WO2019233890A1

WO2019233890A1 - Ride device, more particularly for amusement parks

Info

Publication number: WO2019233890A1
Application number: PCT/EP2019/064173
Authority: WO
Inventors: Satoshi DOERING; Julian STOCKSCHLÄDER
Original assignee: Kuka Deutschland Gmbh
Priority date: 2018-06-08
Filing date: 2019-05-31
Publication date: 2019-12-12
Also published as: DE102018209174A1; DE212019000302U1

Abstract

The invention relates to a ride, comprising: - at least one car (1), which forms a rider cab for passengers of the ride, the car (1) having a first coupling device (2.1) and a second coupling device (2.2); - at least one robotic arm (4), which has a first counter coupling device (5.1) which is designed to form, in cooperation with the first coupling device (2.1) of the car (1), a first coupling assembly such that in a locked state of the first coupling assembly the car (1) is fastened to the robotic arm (4) and in an unlocked state of the first coupling assembly the car (1) can be detached from the robotic arm (4); and - at least one first mobile carriage (6), which has a second counter coupling device (5.2) which is designed to form, in cooperation with the second coupling device (2.2) of the car (1), a second coupling assembly such that in a locked state of the second coupling assembly the car (1) is fastened to the first mobile carriage (6) and in an unlocked state of the second coupling assembly the car (1) can be detached from the first mobile carriage (6).

Description

RIDING DEVICE, ESPECIALLY FOR PLEASURE PARKS

The invention relates to a ride, comprising at least one gondola, which forms a passenger cabin for passengers of the ride.

From EP 1 332 779 A1 a driving device is known, in particular for

Amusement parks, fairs or the like with at least one robot carrying a person carrier, i. a gondola or a passenger cabin for passengers, wherein the robot is movable on a closed roadway.

The object of the invention is to provide a driving device, in particular for amusement parks, fairs or the like, which allows special driving effect sequences.

This object is achieved by a ride, comprising:

- at least one gondola holding a passenger cabin for passengers of the

Driving business forms, wherein the nacelle comprises a first coupling device and a second coupling device, - at least one robot arm having a first counter-coupling device, which is designed to cooperate with the first

Coupling device of the nacelle to form a first clutch assembly, such that in a locked state of the first clutch assembly, the nacelle is fixed to the robot arm and the nacelle in a

Unlocking state of the first clutch assembly is detachable from the robot arm,

- at least a first mobile vehicle, the second

A mating coupling device, which is designed, in cooperation with the second coupling device of the nacelle, a second

Clutch assembly to form, such that in a locked state of the second clutch assembly, the nacelle is fixed to the first mobile carriage and the nacelle in an unlocked state of the second

Clutch assembly of the first mobile carriage is solvable. The ride can be especially an amusement attraction, which is used for example in amusement parks, folk festivals or fairs. These rides may be temporarily erected as permanent structures or as permanent installations in the form of fixed installations

Rides be provided.

For example, the nacelle may have multiple seats for the passengers. The nacelle may be open, i. have no roof and / or side walls. Alternatively, however, the nacelle may also be equipped with side walls and / or a roof. The robot arm may be an articulated robot. The robot arm can

For example, have three, four or six axes of rotation. The robotic arm may have a plurality of links connected by, in particular, rotatable joints. The joints may include motors or drives, which may be automatically controlled by a control device. The motors can be electric motors or the drives can be electric drive.

Accordingly, the control device may be an electrical and / or electronic control device.

By providing the ride with the first and second clutch assemblies defined in claim 1, the at least one nacelle may be securely transferred to and fro between the at least one robotic arm and the at least one mobile carriage in a secure manner. It is also possible to alternately switch between several different mobile carriages and a plurality of robot arms. As a result, the respective gondola can be automatically transferred from one course to another course. This means that passengers can complete more than one course without having to leave the gondola for a change of course. In the different courses can be different

Driving effect sequences are performed. Overall, it is also ensured that the respective nacelle is always connected at least with a robotic arm or a mobile carriage, so that it can never come to a state in which the nacelle with none

Robot arm and no mobile cart is connected. The transfer of the nacelle between a robot arm and a mobile carriage can be done automatically, in particular without manual intervention and in particular by energy which is available anyway on the robot arm and / or on the mobile carriage. If necessary, the gondola can also directly from a

Robotic arm to be transferred to another robot arm.

The ride can have a transfer station, which is positioned on the one hand reached by the robot arm so that the first

Coupling device of the robot arm can be coupled to the first coupling device of the nacelle when the nacelle is within the transfer station and the other hand, from the first mobile carriage positioned so reach that the second counter-coupling device of the first mobile vehicle can be coupled to the second coupling device of the nacelle, when the nacelle is inside the transfer station.

The transfer station may have a barrier that allows access from

Persons who are not passengers in the gondola are prevented from entering the area of the transfer station. The transfer station differs in this respect from an entry and exit station, as in the transfer station, the passengers remain in the gondola and thus the passengers can not leave the gondola in the transfer station and can not enter.

The first coupling arrangement may comprise first locking means, the second coupling arrangement may comprise second locking means, wherein the first locking means cooperate with the second locking means such that release of the first locking means is possible only when the second locking means are locked, such that the second coupling device is connected to the second counter-coupling device of the first mobile carriage, so that the nacelle on the first mobile carriage is attached, and a release of the second locking means is only possible when the first locking means are locked, such that the first coupling device is connected to the first counter-coupling device of the robot arm, so that the nacelle is fixed to the robot arm.

Both the first clutch assembly, as well as the second clutch assembly can form-locking cooperating coupling devices and

Have counter-coupling devices. The locking means may be formed by mechanical levers, pins, rods and / or bars, which in their respective locking positions separating the positive

Connections of associated coupling device and

Prevent counter-coupling devices.

It may be provided that a release of the first locking means is triggered by a driving movement of the first mobile carriage. For example, it may be provided that the first clutch assembly, i. the positive connection of the nacelle to the robotic arm can disengage when the first mobile carriage connects to the nacelle. A coupling of the first mobile trolley to the nacelle can be effected in that the first mobile trolley exploits its momentum of movement in order to couple to the nacelle.

It may be provided that unlocking of the second locking means is triggered by a movement of the robot arm.

For example, it may be provided that the second clutch assembly, i. the positive connection of the nacelle with the first mobile

Trolley, can dissolve when the robotic arm connects to the nacelle. A coupling of the robot arm to the nacelle can take place in that the robot arm is actively, in particular automatically controlled by a

Robot control and its motors or drives, a corresponding

Moving to dock to the nacelle. For example, the Robotic arm thereby move automatically so that a coupling flange is moved at the distal free end of the robot arm in its thrust toward the nacelle until the first mating device of the robot arm with the first coupling device of the nacelle connects positively. The first locking means and the second locking means may be actuated mechanically, electromechanically, hydraulically and / or pneumatically.

The lock state and / or the unlock state of the first

Coupling arrangement and the second clutch arrangement can of

Sensors automatically, especially in redundant and / or diversified

Execution of the sensors, be monitored.

The ride can have an electronic safety control, which is designed to automatically monitor the locking state and / or the unlocking state of the first clutch assembly and the second clutch assembly, in particular by means of electrical sensors, in particular in redundant and / or diversified design of the electrical sensors.

In the ride, in a particular embodiment, the at least one robotic arm may be stationary.

In a stationary arrangement of the at least one robot arm, the relevant robot arm is fastened to a foundation. This means that the

Robotic arm in such a stationary arrangement can not be moved from its place. A driving sequence on the robot arm is in this

Execution achieved solely by the fact that the robot arm moves the gondola connected to it by adjusting the joints of the robot arm. In the ride, in a further specific embodiment, the at least one robot arm can be arranged on a second mobile carriage and the at least one robotic arm can be arranged together with the second mobile carriage

Trolley be designed to be mobile. If the robotic arm is disposed on a second mobile carriage, then the robotic arm can be moved along with the nacelle attached to it by means of the first coupling arrangement. The robot arm can then go through a course together with the nacelle, for example on rails on which the second mobile carriage drives. As the robotic arm travels along the course along with the nacelle on the second mobile carriage, the robotic arm may perform additional movements by adjusting the joints of the robotic arm to additionally adjust the nacelle relative to the second mobile carriage.

The second mobile carriage may be movable on rails of a first course, in particular be moved on rails of a first course, in which the rails extend at least largely in one plane and thus the second mobile carriage is at least substantially or precisely movable only in a single altitude , This allows a

Moving the robot arm together with the nacelle also in cases where, for example, due to the weight of robot arm and with

Passengers occupied gondola, a ride on a course similar to a roller coaster with high gradients and deep slopes due to high weight forces and acceleration forces, such as G-forces, is not possible.

The first mobile carriage may be movable on rails of a second course, in particular be movable on rails of a second course, in which the rails extend at least partially up and / or down and thus the first mobile carriage is movable at different altitudes.

Moving the nacelle (without the robotic arm) is also possible in cases where the passenger-occupied nacelle is very heavy and yet a ride on a course similar to a roller coaster with high gradients and deep slopes due to high weight forces and

Acceleration forces, such as G-forces, is possible because the Gondola alone, ie without robotic arm, is directly attached to the first mobile carriage.

The ride can have a separate from a transfer station of the ride business entry and exit station, which is designed to

Passengers of the ride to allow getting into the gondola and getting out of the gondola.

The ride may include a ride control device configured to automatically move the robot arm in a first drive sequence of a ride when the gondola is connected to the robotic arm by the first clutch assembly, and the first in a second drive sequence of a ride, in particular the same ride mobile cart to move automatically when the nacelle is connected by means of the second clutch assembly with the first mobile carriage.

The drive control device may be connected to a corresponding robot controller for automatically controlling the at least one robot arm. The driving control device may be combined with the robot controller in a common control.

Concrete embodiments of the invention are in the following

Description with reference to the accompanying figures explained in more detail. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, if appropriate also individually or in further combinations, represent general features of the invention.

Show it:

Fig. 1 is a perspective view of an exemplary ride in the area of a transfer station with a first and second Coupling arrangement, wherein both the robot arm, as well as the mobile carriage are coupled to the nacelle;

Fig. 2 is a perspective view of the ride of Figure 1, in which the nacelle is coupled only to the robot arm and is not coupled to the mobile carriage;

Fig. 3 is a perspective view of the ride of Figure 1, in which the nacelle is coupled only to the mobile carriage and is not coupled to the robot arm.

Fig. 4 is a perspective view of a modified

Embodiment of a driving business, in which the robot arm is not arranged stationary as shown in Figure 1 to Figure 3, but is arranged to be moved in Figure 4 on its own rail track. and

Fig. 5 is a schematic plan view of the ride according to FIG. 4 with a first course and a second course.

In the case of the exemplary embodiments of FIGS. 1 to 5, the illustrated ride initially has at least one nacelle 1, which forms a passenger cabin for passengers of the ride, wherein the nacelle 1 is a first

Coupling device 2.1 and a second coupling device 2.2 has. The nacelle 1 has, for example, several, in the case of the present

Embodiment of Figure 1 to Figure 4 six seats 3 for the passengers. The nacelle 1 may be open as shown, i. have no roof and / or side walls. Alternatively, the nacelle 1 but also with

Sidewalls and / or a roof be equipped.

The ride also has at least one robot arm 4, which has a first counter-coupling device 5.1, which is formed in To cooperate with the first clutch device 2.1 of the nacelle 1 to form a first clutch assembly, such that in a locked state of the first clutch assembly, the nacelle 1 is fixed to the robot arm 4, as shown in particular in Fig. 1, Fig. 2 and Fig. 4 is, and the nacelle 1 in an unlocked state of the first clutch assembly of the

Robot arm 4 is detachable, as shown in particular in Fig. 3.

The ride also has at least a first mobile

Trolley 6, which has a second counter-coupling device 5.2, which is designed to form a second clutch arrangement in cooperation with the second clutch device 2.2 of the nacelle 1, such that in a locking state of the second clutch arrangement the nacelle 1 is fastened to the first mobile trolley 6 is, as shown in particular in Fig. 1 and Fig. 3, and the nacelle 1 in a unlocked state of the second clutch assembly of the first mobile carriage 6 is detachable, as shown in particular in Fig. 2 and Fig. 4.

The ride has in the case of the embodiments shown a

Transfer station 7, which is positioned on the one hand reachable by the robot arm 4, that the first counter-coupling device 5.1 of the robot arm 4 can engage the first coupling device 2.1 of the nacelle 1, when the nacelle 1 is located within the transfer station 7 and the other of the first mobile carriage 6 is positioned so accessible that the second mating device 5.2 of the first mobile carriage 6 can be coupled to the second coupling device 2.2 of the nacelle 1 when the nacelle 1 is within the transfer station 7.

The first clutch arrangement has first locking means, the second clutch arrangement has second locking means. The first

Locking means act with the second locking means so

together that a release of the first locking means is possible only when the second locking means are locked, such that the second coupling device 2.2 is connected to the second counter-coupling device 5.2 of the first mobile carriage 6, so that the nacelle 1 at the first mobile carriage 6 is fixed, and a release of the second locking means is only possible when the first locking means are locked, such that the first coupling device 2.1 with the first

Counter coupling device 5.1 of the robot arm 4 is connected, so that the nacelle 1 is fixed to the robot arm 4.

The ride has in the case of the embodiments, as shown in FIG. 1, an electronic safety controller 8, which is formed, the locking state and / or the unlocking state of the first

Coupling arrangement and the second clutch assembly, in particular by means of electrical sensors, in particular in redundant and / or diversitary

Version of the electrical sensors to automatically monitor.

In the embodiments of FIGS. 1 to 3, the at least one robot arm 4 is arranged stationary.

In the embodiments of FIGS. 4 and 5, the at least one robot arm 4 is arranged on a second mobile trolley 9 and the at least one robot arm 4 is designed to be movable together with the second mobile trolley 9.

In the embodiments of FIGS. 4 and 5, the second mobile carriage 9 can be moved on rails 10 of a first course 11, in particular on rails of a first course 11, in which the rails 10 extend at least substantially in one plane and thus the second mobile carriage 9 is at least substantially or precisely movable only in a single altitude, as indicated in Fig. 5 by the small curvatures of the line of the first course 1 1. In the embodiments of FIGS. 4 and 5, the first mobile carriage 6 is on

Can be moved rails 13 of a second course 12, in particular on rails 13 of a second course 12 movable, in which the rails 13 extend at least partially up and / or down and thus the first mobile carriage 6 is movable at different altitudes, as shown in Fig. 5th by the sometimes sharp curvatures of the line of the second course 12 is indicated.

In an embodiment according to FIG. 5, the ride can comprise a plurality of robot arms 4, wherein each individual robot arm 4 is arranged on a separate second mobile carriage 9 of a plurality of second mobile carriages 9. It can also, as shown in Fig. 5, a plurality of first mobile carriage 6 may be provided. Two or more first mobile carriages 6 may be combined into one train, i. be coupled together like a chain, so that you can form a train with several first mobile carriage 6, which are movable together on the rails 13 of the second course 12.

Claims

claims

1st ride, comprising:

at least one nacelle (1) which forms a passenger cabin for passengers of the driving business, the nacelle (1) having a first coupling device (2.1) and a second coupling device (2.2),

- At least one robot arm (4), the first

Counter-coupling device (5.1) which is designed to form a first coupling arrangement in cooperation with the first coupling device (2.1) of the nacelle (1), such that in a locking state of the first coupling arrangement the nacelle (1) is attached to the robot arm (4). is fixed and the gondola (1) in a unlocked state of the first coupling arrangement of the robot arm (4) is releasable,

at least one first mobile carriage (6) having a second mating coupling device (5.2) which is designed to form a second coupling arrangement in cooperation with the second coupling device (2.2) of the nacelle (1), such that in a locked state second clutch assembly, the nacelle (1) is attached to the first mobile carriage (6) and the nacelle (1) in an unlocked state of the second

Clutch assembly of the first mobile carriage (6) is detachable.

2. ride according to claim 1, comprising a transfer station (7), on the one hand by the robot arm (4) is reached reachable so that the first mating coupling device (5.1) of the robot arm (4) to the first coupling device (2.1) of the nacelle (1 ) can be coupled when the nacelle (1) is located within the transfer station (7) and the other hand of the first mobile carriage (6) so accessible is positioned so that the second counter coupling device (5.2) of the first mobile trolley (6) can be coupled to the second coupling device (2.2) of the nacelle (1) when the nacelle (1) is located within the transfer station (7). 3. ride according to claim 1 or 2, wherein the first

Coupling arrangement comprises at least a first locking means, the second coupling arrangement comprises at least a second locking means and the at least one first locking means cooperates with the at least one second locking means, that a release of the at least one first locking means is only possible if the locks at least one second locking means is such that the second coupling device (2.2) with the second

Counter coupling device (5.2) of the first mobile trolley (6) is connected, so that the nacelle (1) is attached to the first mobile carriage (6), and releasing the at least one second

Locking means is only possible if the at least one first locking means is locked, such that the first

Coupling device (2.1) is connected to the first counter-coupling device (5.1) of the robot arm (4), so that the nacelle (1) on the

Robotic arm (4) is attached.

4. ride according to claim 3, wherein unlocking the at least one first locking means by a driving movement of the first mobile carriage (6) is triggered.

5. ride according to claim 3 or 4, wherein unlocking the at least one second locking means by a movement of the robot arm

(4) is triggered.

6. ride according to one of claims 3 to 5, wherein the at least one first locking means and / or the at least one second Locking means are mechanically, electromechanically, hydraulically or pneumatically operated.

7 ride according to one of claims 1 to 6, wherein the

Locking state and / or the unlocking state of the first clutch assembly and the second clutch assembly of sensors automatically, especially in redundant and / or diversified

Execution of the sensors are monitored.

8 ride according to one of claims 1 to 7, comprising a

electronic safety controller (8), which is adapted to

Locking state and / or the unlocking state of the first clutch assembly and the second clutch assembly, in particular by means of electrical sensors, in particular in redundant and / or diversified design of the electrical sensors to monitor automatically. 9 ride according to one of claims 1 to 8, wherein the at least one robot arm (4) is arranged stationary.

Ride according to one of claims 1 to 9, wherein the at least one robot arm (4) arranged on a second mobile carriage (9) and the at least one robot arm (4) together with the second mobile carriage (9) is designed to be mobile.

1 1. ride according to claim 10, wherein the second mobile carriage (9) on rails (10) of a first course (1 1) is movable,

Ride according to claim 1 1, wherein the rails (10) extend at least substantially in one plane and thus the second mobile

Trolley (9) is at least substantially or precisely movable only in a single altitude.

13. ride according to one of the preceding claims, wherein the first mobile carriage (6) on rails (13) of a second course (12) is movable, in particular on rails (13) of a second course (12) is movable, wherein the rails (13) run at least in sections up and / or down and thus the first mobile

Trolley (6) can be moved in different altitudes.

14. Ride according to one of the preceding claims, comprising a of a transfer station (7) of the ride separate entrance and exit station, which is formed, the passengers of the

To allow getting into the gondola (1) and getting out of the gondola (1).

15. ride according to one of the preceding claims, comprising a

A driving control device configured to automatically move the robot arm (4) in a first driving sequence of a journey when the nacelle (1) is connected to the robot arm (4) by means of the first coupling arrangement, and in a second driving sequence of a ride, in particular the same Ride, the first mobile carriage (6) to move automatically when the nacelle (1) is connected by means of the second coupling arrangement with the first mobile carriage (6).