus, a loose role in the context of the invention by a rigid rod or the like. Element around which the load rope is led around, be realized.

In Fig. 3, an embodiment of a device 10b is sketched for a two-dimensional method of a load. Here, the trolley rail 12 is guided at its two ends 20,22 on a support rail 50,52, as indicated in Fig. 3. The load rope 18 runs along the trolley rail 12 along two load-part sections 34, which extend parallel to one another, wherein a load-part section 34 extends around two circumferential rollers 32 of the running gear. At the one end 20 of the trolley rail 12 is a Umienkrolle 54 around which the load rope 18 between its two LastseÜabschnitten 34 led around (st. At the other end 22 of the trolley rail 12 are two Umlenkroilen 56,58, around which in each case another of the two load cable sections 34 is guided around, to form two extending in the longitudinal extent of the Tragschtene 52 Lastseilteitabschnitte 60,62 the portion 60) is fastened at one end 64 of the carrier 52, while the other load-side portion 62 extends around a second roller 68 arranged at the other end 66 of the carrier 52 and the load cable is connected at its other end to a counterweight 30 Trolley 16 in the direction of the double arrow 48, the load 46 can be moved without the counterweight 30 changing in height or experiencing other movements. The same applies to a displacement of the trolley rail 12 in the direction of the double arrow 70,

4, an alternative embodiment of the device 10b of Fig. 3 is shown. The difference between the device 10c according to FIG. 4 and the one according to FIG. 3 is that the load rope is designed as an endless lock, in that the two ends of the load rope, which according to FIG. 3 are fastened to the support rail 52 or the counterweight 30, are connected, under the leadership of the load cable to the support rail 52 to the guide roller 72 along two support rail load cable sections 74 and Umlenkroilen 76 and a loose roller 78 on the counterweight 30th

FIG. 5 shows a variant of the devices 10b and 10c of FIGS. 3 and 4. The device 10d of Fig. 5 differs from the variant of Fig. 4 by the formation of the load cable guide on the trolley rail 12 and the trolley 16 so, as shown in Fig. 2. Fig. 6 shows a further modification of a device 10e. This variant differs from the apparatus of FIG. 5 in that the Lastseti 18 is not deflected at the end 20 of the trolley rail 12 by 180 °, but via pulleys 80,82,84,86,88 and 90 of the support rail 50 back again is.

In Fig. 7, a device is shown lOf, which, as for the Lastseieführung, as shown in Fig. 6, is configured. In addition, the device 10f has a drive unit 92 which has a cable drive with two drive cables 94,96. This drive unit 92 is used for automatic movement of the trolley rail 12 in the direction of the double arrow 70. Each drive cable 94,96 engages at its ends facing away from each other, pointing in the direction of the double arrow 70 opposite sides 98,100 of the trolley rail 12 and is to several pulleys 102, 104,106 and 108 and 110, 112, 114 and 116, respectively. One of these Umlenkroilen, in the embodiment, the guide roller 104 is driven by a motor, which is indicated by the drive 118. 7 ensures that the two ends 20 and 22 of the trolley rail 12 move synchronously, so it does not come to tilting o, the like, when the trolley rail 12 in the direction of the double arrow 70th shifts. The Umlenkroilen for the drive cables 94 and 96 may be disposed on the support rails 50,52 or outside of these support rails.

A similar drive is provided in the form of the drive unit 120 for automatic movement of the trolley 16. Here engages a drive cable 122 at its ends to opposite, but each pointing in the direction of extension of the trolley rail 12 sides 124,126 of the trolley 16, said drive cable 122 is guided between its ends via pulleys 128, 130,132, one of which (in the Ausführungsbeispie! 130) is driven by a motor, which is indicated at 134. The pulleys 128, 130 and 132 are provided on the trolley rail 12, at the ends 20 and 22. With the aid of the drive cable 122, it is possible to move the trolley by motor in the direction of the double arrow 48 along the trolley rail 12.

In addition to the two X and Y drive units 92 and 120, FIG. 7 also shows a further drive unit 136 which can be used in combination with the two aforementioned drive units, but does not necessarily have to be used. With regard to the two aforementioned drive units 92 and 120, it also applies that they do not necessarily have to be present in combination.

Alternatives for the previously described X and Y drives are, for. B. in the form of drive rollers (with corresponding drive units) conceivable, which are arranged directly on the trolley 16 or the trolley rail 12, as shown in FIGS. 3 and 1 at 92 'and 120' is indicated.

The drive unit 136 is ultimately a unit for the targeted raising and lowering of the hanging on the trolley 16 load. For this purpose, the load cable 18 has a section 142 guided around several (tension) rollers 138, 140 in the manner of a pulley block. The length of this load rope section 142 is variable by changing the distance of the rollers 138 relative to the rollers 140, which is done by motor 141. In this way, the length of the part of the load rope 18 extending from the trolley 16 to the load receiving unit 40 can be influenced in a targeted manner via the drive unit 136, independently of a raising or lowering of the counterweight 30.

The drive unit 136 is a load rope length change unit 144 which has at least one loose roll (namely, at least one roll 140) and at least two fixed rolls (namely, two of the deflection rolls 138), the distance between the loose roll and the Both fixed Umlenkrolien is changeable to make the rope length change. FIG. 8 shows an exemplary embodiment of the device according to the invention with a load rope length change unit 144 'which is alternative to FIG. 7 and which in this case is designed in the manner of a winch with a shaft 148 which can be driven in rotation by a drive unit 146 for a seed 150.

The X, Y, and Z drives, or only the X and Y drives, may be automatically controlled by an evaluation and drive unit 152 that receives signals from a sensor unit 154 which is X and / or Y. Movements of the trolley 16 or a load cable deflection detected below the trolley 16, wherein evaluation and control unit 152 controls the drives for tracking the trolley 16 and / or the trolley rail 12.

Finally, Fig. 9 shows a possibility of using a device 10g for assisting and moving a person 156, which represents the load of the devices according to the previous embodiments. By means of the device 10g, for example, as in each of Figs. 3 to 8 can be configured, the person 156 can move in a living room. The counterweight 30 does not necessarily have to be accommodated within the space in which the device 10g is disposed. By appropriate further cable guides, the counterweight 30 can be accommodated in a neighboring room. As an alternative, it is also advisable to place the counterweight 30 in one of the supports 158 with which the support rails 50, 52 can be supported when the device is supported against the ground. The device 10g or its mounting rails 50,52 may also be attached to the wall or to the ceiling of the living space.

In addition to the use as Mobtlisierungshilfe in the private or hospital sector, the invention can also for training purposes in RehabiUtations centers and / or fitness centers, as "lifters" in hospitals and nursing homes, for astronaut training and rehabilitation, for the camera work in the film and in the TV, in the theater, circus or at the Artis tfk, for manual fine assembly of heavy loads and for installation in hard to reach places.

REFERENCE LIST Device

a device

b device

c device

d device

e device

f device

g device

Trolley track

Casters of the trolley

trolley

Last rope

an end of the trolley track

other end of the trolley track

Pulley on the trolley rail one end of the load rope

to counterweight leading load rope section counterweight

Counterforce generating unit

first Umlenkroilen on the trolley second Umlenkroilen on the trolley

Lastseilabschnitt, sections, Lastteilabschnitte suspension cable loop

Supporting rope loop

loose roller of the load-bearing unit

! ose Roüe the load-bearing unit

Load-bearing unit

Load absorption of the load-bearing unit Rotary axis of the load-bearing unit

load Double arrow for load movement

rail

Pulley on the trolley rail

Umienkroile at the trolley track

Pulley on the trolley rail

first load cable section along the support rail 52 second load rope section along the support rail 52 fixed to the support rail 52 end of the load rope attached to the counterweight end of the load rope Umienkroile on the support rail 52nd

Double arrow for load movement

Deflection pulley on the mounting rail 52

Lastseilabschnitte along the support rail 52nd

Deflection pulley on the mounting rail 52

loose roll on the counterweight

Deflection pulley on the mounting rail 50

Umienkroile on the mounting rail 50th

Deflection pulley on the mounting rail 50

X-drive unit

Drive cable of the X-drive unit

a side of the trolley track

opposite side of the trolley rail deflection roller for drive cable 96

Pulley for drive cable 96

Guide pulley for drive side! 96

Guide pulley for drive side! 94 112 Pulley for drive shaft 94

114 Pulley for drive section 94

116 Pulley for drive section 94

118 Drive for Umienkrolle 104

120 Y drive unit

122 Drive cable of the Y drive unit

124 one side of the trolley

126 opposite side of the trolley

128 pulley for drive cable 122

130 pulley for drive cable 122

132 Pulley For drive cable 122

136 Z drive unit

138 Roller of the Z drive unit

140 Roller of the Z drive unit

142 Lastseilabschnitt within the Z-drive unit

144 load rope change unit

144 'load rope length change unit

146 drive unit

148 wave / winch

150 silos

152 control and evaluation unit

154 sensor unit

156 person

158 prop

Claims

Device for moving loads with at least partial weight compensation, with

a trolley track (12),

a trolley (16) movable within a travel path along the trolley rail (12) with first deflection rollers (32) for a load rope (18),

a load-receiving unit (40) having at least one first loose roller (38, 39) for receiving a load (46),

a Lastseii (18) extending along the trolley rail (12) and around the first guide rollers (32) of the trolley (16) and between them around the at least one loose roller (38,39) of the load receiving unit (40) is guided, and

a counter-force generating unit (31, 30) coupled to the load sheave (18) for at least partially balancing the weight of the load (46),

wherein the load cable (18) outside the travel path of the trolley (16) with the counter-force generating unit (31,30) is coupled.

Apparatus according to claim 1, characterized in that the load-receiving unit (40) at least a second loose roller (38,39) and the trolley (16) second pulleys (33) for the load rope (18), that the load cable (18) the trolley rail (12) is guided around a deflection roller (54) and extends along the trolley track (12) to form two parallel carrying cable sections (34), the load section (18) in each of its load cable sections (34) being around the first and second deflection rollers (34). 32,33) of the trolley (16) and between them around the at least one first and second loose roller (38,39) of the load receiving unit (40) is guided, and that both supporting cable ends are connected to the counter-force generating unit (31,30) or both load cable ends with each other connected and the thus formed Endiossei! is coupled to the counter-force generating unit (31, 30),

3. Apparatus according to claim 1 or 2, characterized in that

the trolley rail (12) can be moved along its ends (20, 22) along two parallel mounting rails (50, 52),

the trolley rail (12) has at its one end (20) a deflection roller (54) for deflecting the load cable (18) to form two parallel load cable sections (34) running along the trolley rail (12), one of which the first deflection rollers (32) of the trolley (16) and between them is guided around the at least one first loose roller (38) of the load receiving unit (40), that the trolley rail (12) at its other end (22) has two deflection rollers (56, 56; 58) for each load cable section (34) for deflecting the Lastseiis (18) along two along one of the support rails (52) successively extending support rail Lastseilteiiabschnitte (60,62) and

that the load cable (18) at one of its ends (64) attached to the support rail (52) or another fixed element and is coupled at its other end to the counter-force generating unit (31,30), or

in that the load cable (18) extends to form two mounting rail load cable sections (74), one of which comprises the two mounting rail load cable section sections (60, 62), the two load cable ends either being coupled to the counterforce generating unit (31, 30) or are interconnected, with the thus formed Endiossei! is coupled to the counter-force generating unit (31,30).

4. Device according to one of claims 1 to 3, characterized by a first Antrtebseinheit (120) for automatically moving the trolley (16) along the trolley rail (12).

5. Apparatus according to claim 4, characterized by a second drive unit (92) for automatically moving the trolley rail (12) along the support rails (50,52).

6. Apparatus according to claim 4 or 5, characterized in that the first and / or the second drive unit (120,92) at least one of the trolley (16) and the trolley rail (12) arranged drive wheel for engagement with and / or to Attacking on the trolley rail (12) or on at least one of the support rails (50,52) or that the first and / or the second drive unit (120,92) has a Seiian- drive, the drive cable (122,94,96 ), which between its ends, on soft in the direction of the course of the trolley rail (12) or one of the support rails (50,52) facing, opposite sides (124,125,98,100) of the trolley (16) and the trolley rail (12 ), is guided on rollers (.128 to 130, 102 to 118), of which at least one is drivable.

7. Device according to one of claims 4 to 6, characterized by a third drive unit (136) for raising and lowering the load-bearing unit (40).

8. Device according to one of claims 4 to 7, characterized by a drive unit for the first drive unit (120) and / or, if present, for the second drive unit (92) and / or, if present, for the third drive unit (136). wherein the drive unit, the first drive unit (120) and / or, if present, the second drive unit (92) and / or, if present, the third drive unit (136) for automatically moving the load (46) along a in up to driving three-dimensional trajectory from an initial position to a target position.

9. Device according to one of claims 4 to 8, characterized by a sensor unit (154) for detecting a load movement with a paraüei to the trolley rail (12) and / or, if present, parallel to the support rails (50,52) directed component, wherein the sensor unit (154) is connected to an evaluation and control unit (152) and wherein the evaluation and control unit (152) has the first drive unit (120) and / or, if present, the second drive unit (92) for tracking the trolley ( 16) along the trolley rail (12) and / or the trolley rail (12) along the support rails (50,52 in the direction of the load movement drives,

10. The device according to claim 9, characterized in that the sensor unit detects a deviation of a from the trolley (16) to the load receiving unit (40) extending load cable section (28) from the vertical or other predetermined orientation.

11. The device according to claim 7 or 8, characterized in that the third drive unit (136) has a Lastseillängenveränderungseinheit (144).

12. The device according to claim 11, characterized in that the load rope length changing unit (144) comprises a shaft for winding and / or unwinding a Lastseiiabschnitts or a loose load cable section.

13. The device according to claim 11, characterized in that the load rope length change unit (144) against each other movable tension rollers (138, 140), around which the load cable (18) is guided alternately.

14. Device according to one of claims 11 to 13, characterized in that the Lastseülängenveränderungseinheit (144) with a blocking is coupled to block the counterforce generating unit (31,30) and that the Lastseülängenveränderungseinheit (144) changes the length of the load rope (18) upon blocking of the counter-force generating unit (31,30).

Device according to one of claims 1 to 14, characterized in that the counter-force generating unit (31) comprises an adjustable counterweight (30), an adjustable mechanical spring clamping unit or an electromotive or electromagnetic unit, wherein in the case of the counterweight (30) this with the load cable ( 18) is coupled and the load cable (18) optionally guided by a iose Rohe and / or a lifting pulley to the counterweight (30).