WO2012019826A1 - Dispositif pour déplacer des charges avec une compensation de poids au moins partielle - Google Patents

Dispositif pour déplacer des charges avec une compensation de poids au moins partielle Download PDF

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Publication number
WO2012019826A1
WO2012019826A1 PCT/EP2011/061110 EP2011061110W WO2012019826A1 WO 2012019826 A1 WO2012019826 A1 WO 2012019826A1 EP 2011061110 W EP2011061110 W EP 2011061110W WO 2012019826 A1 WO2012019826 A1 WO 2012019826A1
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WO
WIPO (PCT)
Prior art keywords
load
trolley
unit
rail
cable
Prior art date
Application number
PCT/EP2011/061110
Other languages
German (de)
English (en)
Inventor
Harald Stuehrenberg
Original Assignee
Harald Stuehrenberg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harald Stuehrenberg filed Critical Harald Stuehrenberg
Priority to EP11740585.2A priority Critical patent/EP2741994A1/fr
Publication of WO2012019826A1 publication Critical patent/WO2012019826A1/fr

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Classifications

    • 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

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • the invention intends to use such a device for therapeutic purposes and as an aid to persons restricted in their movement.
  • 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 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 counter-force generating unit coupled to the load cable for at least partial weight compensation of the load
  • the invention has an apparatus for the one-dimensional method of a load with weight compensation.
  • the device has a (trolley) rail, ilves which a trolley is movable.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 Tragseifabitese, 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
  • 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.
  • this embodiment of the invention is provided
  • the trolley rail can be moved along its ends along two parallel support rails,
  • 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,
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • a third drive unit is also to call, which serves the automatic raising or lowering of the load.
  • 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.
  • 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) nachumble.
  • 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 Lastseilinnverixe- tion unit.
  • 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.
  • mutually movable tension rollers around which the load rope is alternately guided.
  • 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.
  • 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.
  • 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 investigatedausgaeich is moved up and down exclusively in Z-axisrtchtung and thus does not affect the working weight by natural oscillations (oscillations).
  • 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.
  • a trolley rail or driving rope
  • the trolley 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.
  • the entire device can be carried out mobile, so can spend at their place of use.
  • the device can be designed as a movable gantry crane and moved accordingly,
  • 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.
  • 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.
  • the bandwidth of possible users of the device according to the invention is exceptionally large.
  • 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.
  • 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.
  • 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.
  • servo motors generally drive units
  • therapy should be tailored to the individual patient.
  • 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
  • leg muscles are strengthened the motivation for training is increased due to the absolute ease of training
  • MS Muitiple sclerosis
  • the therapy option is determined by the patient himself.
  • 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.
  • 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.
  • roller carriage 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.
  • 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 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.
  • FIG. 1 shows a first embodiment of the invention in its application to the one-dimensional method of a load
  • FIG. 2 shows a variant of the first embodiment of the invention according to FIG. 1 with endless load transmission
  • FIG. 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
  • 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
  • FIG. 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(sbeispiei the device according to the invention with auxiliary drives for a motorized process of the load and a Z-drive for the load and
  • FIG. 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.
  • 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.
  • the load cable 18 is guided around a guide roller 24 down.
  • a counterweight 30 is 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.
  • FIG. 2 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.
  • 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.
  • FIG. 3 an embodiment of a device 10b is sketched for a two-dimensional method of a load.
  • 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.
  • a Umienkrolle 54 At the one end 20 of the trolley rail 12 is a Umienkrolle 54 around which the load rope 18 between its two LastseÜabbalden 34 led around (st.
  • FIG. 4 an alternative embodiment of the device 10b of Fig. 3 is shown.
  • 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.
  • a device is shown lOf, which, as for the Lastseie Adjust, as shown in Fig. 6, is configured.
  • 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.
  • 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.
  • a drive cable 122 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 notedsbeispie! 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.
  • 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.
  • 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.
  • the two aforementioned drive units 92 and 120 it also applies that they do not necessarily have to be present in combination.
  • the drive unit 136 is ultimately a unit for the targeted raising and lowering of the hanging on the trolley 16 load.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne un dispositif pour déplacer des charges avec une compensation de poids au moins partielle, pourvu d'un rail à chariot roulant (12) et d'un chariot roulant (16) pouvant se déplacer sur un parcours le long du rail (12) et équipé de premières poulies de renvoi (32) pour un câble de hissage (18). Ce dispositif présente en outre une unité de réception de charge (40), présentant au moins une première poulie folle (38, 39) et servant à recevoir une charge (46), ainsi qu'un câble de hissage (18) qui s'étend le long du rail (12) et est guidé autour des premières poulies de renvoi (32) du chariot roulant (16) et entre ces dernières autour de ladite au moins une première poulie folle (38, 39) de l'unité de réception de charge (40). Une unité de génération de force antagoniste (31, 30) destinée à réaliser une compensation de poids au moins partielle de la charge (46) est accouplée au câble de hissage (18) à l'extérieur du parcours du chariot roulant (16).
PCT/EP2011/061110 2010-08-13 2011-07-01 Dispositif pour déplacer des charges avec une compensation de poids au moins partielle WO2012019826A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11740585.2A EP2741994A1 (fr) 2010-08-13 2011-07-01 Dispositif pour déplacer des charges avec une compensation de poids au moins partielle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010034846 2010-08-13
DE102010034846.5 2010-08-13

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Publication Number Publication Date
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
TWI608984B (zh) * 2016-08-25 2017-12-21 Quan Cheng Hong Three-dimensional three-dimensional moving care equipment
WO2020155600A1 (fr) * 2019-02-02 2020-08-06 广东博智林机器人有限公司 Système de construction de bâtiment et procédé de construction associé
CN114772456A (zh) * 2022-05-09 2022-07-22 北京首旺科技有限公司 一种节能型单轨吊车用悬浮无磨损驱动装置

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TWI608984B (zh) * 2016-08-25 2017-12-21 Quan Cheng Hong Three-dimensional three-dimensional moving care equipment
WO2020155600A1 (fr) * 2019-02-02 2020-08-06 广东博智林机器人有限公司 Système de construction de bâtiment et procédé de construction associé
CN114772456A (zh) * 2022-05-09 2022-07-22 北京首旺科技有限公司 一种节能型单轨吊车用悬浮无磨损驱动装置

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