EP0063792B1 - Antriebsvorrichtung zur Erzeugung einer progressiven zweiseitigen Bewegung eines auf geradlinigen Schienen geführten Organs - Google Patents

Antriebsvorrichtung zur Erzeugung einer progressiven zweiseitigen Bewegung eines auf geradlinigen Schienen geführten Organs Download PDF

Info

Publication number
EP0063792B1
EP0063792B1 EP82103400A EP82103400A EP0063792B1 EP 0063792 B1 EP0063792 B1 EP 0063792B1 EP 82103400 A EP82103400 A EP 82103400A EP 82103400 A EP82103400 A EP 82103400A EP 0063792 B1 EP0063792 B1 EP 0063792B1
Authority
EP
European Patent Office
Prior art keywords
slot
support
crankpins
crankpin
toothed wheel
Prior art date
Legal status (The legal status 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 status listed.)
Expired
Application number
EP82103400A
Other languages
English (en)
French (fr)
Other versions
EP0063792A1 (de
Inventor
René Londos
Jean-Luc Barbereau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Generale De Manutention Et De Stockage Cgms Cie SA
Original Assignee
Generale De Manutention Et De Stockage Cgms Cie SA
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 Generale De Manutention Et De Stockage Cgms Cie SA filed Critical Generale De Manutention Et De Stockage Cgms Cie SA
Publication of EP0063792A1 publication Critical patent/EP0063792A1/de
Application granted granted Critical
Publication of EP0063792B1 publication Critical patent/EP0063792B1/de
Expired legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating
    • Y10T74/18248—Crank and slide
    • Y10T74/18256—Slidable connections [e.g., scotch yoke]

Definitions

  • the present invention relates to a device for driving in a bilateral progressive movement of a load support guided on rectilinear rails between two end positions, comprising a rectilinear light integral with the support to be driven, said light being elongated, perpendicular to the direction of movement. and open at its two ends, a first pinion and a second pinion each carrying an eccentric pin, reversible means for driving the pinions in rotation driving them simultaneously but in opposite directions from one another, by a half maximum turn and thus making the corresponding crankpin travel a semi-circular trajectory.
  • Document FR-A-2322088 has already proposed a device as above in which the two pinions are linked to a sub-assembly of drive plate which is driven in translation at constant speed by means of a drive pinion acting on a rack linked to the drive plate, the translation of the drive plate causes the simultaneous rotation and in opposite direction of the two pinions which, on the one hand mesh with each other and on the other hand mesh each with a rack linked to the base plate.
  • the rotation of the pinions by 360 ° causes, by means of their crank pin each placed in a light secured to an intermediate element, said intermediate element in translation relative to the drive plate according to a law of sinusoidal movement as a function of the angle of rotation of the pinions.
  • the translational movement at constant speed of the drive plate is thus transformed into a sinusoidal movement which achieves the desired progressive movement.
  • such a device is complicated and comprises at least three sub-assemblies: the base plate sub-assembly, the drive plate sub-assembly and the intermediate element sub-assembly.
  • Document DE-A-2 545 010 furthermore describes a device making it possible to drive a handling member which comprises lugs cooperating with lights and both traveling the same trajectory, that is to say a trajectory comprising rectilinear parts between semicircular parts.
  • the organ which is moved successively carries out an accelerated movement, a movement at constant speed and a slowing movement.
  • the presence of the rectilinear part, causing a movement at constant speed, increases the cycle time.
  • the object of the present invention is to provide a simple progressive drive device which does not include a bearing at constant speed.
  • the stroke of the support along the straight rails is determined by the displacement of one of the two crankpins in the light. Furthermore, at start-up, the driving action of the crankpin in the light is gradually established, whatever the load placed on the support and independently of it. In the same way, at the end of the race the action of the crank pin on the edge of the light gradually decreases due to its circular trajectory which at the end of the race is tangential to the light, and whatever the load supported.
  • the device which is the subject of the invention is particularly suitable for driving the telescopic forks of a handling trolley, in a bilateral progressive movement, on either side of a circulation aisle.
  • the invention therefore also relates to a handling trolley comprising a telescopic fork with two teeth each constituted by superimposed rules movable with respect to each other, and a drive device as above, characterized in that '' it includes a retaining plate which is fixed transversely to the corresponding movable rules of the two teeth and includes a light perpendicular to these rules and open at these two ends, and, between two support bases for the teeth, two rotary pinions mounted on the chassis, driven in opposite directions and alternately engaging in the light two crank pins which each travel a circular trajectory around the axis of the pinion which carries it.
  • the device which is the subject of the invention is intended to ensure the rectilinear displacement of a support for load consisting of two teeth of a telescopic fork of a handling trolley.
  • the teeth are parallel and each preferably consists of three rules mounted telescopically.
  • a lower rule, or fixed rule 30, is supported at each of its ends by a support block 32 secured to the chassis of the carriage and forms two slides in which rollers roll 33 secured to an intermediate rule 34.
  • a third rule 36 slides , by means of rollers 35, on this intermediate rule 34, and the load to be supported, represented in the form of a pallet 38, rests on the two upper rules 36 of the fork.
  • the intermediate rules 34 of the two teeth of the telescopic fork carried by the carriage are joined together by a retaining plate 60 fixed transversely to the two intermediate rules.
  • the drive device of the invention has the function of acting on this plate 60 to drive it in a rectilinear manner by means of a motor 3 associated with a reduction gear 4 which drives in rotation at a constant speed a pinion toothed 6.
  • the pinion 6 is connected by a chain 44 to two pinions, respectively 42 and 43, which are mobile, in rotation only, and are driven by the chain 44 in opposite directions by means of a change of direction pinion 46 ( figure 2).
  • Each of the pinions 42 and 43 carries a radial arm, respectively 49 and 48, at the end of which is fixed a crank pin respectively 50 and 52, which thus travels a circular trajectory around the axis of the corresponding pinion 42 or 43 during the rotation of the latter.
  • the retaining plate 60 to be driven has a narrow and elongated lumen 54 which is open at its two ends.
  • This lumen 54 is delimited by two profiled and offset bars 62 and 63, fixed under the retaining plate 60 and comprises two parallel rectilinear edges, of the same length 55 and 56 which are each extended at one end by a curved ramp, respectively 57 and 58, these two ramps being directed in opposite directions.
  • This drive device comprises a central neutral position, which is shown in solid lines in FIG. 2 and in which the two crankpins 50 and 52 are engaged in the lumen 54, each close to one of the ends thereof. .
  • the driving pinion 6 is driven in a clockwise direction, for example, the pinion 42 rotating in the same direction moves the crank pin 50 towards the inside of the lumen 54, while the pinion 43 rotating in the opposite direction brings out the crank pin 52 from the light 54.
  • the crank pin 50 therefore acts alone on the light 54 and forces it to move progressively along the slides on which the retaining plate 60 is mounted.
  • the displacement of the light 54 corresponds to a half-turn of rotation of the pinion 42, that is to say to a semi-circular trajectory of the crank pin 50.
  • crankpin 52 has made a half-turn under no load, outside the light.
  • the return of the plate 60 or of the light 54 in the neutral position is carried out in the opposite direction, simply by changing the direction of rotation of the motor pinion 6, which also causes the crankpin 52 to go back until it enters the lumen 54. If at this moment the pinion 6 continues to rotate anticlockwise, it is the crankpin 52 which drives the support 60 as well as the lumen 54 and causes its displacement a stroke equivalent to the first but in the opposite direction, while the crankpin 50 makes an empty half-turn.
  • the dimensions of the lumen 54 and the shape of the ramps 57, 58, as well as the relative positions of the circular trajectories of the crankpins 50 and 52, are such that there is always at least one crankpin engaged with the lumen 54, the crankpin 50 being practically locked in the slot 54 as long as the crankpin 52 is not fully engaged there, and vice versa.
  • the set of pinions 42, 43 and arms 48, 49 are mounted under the telescopic fork, between the bases 32 which support the two teeth.
  • the trolley thus produced makes it possible to deposit or pick up loads stored in shelves located on each side of an aisle in which the trolley is placed.
  • the displacement of the fork is precise and is carried out without risk of instability whatever the load, thanks to the cooperation of the crankpin and the light, and in particular to the fact that the acceleration and the deceleration are obtained without requiring adjustment especially the engine speed.
  • This simplicity of control and above all the safety of the slowing down and its progression possibly makes it possible to accelerate the movement by increasing the speed of the motor when it is desired to obtain a shorter cycle time, for example for a movement without load.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Massaging Devices (AREA)
  • Mechanical Control Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (6)

1. Antriebsvorrichtung zur Erzeugung einer progressiven Hin- und Herbewegung eines auf geradlinigen Schienen zwischen zwei Endstellungen geführten Lastenträgers, mit einem mit dem anzutreibenden Träger (60) fest verbundenen geradlinigen Schlitz (54), der länglich, senkrecht zur Bewegungsrichtung angeordnet und an seinen beiden Enden offen ist, mit einem ersten Treibrad (42) und einem zweiten Treibrad (43), die je einen exzentrischen Kurbelzapfen (50, 52) aufweisen, mit umkehrbaren Mitteln (3, 4, 6, 44, 46) zum Drehantrieb der Treibräder, die sie gleichzeitig, aber in zueinander entgegengesetzter Richtung um höchstens eine halbe Drehung antreiben und so den entsprechenden Kurbelzapfen einen halbkreisförmigen Weg durchlaufen lassen, dadurch gekennzeichnet, daß die Achsen der Treibräder (42, 43) fest sind und je auf einer Seite des Schlitzes (54) in seiner neutralen zentralen Stellung angeordnet sind, so daß die beiden Kurbelzapfen (50, 52) gleichzeitig in den Schlitz (54) eingreifen, wenn der Träger (60) sich in seiner neutralen zentralen Stellung befindet, wobei die Achse des Schlitzes in dieser Stellung eine Tangente zu den Wegstrecken der beiden Kurbelzapfen bildet, während einer der Kurbelzapfen (50, 52) sich aus diesem Schlitz löst, wenn die Antriebsmittel die Treibräder in Drehung versetzen.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß jeder Kurbelzapfen (50, 52) von einem radialen Arm (48, 49) außerhalb des entsprechenden Treibrads (42, 43) getragen wird und die halbkreisförmige Wegstrecke während der Drehung dieses Treibrads durchläuft.
3. Vorrichtung nach einem der Ansprüche 1 und 2, dadurch gekennzeichnet, daß der offene Schlitz (54) an jedem seiner Enden gekrümmt ist, um zwei Führungsrampen (57, 58) für die Kurbelzapfen (50, 52) zu bilden, die in entgegengesetzte Richtung zeigen und ihre Verriegelung ermöglichen.
4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Treibräder (42, 43) über eine Übertragungskette (44) oder eine Zahnradeinheit von einem Motortreibrad (6) angetrieben werden, dessen Drehrichtung umgekehrt werden kann.
5. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß sie Teil eines Transportwagens ist, der eine Teleskopgabel aufweist, deren beide Zähne aus übereinanderliegenden und gegeneinander beweglichen Latten (30, 34) bestehen, wobei der Träger (60) aus einer Halteplatte besteht, die quer auf den entsprechenden beweglichen Latten der beiden Zähne angeordnet ist.
6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß in der neutralen zentralen Stellung des Schlitzes (54) die beweglichen Latten (34), die durch die Halteplatte verbunden sind, zurückgezogen sind.
EP82103400A 1981-04-27 1982-04-22 Antriebsvorrichtung zur Erzeugung einer progressiven zweiseitigen Bewegung eines auf geradlinigen Schienen geführten Organs Expired EP0063792B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8108304 1981-04-27
FR8108304A FR2504507A1 (fr) 1981-04-27 1981-04-27 Dispositif d'entrainement, en un mouvement progressif, d'un organe guide sur des rails rectilignes, tout particulierement adapte a l'entrainement des fourches telescopiques de chariots de manutention

Publications (2)

Publication Number Publication Date
EP0063792A1 EP0063792A1 (de) 1982-11-03
EP0063792B1 true EP0063792B1 (de) 1986-01-02

Family

ID=9257793

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82103400A Expired EP0063792B1 (de) 1981-04-27 1982-04-22 Antriebsvorrichtung zur Erzeugung einer progressiven zweiseitigen Bewegung eines auf geradlinigen Schienen geführten Organs

Country Status (5)

Country Link
US (1) US4437808A (de)
EP (1) EP0063792B1 (de)
DE (1) DE3268235D1 (de)
FR (1) FR2504507A1 (de)
NO (1) NO160652C (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4574350A (en) * 1982-05-19 1986-03-04 At&T Bell Laboratories Shared resource locking apparatus
DE4341392C1 (de) * 1993-12-04 1994-12-22 Braun Ag Exzenter-Schwingbrückeneingriff
FR2823572B1 (fr) 2001-04-12 2004-11-26 Cit Alcatel Procede de denudage d'une fibre optique
US8070455B2 (en) * 2009-05-18 2011-12-06 Syngardia Systems, Inc,. Scotch-yoke mechanism for redundant actuation applications

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR602535A (fr) 1925-05-25 1926-03-20 United Cigarette Mach Co Inc Mécanismes cinématiques
DE1076036B (de) * 1958-09-10 1960-02-18 Demag Zug Gmbh Stapelkran
FR1482599A (fr) 1966-06-08 1967-05-26 Triax Co Installation d'emmagasinage
US3561620A (en) 1969-12-15 1971-02-09 Wilfred Ernest Willis Side-loading attachment for fork-lift trucks
FR2138491B1 (de) * 1971-05-27 1974-04-26 Silopark Brevetti Sa
US3765251A (en) * 1972-04-12 1973-10-16 Rohr Industries Inc Shuttle transfer with sine wave time/velocity acceleration
US3805627A (en) 1972-06-19 1974-04-23 Moore Dry Kiln Co Compound crank mechanism and a conveyor/stacker assembly incorporating said mechanism
FR2214643B1 (de) 1973-01-24 1976-04-30 Unelec
SU569938A1 (ru) 1973-02-21 1977-08-25 Предприятие П/Я Р-6729 Сканирующее устройство к дефектоскопу
US4016984A (en) 1975-08-28 1977-04-12 Eaton Corporation Shuttle assembly for a load handling apparatus
DE2545010C3 (de) 1975-10-08 1983-11-03 Mannesmann AG, 4000 Düsseldorf Verschiebeantrieb für einen ins Regalfach einfahrbaren Träger auf dem Hubschlitten eines Regalförderzeuges
DE2558231A1 (de) * 1975-12-23 1977-07-07 Schmidt Paul Regalbedienungsgeraet
DE7718050U1 (de) * 1977-06-08 1979-01-04 Theobald, Adolf, 5758 Froendenberg Vorrichtung zur speicherung von fuer die vorratshaltung dienenden paletten

Also Published As

Publication number Publication date
NO821352L (no) 1982-10-28
NO160652B (no) 1989-02-06
NO160652C (no) 1989-05-16
EP0063792A1 (de) 1982-11-03
US4437808A (en) 1984-03-20
FR2504507A1 (fr) 1982-10-29
FR2504507B1 (de) 1985-04-12
DE3268235D1 (en) 1986-02-13

Similar Documents

Publication Publication Date Title
EP0324297B1 (de) Selbständig beweglicher Körper für den Transport eines Werkzeuges mit konstanter Geschwindigkeit
FR2635481A1 (fr) Dispositif robotique de prehension
FR2480631A1 (fr) Procede de tri ou de transport et installation et chariot pour sa mise en oeuvre
FR2556274A1 (fr) Robot de manipulation de pieces a emboutir
EP0926084A1 (de) Übergabevorrichtung und Förderer mit solcher vorrichtung
EP0365377A1 (de) Vorrichtung zum Umwandeln einer linearen Bewegung in eine oszillierende Bewegung und umgekehrt
FR2808491A1 (fr) Un chariot automoteur apte a se deplacer dans une galerie cylindrique
EP0063792B1 (de) Antriebsvorrichtung zur Erzeugung einer progressiven zweiseitigen Bewegung eines auf geradlinigen Schienen geführten Organs
WO2021001570A1 (fr) Roue transformable adaptée pour franchir des escaliers et robot autonome équipé d'au moins une telle roue
FR2514739A1 (fr) Appareil de manutention, notamment pour desservir des rayonnages
FR2543470A1 (fr) Installation de transfert a mecanisme asservi de commande de la rotation des pinces de transfert
FR2604426A1 (fr) Dispositif pour soulever et deplacer des charges
FR2852374A1 (fr) Dispositif de transfert a verin pour le deplacement reversible en translation horizontale ou inclinee d'un objet
CA2251018C (fr) Dispositif de transfert d'une charge par poussee et traction dans un meme plan
FR2689073A1 (fr) Appareillage de manutention de charges allongées sur le toit d'un véhicule.
EP1232107B1 (de) Mechanischer lagerschrank
EP2441534A1 (de) Vorrichtung zur Handhabung einer Last, insbesondere eines Presswerkzeugs
FR2525147A1 (fr) Appareil pour charger et pour decharger des presses industrielles
FR2505238A1 (fr) Moyen de transfert de pieces du type robot a double bras
EP0565615B1 (de) Beschichtungsmaschine, insbesondere zur beschichtung des inneres eines körpers mit viereckigem querschnitt und grossen abmessungen wie eines schiffscontainers
FR2635762A1 (fr) Element courbe pour chemin de transfert
FR2725972A1 (fr) Dispositif de levage de charges
FR2617448A1 (fr) Dispositif pour charger un conteneur sur un support allonge ou l'en decharger et son application au chargement d'un conteneur sur un vehicule
FR2523566A1 (fr) Nacelle a deplacement lateral par rapport a un plateau support par exemple de chariot elevateur
FR2830611A1 (fr) Dispositif pour le deplacement d'une cible pour la pratique du tir

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): CH DE FR GB IT SE

17P Request for examination filed

Effective date: 19830427

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Designated state(s): CH DE FR GB IT LI SE

REF Corresponds to:

Ref document number: 3268235

Country of ref document: DE

Date of ref document: 19860213

ITF It: translation for a ep patent filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
ITTA It: last paid annual fee
EAL Se: european patent in force in sweden

Ref document number: 82103400.6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 19960129

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19960212

Year of fee payment: 15

Ref country code: DE

Payment date: 19960212

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 19960222

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19970314

Year of fee payment: 16

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19970422

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19970423

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19970430

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19970430

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19970422

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19980101

EUG Se: european patent has lapsed

Ref document number: 82103400.6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: THE PATENT HAS BEEN ANNULLED BY A DECISION OF A NATIONAL AUTHORITY

Effective date: 19980430

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST