WO2019233890A1 - Moyen de déplacement destiné en particulier à un parc de loisirs - Google Patents

Moyen de déplacement destiné en particulier à un parc de loisirs Download PDF

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Publication number
WO2019233890A1
WO2019233890A1 PCT/EP2019/064173 EP2019064173W WO2019233890A1 WO 2019233890 A1 WO2019233890 A1 WO 2019233890A1 EP 2019064173 W EP2019064173 W EP 2019064173W WO 2019233890 A1 WO2019233890 A1 WO 2019233890A1
Authority
WO
WIPO (PCT)
Prior art keywords
nacelle
coupling device
robot arm
ride
mobile carriage
Prior art date
Application number
PCT/EP2019/064173
Other languages
German (de)
English (en)
Inventor
Satoshi DOERING
Julian STOCKSCHLÄDER
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Priority to DE212019000302.8U priority Critical patent/DE212019000302U1/de
Publication of WO2019233890A1 publication Critical patent/WO2019233890A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/003—Manipulators for entertainment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/02—Amusement arrangements with moving substructures
    • A63G31/04—Amusement arrangements with moving substructures with jolting substructures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G7/00—Up-and-down hill tracks; Switchbacks

Definitions

  • the invention relates to a ride, comprising at least one gondola, which forms a passenger cabin for passengers of the ride.
  • 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.
  • 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.
  • a ride comprising:
  • 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
  • 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
  • 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
  • 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.
  • control device may be an electrical and / or electronic control device.
  • 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
  • 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
  • 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
  • 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
  • the locking means may be formed by mechanical levers, pins, rods and / or bars, which in their respective locking positions separating the positive
  • a release of the first locking means is triggered by a driving movement of the first mobile carriage.
  • 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.
  • unlocking of the second locking means is triggered by a movement of the robot arm.
  • 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
  • the Robotic arm Moving to dock to the nacelle.
  • 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.
  • Coupling arrangement and the second clutch arrangement can of
  • 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.
  • the at least one robotic arm may be stationary.
  • 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
  • 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
  • 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
  • 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
  • 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.
  • 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.
  • 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.
  • Fig. 5 is a schematic plan view of the ride according to FIG. 4 with a first course and a second course.
  • 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
  • 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.
  • 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.
  • Locking means act with the second locking means so
  • 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
  • the at least one robot arm 4 is arranged stationary.
  • 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.
  • 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.
  • the first mobile carriage 6 is on
  • 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.

Abstract

L'invention concerne un manège présentant au moins une nacelle (1) qui forme une cabine pour les passagers du manège, la nacelle (1) présentant un premier dispositif de raccordement (2.1) et un second dispositif de raccordement (2.2), au moins un bras de robot (4) qui présente un premier dispositif de raccordement (5.1) complémentaire qui est conçu pour former en interaction avec le premier dispositif de raccordement (2.1) de la nacelle (1) un premier système de raccordement de telle manière que la nacelle (1) est fixée au bras (4) de robot lorsque le premier système de raccordement est verrouillé, et que la nacelle (1) peut être détachée du bras de robot (4) lorsque le premier système de raccordement est déverrouillé, et au moins un premier chariot mobile (6) qui présente un second dispositif de raccordement (5.2) complémentaire qui est conçu pour former en interaction avec le second dispositif de raccordement (2.2) de la nacelle (1) un second système de raccordement de telle manière que la nacelle (1) est fixée au premier chariot mobile (6) lorsque le second système de raccordement est verrouillé, et que la nacelle (1) peut être détachée du premier chariot mobile (6) lorsque le second système de raccordement est déverrouillé.
PCT/EP2019/064173 2018-06-08 2019-05-31 Moyen de déplacement destiné en particulier à un parc de loisirs WO2019233890A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE212019000302.8U DE212019000302U1 (de) 2018-06-08 2019-05-31 Fahrgeschäft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018209174.9A DE102018209174A1 (de) 2018-06-08 2018-06-08 Fahrgeschäft
DE102018209174.9 2018-06-08

Publications (1)

Publication Number Publication Date
WO2019233890A1 true WO2019233890A1 (fr) 2019-12-12

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ID=66821202

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/064173 WO2019233890A1 (fr) 2018-06-08 2019-05-31 Moyen de déplacement destiné en particulier à un parc de loisirs

Country Status (2)

Country Link
DE (2) DE102018209174A1 (fr)
WO (1) WO2019233890A1 (fr)

Families Citing this family (2)

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US20230302373A1 (en) * 2022-03-24 2023-09-28 Disney Enterprises, Inc. Systems and methods for transferring a passenger compartment between ride systems using robotic tool changers
DE102023135595A1 (de) 2023-12-18 2024-02-08 Bec Gmbh Fahrgeschäft und Verfahren zu dessen Betrieb

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US4878799A (en) * 1987-01-07 1989-11-07 Fuji Photo Film Co., Ltd. Automatic machine for unloading film sheet from magazine
EP1332779A1 (fr) 2002-01-30 2003-08-06 KUKA Roboter GmbH Manège avec véhicules, en particulier pour fêtes foraines, parcs d'attractions ou similaire
DE202009009462U1 (de) * 2009-07-10 2009-09-17 Zahoransky Ag Einrichtung zum Zwischenspeichern von Bürstenkörpern
DE102012015143A1 (de) * 2012-07-31 2013-03-14 Daimler Ag Anordnung eines Roboters
DE102011083596A1 (de) * 2011-09-28 2013-03-28 Kuka Laboratories Gmbh Fahrgeschäft und Verfahren zum Betreiben des Fahrgeschäfts
EP2631041A2 (fr) * 2012-02-23 2013-08-28 KUKA Roboter GmbH Robot mobile
EP2952298A2 (fr) * 2014-06-02 2015-12-09 Liebherr-Verzahntechnik GmbH Module de robot
US20160221187A1 (en) * 2013-03-15 2016-08-04 Industrial Perception, Inc. Object Pickup Strategies for a Robotic Device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4588349A (en) * 1983-07-28 1986-05-13 The United States Of America As Represented By The Secretary Of The Air Force Robotic order picking
US4878799A (en) * 1987-01-07 1989-11-07 Fuji Photo Film Co., Ltd. Automatic machine for unloading film sheet from magazine
EP1332779A1 (fr) 2002-01-30 2003-08-06 KUKA Roboter GmbH Manège avec véhicules, en particulier pour fêtes foraines, parcs d'attractions ou similaire
DE202009009462U1 (de) * 2009-07-10 2009-09-17 Zahoransky Ag Einrichtung zum Zwischenspeichern von Bürstenkörpern
DE102011083596A1 (de) * 2011-09-28 2013-03-28 Kuka Laboratories Gmbh Fahrgeschäft und Verfahren zum Betreiben des Fahrgeschäfts
EP2631041A2 (fr) * 2012-02-23 2013-08-28 KUKA Roboter GmbH Robot mobile
DE102012015143A1 (de) * 2012-07-31 2013-03-14 Daimler Ag Anordnung eines Roboters
US20160221187A1 (en) * 2013-03-15 2016-08-04 Industrial Perception, Inc. Object Pickup Strategies for a Robotic Device
EP2952298A2 (fr) * 2014-06-02 2015-12-09 Liebherr-Verzahntechnik GmbH Module de robot

Also Published As

Publication number Publication date
DE102018209174A1 (de) 2019-12-12
DE212019000302U1 (de) 2021-01-22

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