WO2019166525A2 - Dispositif destiné à lever une charge dans une cage pourvu d'un système d'écartement - Google Patents

Dispositif destiné à lever une charge dans une cage pourvu d'un système d'écartement Download PDF

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Publication number
WO2019166525A2
WO2019166525A2 PCT/EP2019/054922 EP2019054922W WO2019166525A2 WO 2019166525 A2 WO2019166525 A2 WO 2019166525A2 EP 2019054922 W EP2019054922 W EP 2019054922W WO 2019166525 A2 WO2019166525 A2 WO 2019166525A2
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WO
WIPO (PCT)
Prior art keywords
spreading system
holding
shaft
movement
holding elements
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.)
Ceased
Application number
PCT/EP2019/054922
Other languages
German (de)
English (en)
Other versions
WO2019166525A3 (fr
Inventor
Tobias WENZELBURGER
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.)
ThyssenKrupp AG
TK Elevator GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Elevator AG
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 ThyssenKrupp AG, ThyssenKrupp Elevator AG filed Critical ThyssenKrupp AG
Publication of WO2019166525A2 publication Critical patent/WO2019166525A2/fr
Publication of WO2019166525A3 publication Critical patent/WO2019166525A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation

Definitions

  • the invention relates to a device for lifting a load in a shaft with a spreading system.
  • Embodiments show a transport robot for the
  • Elevator assembly of e.g. an elevator system with linear drive, wherein the transport robot uses a load to be transported for better fixation or for feed reinforcement.
  • the object of the present invention is therefore to provide an improved concept for a device for lifting a load in a shaft.
  • Embodiments show a device for holding a load in a shaft, in particular for installing the load in the shaft.
  • the device has a
  • a receiving element is disposed on the spreading system, wherein the receiving element is adapted to receive the load.
  • the device further comprises a plurality of holding elements, wherein a holding element of the plurality of holding elements arranged on a side facing away from the connecting joint side of one arm of the plurality of arms is.
  • the spreading system is designed to build a force component perpendicular to the shaft through the retaining elements, so that the device is fixed in the shaft by the plurality of retaining elements.
  • the expansion system is designed to increase the vertical force component under a load of the receiving element.
  • the core idea of the invention is to equip the device with the spreading system, which braces under load in the shaft.
  • the weight of the load is redirected to the shaft, so that the static friction or adhesion of the holding elements is increased to the shaft.
  • the holding elements of the plurality of holding elements are therefore designed to abut directly on the shaft, the spreading system exerting the necessary pressure on the holding elements, so that the holding elements fix the spreading system at a (fixed or predetermined) position in the shaft.
  • each holding element of the plurality of holding elements is arranged on a side remote from the connecting joint side of each arm of the plurality of arms, and thus each arm is completed with a holding element, whereby the spreading system is fixed in the shaft.
  • the arms are designed to transmit the force of the load on the shaft.
  • Such an arm can be referred to as a push rod.
  • These can be stiff, i. to be (essentially) non-elastic.
  • the arms should have shear forces, i. laterally attacking forces, can endure.
  • the arm should be able to transmit the applied force axially and in the thickness direction as well as laterally or transversely to the extent of the arm, without breaking. If the spreading system has more than two arms, at least two arms of the plurality of arms can be attached to the
  • the number of arms beyond the two arms, i. at least one arm may be disposed on the at least two arms of the plurality of arms and thus not directly on (i.e., spaced from) the connecting joint.
  • the receiving element may be attached to the spreading system by a rod or rope or other suitable attachment means, e.g. be attached to the connecting joint.
  • the attachment can also take place on one or more arms of the plurality of arms (symmetrical). It is advantageous, however, if that
  • the receiving element below, ie in a vertical projection, a center of gravity of Spreading system is arranged.
  • the receiving element is for example a gripper or a pair of pliers, a hook, a fork carriage or a suction gripper which receives the load, for example by means of vacuum or negative pressure. Furthermore, it is advantageous if the
  • Receive element can pick up the load independently, i. without the load being attached to the receiving element with human help.
  • Embodiments show the device having a drive unit configured to move (e.g., rotate) the plurality of support members such that the
  • Receiving element can be moved relative to the spreading system, the load can be lifted or moved by the movement or method of the spreading system in the shaft. If the movement is performed when the receiving element is loaded, i. when a load hangs on the receiving element, the friction of the holding elements, such as wheels, caterpillars, rollers, chains, etc. is increased to the shaft, so that the propulsion, which can be exerted by the drive unit on the spreading system is increased.
  • the friction of the holding elements such as wheels, caterpillars, rollers, chains, etc.
  • Embodiments show the device, which is designed to move the holding elements in the absence of guide rails for the holding elements in the shaft and to compensate for a rotation of the spreading system without the guide rails.
  • the device in an empty bay to install, for example, guide rails for the elevator installation.
  • Separate guide rails for the device are not necessary as they can be fully controlled and any tilting moment (i.e., rotation of the spreading system) compensated by the control.
  • rotational degrees of freedom can be effectively restricted even without the provision of mechanical guidance.
  • Embodiments show that at least one arm of the plurality of arms has a controllable pivot joint which divides the at least one arm into a first section and a second section and connects the two sections to one another.
  • the hinge is configured to perform a rotation of the first portion relative to the second portion.
  • the apparatus further includes a motion sensor configured to measure movement of the spreading system.
  • Movement of the spreading system to control the controllable pivot to compensate for the movement of the spreading system.
  • the movement is in particular a rotation of the spreading system in the shaft.
  • individual holding elements can lose their connection to the shaft and / or the load suspended on the spreading system can move out of a center of gravity of the spreading system. Both can lead to the fact that the spreading system can no longer hold the load and crashes.
  • the rotation of the spreading system can be compensated directly after it has been measured by the motion sensor. The compensation is possible because the rotation of the first portion relative to the second portion of the arm allows cornering of the holding member disposed on the arm.
  • Embodiments also show that the receiving element is designed to be movable in order to move the load relative to the spreading system in the shaft (vertically) (to a predetermined position in the shaft).
  • the load can be raised regardless of whether the spreading system is movable relative to the shaft.
  • the receiving element is connected by means of a rope as a fastening means with the spreading system. The movement of the receiving element can then take place by means of a winch, wherein the rope can be wound up on a cable drum or a pulley.
  • Motion sensor which is adapted to measure an (undesired) movement of the spreading system.
  • the motion sensor may include an accelerometer and / or a tilt sensor, e.g. have a gyroscope.
  • both linear accelerations and inclinations of the spreading system can be detected.
  • the measured or detected movement of the spreading system can be corrected (i.e., compensated) based on the measurement data of the motion sensor, for example by means of a control unit and associated actuators.
  • the movement of the spreader system may be by an external (e.g., laterally acting) force, for example, by the spreader or load on the receptacle undergoing a shock, or the load on the receptacle not underneath the spine
  • Center of gravity of the expansion system is arranged or suspended, so that a permanent force is applied to the spreading system, as long as the load depends on the receiving element.
  • embodiments may include means to provide degrees of freedom
  • Degrees of freedom means that theoretically a system theoretically has 6 mutually independent possibilities of movement, in each case three translatory and rotational movement possibilities. One degree of freedom therefore corresponds to a possibility of movement. Due to the bracing of the spreading system a translational movement possibility is already prevented, also it can in Embodiments may be desired that the spreading system (eg, vertically or in the transport direction of the load) can move in a different direction, so that it may be advantageous if the device has means to one, two, three, four or depending on the embodiment to reduce or restrict five degrees of freedom of mobility of the device. These means for reducing the degrees of freedom can mechanically reduce the degrees of freedom. Additionally or alternatively, the device or the
  • Spreading system (controlled) actuators which are designed to compensate for a (measured) movement or inclination of the spreading system.
  • the compensation can be achieved by a corresponding counter-movement or by an opposite torque, so that the spreading system can be converted to its original (stable) state.
  • the actuators can build up a counter force as a function of a measured movement or inclination of the spreading system.
  • the means for reducing the degrees of freedom may accordingly be (electromechanical) actuators or mechanical barriers.
  • Embodiments show as a means for reducing the degrees of freedom arranged on the shaft guide rail, wherein a holding element of the plurality of
  • Holding elements is arranged in the guide rail, so that the holding element is fixed in the horizontal direction.
  • the mobility of the holding element and thus of the spreading system in at least three degrees of freedom (directions of movement), two rotational and one translational degree of freedom can be limited.
  • another of the plurality of retaining elements can be guided in a further guide rail.
  • the further guide rail can then also be arranged on the shaft.
  • each retaining element of the plurality of retaining elements can also be arranged in each case in a guide rail.
  • At least one retaining element of the plurality of retaining elements has a first and a second subregion, wherein the first and the second subregion comprises a
  • Fixing element are connected.
  • the arm of the spreading system arranged on the at least one holding element is connected to the fixing element (or to the first or the second partial area).
  • the at least one retaining element is provided by a further fixing element with a further retaining element of the plurality of
  • Holding elements connected such that both holding elements occupy a fixed relative position to each other.
  • the at least one retaining element can thus not rotate about its own axis, whereby the movement is limited in at least one rotational degree of freedom of the expansion element.
  • Embodiments show as a further means for reducing the degrees of freedom that in at least one arm of the plurality of arms, a controllable pivot joint is arranged, which connects a first portion of the at least one arm with a second portion of the at least one arm.
  • the controllable pivot allows a movable support member to be controlled to make a turn in the shaft (ie, on the shaft wall).
  • the movement in further degrees of freedom such as a translational and a rotational degree of freedom, be limited.
  • controllable rotary joint can also have a sensor, as a result of which a (current) position or degree of rotation of the rotary joint can be measured.
  • the degree of rotation can then be transmitted, for example, to a control or regulating unit and taken into account in the control or regulation of the spreading system, for example with the goal, in a stable position of the spreading system the smallest possible
  • a rotation angle of the rotary joint between a momentary position can be referred to a basic position of the rotary joint.
  • FIG. 1 shows, as means for reducing the degrees of freedom, that at least one holding element of the plurality of holding elements is designed to be controllable independently of further holding elements of the plurality of holding elements in a movement speed.
  • Holding elements of the plurality of holding elements are designed to be movable, while the other holding elements are not designed to be movable or stationary.
  • the mobility of the spreading system can be limited in at least one degree of freedom, a rotational movement of the spreading system.
  • Embodiments also show, as a means for reducing the degrees of freedom, that the receiving element has a drive, which is formed, the load on the
  • At least one horizontal or horizontal plane can be negotiated to load within the vertical projection of the center of gravity Positioning system or below the center of gravity of the spreading system to position or at least as close to these zoom out.
  • a load hanging in this position under the spreader system will cause little or no effect rotational force on the spreading system, so that (mainly) only the external forces are to be compensated.
  • To this compensation can then also contribute a displacement of the load to a position outside the vertical projection of the center of gravity of the expansion system, whereby a force acting against the external force, in particular a torque is built up to compensate for the external force (partially).
  • the means for reducing the degrees of freedom described in the previous embodiments are combined, i. Two or more of the described agents are used with the spreading system.
  • Embodiments further show that the device has a control unit which is designed to control the means for reducing the degrees of freedom as a function of a movement of the device and to compensate for the movement of the device.
  • control unit receives, for example, the measurement data of
  • control unit can control the (controllable) means for reducing the degrees of freedom, so that the
  • the device may comprise at least one inclination sensor, which is designed to detect an inclination from a rest position of the spreader system, wherein the control unit is adapted to control the means for reducing the degrees of freedom so that they generate a torque opposing the inclination, so that Sp Sonsystem remains in the rest position.
  • control unit can also obtain the degree of rotation of the controllable pivot joint and control the means for reducing the degrees of freedom such that the degree of rotation of the controllable pivot joint is minimized in the stable position of the expansion system.
  • the spreading system can then be moved directly (vertically) without the movable holding elements needing to be set in the direction of travel beforehand by the controllable rotary joint.
  • Further exemplary embodiments show a method for positioning a component for installation in an elevator shaft with the device. The method includes the
  • the device can lift the component as a load to an installation location and advantageously position it at the installation site such that workers only need to attach or install the component.
  • the method includes measuring a movement of the
  • Component occupies a predetermined position or is moved along a predetermined path.
  • the component can be stationarily positioned even with an external force acting on the spreading system at the installation site or when lifting or moving the component a predetermined trajectory of the component is respected not to endanger workers located in the elevator shaft.
  • Fig. 1 a schematic representation of a device for holding a load in one
  • Fig. 1a is a side view and Fig. 1 b is a plan view of the
  • Fig. 2 is a side view in Fig. 2a and in Fig. 2b is a plan view of an embodiment of the device with three arms and holding elements, and one
  • FIG. 3 shows in FIG. 3a a side view and in FIG. 3b a plan view of an exemplary embodiment, in which the holding elements each comprise a first and a second partial region, both partial regions having a fixing element and
  • Fixing elements of two holding elements are connected to a further fixing element
  • FIG. 4 shows in FIG. 4a a side view and in FIG. 4b a plan view of an embodiment in which at least three holding elements are each designed to be movable;
  • Fig. 5 is a side view in Fig. 5a and in Fig. 5b is a plan view of a
  • Exemplary embodiment with three holding elements wherein the holding elements are designed to be movable and independently of the respective other holding elements are controllable and wherein in at least one arm, a controllable pivot joint is arranged;
  • FIG. 6a shows a side view in FIG. 6a and FIG. 6b shows a plan view of an embodiment in which the device has only two arms and holding elements each, wherein in the second arm as in the first arm another controllable
  • Swivel joint is arranged
  • Fig. 7 is a side view in Fig. 7a and in Fig. 7b is a plan view of an embodiment which is a modification of the embodiment of Fig. 6, wherein compared to the embodiment of Fig. 6, the further controllable pivot removed and by a drive is replaced, which can move the load on the receiving element horizontally.
  • Fig. 1 shows a schematic representation of a device 2 for holding a load 4 in a shaft 6, wherein Fig. 1 a is a side view and Fig. 1 b is a plan view of the
  • the device comprises a spreading system 8, a receiving element 10 and a plurality of holding elements 12.
  • the spreading system has a plurality of arms 14, wherein in Fig. 1 two arms, a first arm 14a and a second arm 14b, at a connecting joint 16 mechanically connected to each other.
  • the connecting link 16 connects the two arms 14a, 14b such that a
  • angle 18 between the two arms 14a, 14b is variable.
  • the angle 18 can be between 10 ° and 170 °, for example between 25 ° and 155 °, between 50 ° and 130 ° or between 70 ° and 1 10 °.
  • the spreading system of FIG. 1 has two arms 14 a, 14 b, which are arranged on the connecting joint 16.
  • the receiving element 10 is arranged on the spreading system 8, here on the connecting joint 16, that is connected to the spreading system 8.
  • the connection is for example with a fastener 20, such as a rope or rod produced.
  • the attachment means 20 may also be arranged on one or (symmetrically) on a plurality of arms (not shown).
  • the receiving element 10 is designed to receive the load 4. That is, when lifting the receiving element 10 is also the
  • the receiving element 10 may be designed to be movable in order to move the load relative to the spreading system 8 in the shaft 6. Alternatively, the
  • Receiving element 10 e.g. be arranged by a rod or a rod, at a fixed distance to the spreading system 8 and the pivot 16, wherein it is advantageous if the plurality of holding element 12 are designed to be movable to the (entire) spreading system 8.
  • a first holding element 12a of the plurality of holding elements 12 is arranged on a side remote from the connecting joint 16 side of the first arm 14a.
  • a second retaining element 12b is arranged on the side of the second arm 14b facing away from the connecting joint 16.
  • a plurality of arms 14 may be arranged on the side remote from the connecting joint 16 side in each case a holding element 12. Also described below is an embodiment in which not all arms of the plurality of arms have a holding element.
  • the holding elements are advantageously on an inner side of the shaft 6.
  • the spreading system 8 is designed to build up a force component F N 22 (normal force) perpendicular to the shaft 6 by the plurality of holding elements 12, so that the spreading system 8 is fixed in the shaft 6 by the plurality of holding elements.
  • the normal force is dependent on the (vertically acting) weight F G 26. Both are proportional to each other, the proportionality constant of the angles ⁇ p 1 18 'and f 2 18 "depends.
  • a greater weight force thus has a greater normal force and thus also a greater (adhesive) friction or (adhesive) friction force F R 24 result.
  • a larger (adhesive) friction force increases the feed that the movable holding elements 12a, 12b can exert on the spreading system 8. Accordingly, the spreading system 8 is formed, the vertical force component, ie the normal force 22 and thus also the friction force 24, at a load of the
  • Receiving element 10 (by the increased weight) to enlarge.
  • the spreading system 8 has a total of six degrees of freedom. In theory, it can be moved translationally in the direction of an x, y and z axis and rotationally about the axes.
  • the x-axis is perpendicular to the shaft
  • the y-axis and z-axis are each perpendicular to the x-axis, with the y-axis horizontal and the z-axis vertically aligned.
  • the three axes span a (Cartesian) coordinate system.
  • the device 2 may have a drive unit 32, which is designed to move the plurality of holding elements 12 in such a way that the spreading system 8 moves relative to the shaft 6.
  • the holding elements 12 can therefore have a force in the z-direction, e.g. a torque 30, transmitted to the shaft.
  • the figures show consistently wheels as holding elements. Alternatively, however, also caterpillars, rollers, chains, etc.
  • the drive unit 32 may include a (central) control unit and an (electric) motor.
  • the motor may e.g. in each retaining element 12a, 12b, for example a scar 33a, 33b, to which the associated arm is connected to the retaining element. At the scar 33a, 33b and the associated arm 14a, 14b may be connected to the holding member 12a, 12b.
  • the motion sensor 34 may include an acceleration sensor and / or a speed sensor and / or a
  • the device 2 may comprise means for moving the spreading system along the four remaining ones
  • a moment of inertia of the expansion system can be generated in particular with respect to an applied torque, so that the expansion remains longer in its rest position before it is deflected, or that a larger torque and thus a larger force is needed to tilt the spreading system.
  • the controlled actuators have more time to compensate for the force.
  • FIGS. 2 to 7 build on the embodiment of FIG. 1 and show various means for reducing the degrees of freedom. Therefore, only the differences between the embodiments will be described.
  • Fig. 2 shows in Fig. 2a is a side view and in Fig. 2b is a plan view of a
  • Embodiment with three arms 14a, 14b, 14c and holding elements 12a, 12b, 12c, and a guide rail 36 is mounted on the shaft, that the holding element 12a in the guide rail 36 in the z-direction is movable or movable , Further, the guide rail 36 prevents translation in the y-direction and rotation about the z-axis and the x-axis.
  • the further holding elements 12b and / or 12c may each be in a further one
  • the third holding member 12c and the third arm 14c are optional because no further degrees of freedom are restricted in connection with the guide rail 36 by the third holding member 12c and the third arm 14c. However, the stability of the third holding member 12c and the third arm 14c is optional because no further degrees of freedom are restricted in connection with the guide rail 36 by the third holding member 12c and the third arm 14c. However, the stability of the third holding member 12c and the third arm 14c is optional because no further degrees of freedom are restricted in connection with the guide rail 36 by the third holding member 12c and the third arm 14c. However, the stability of the
  • Sp Dr be increased, for example by the movable holding element 12a is better guided in the guide rail 36, whereby the risk of tilting of the movable support member 12a is reduced.
  • an angle measured in a horizontal plane between the first arm 14a and the third arm 14c and the second arm 14b and the third arm 14c may be selected such that the connecting joint 16a the three arms are connected to each other, lies in the center of gravity of the spreading system. This is advantageous, since thus no torque is generated from the expansion system itself when the connecting joint is loaded with a load. In other words, the center of gravity of the expansion system is the point at which the expansion system can be balanced on a rod. If a different arrangement is chosen, it is more difficult to keep the spreading system in a stable state.
  • the spreading system may include means to prevent rotation about the y-axis. This can be achieved, for example, in that at least one of the holding elements 12a or 12b is designed to be movable and can be controlled independently of the other holding elements. This will be in the following
  • Fig. 3 shows in Fig. 3a is a side view and in Fig. 3b is a plan view of a
  • Embodiment in which the holding elements 12a and 12b each have a first and a second portion 12a ', 12a ", 12b', 12b" have. Both partial areas are connected to a fixing element 12a "', 12b"'.
  • a fixing element 12a "', 12b"' For example, caterpillars are built up. Each subregion may have the same properties of a single retaining element.
  • the fixation element connects in an alternative
  • arm 14a, 14b is disposed on the respective fixing element 12a "', 12b"', for example, a connecting rod.
  • the arm 14a or 14b may also be connected to one of the sections.
  • the connection is made via a rotary joint 38a, 38b, so that an angle 40a, 40b between the arm 14a or 14b and the
  • Fixing element 12a "'or 12b"' is variable. Further, the fixing member 12a "'of the first holding member 12a by another fixing member 42 with the
  • Fixing element 12b "' that is connected to the second holding element 12b.
  • the two connected holding members 12a and 12b occupy a fixed relative position to each other.
  • a horizontal distance between the holding elements is constant.
  • the further fixing element in its length variable, ie, for example, extendable to allow the bracing of the spreading system in the shaft.
  • the further fixing element may have a telescopic mechanism.
  • Telescope mechanism may preferably be extendable during the retraction or
  • the further fixing member may be fixed at a fixed angle (e.g., 90 °) to the
  • Fixing elements of the holding elements may be attached so that both fixation elements keep their relative position to each other.
  • the holding element 12a is analogous to the embodiment of FIG. 2 arranged in a guide rail 36 and movable in this.
  • the second holding element 12b is arranged in a further guide rail 36 '.
  • Fig. 4 shows in Fig. 4a is a side view and in Fig. 4b is a plan view of a
  • the holding elements 12a and 12b are each designed to be movable. Furthermore, the first holding element 12a is controllable independently of the second holding element 12b (by the drive unit). That is, in particular a (rotation)
  • Speed and / or a direction of movement of the first holding member 12a may be different from the second holding member 12b.
  • a rotation about the y-axis can be compensated, for example by the motion sensor 34 (see Fig. 1), which advantageously comprises a tilt sensor here, measures a degree of rotation (inclination) of the spreading system about the y-axis.
  • a control unit 44 can then be used to compensate a degree of rotation (inclination) of the spreading system about the y-axis.
  • Drive unit drive such that the inclination is minimized or compensated.
  • the control unit 44 can build a control loop via the motion sensor 34 and the drive unit 32.
  • the other degrees of freedom can in turn be restricted via the guide rail 36 and optionally the guide rail 36 '.
  • Fig. 5 shows in Fig. 5a is a side view and in Fig. 5b is a plan view of a
  • Embodiment that as in the embodiment of FIG. 2 has three holding elements, wherein the holding elements 12a-c as in the embodiment of FIG. 4 are independent of the respective other holding elements controllable.
  • the guide rail is replaced by a controllable pivot 46 which is arranged in the first arm 14a. That is, the device can the Having absence of guide rails for guiding the holding elements.
  • the controllable pivot 46 divides the first arm 14a into a first portion 14a 'and a second portion 14a "and connects both portions (mechanically) together.
  • the pivot 46 is configured to perform a rotation of the first portion 14a 'relative to the second portion 14a ".
  • the control of the rotary joint 46 can be performed as well as the control of the holding member 12 a via the control unit.
  • the control unit controls, for example, an actuator 52.
  • the actuator 52 is disposed in the pivot 46 or the first arm 14a and may cause rotation of the pivot.
  • the motion sensor also measures the translation in the y-direction as well as the rotation about the x-axis and the z-axis.
  • the rotation about the y-axis as described with reference to FIG. 4, can be compensated by the independently activatable holding element 12a.
  • the remaining degrees of freedom can be compensated by means of the controllable pivot 46.
  • a direction of movement of the controllable pivot joint is visualized by the arrow 50, while directions of movement of the movable holding elements are indicated by the arrows 50 ', 50 "and 50""'.
  • one or more further swivel joints can be arranged in (in each case) one further arm.
  • Other hinges may have other actuators.
  • the holding element 12a on the shaft wall a curve or a curve, for example, an S-curve drive. If e.g. while the spreading system is inclined in the y-direction, the holding element 12b moves faster than the holding element 12a, a translational movement in the y-direction can be compensated.
  • a rotation about the x and / or z axis can be compensated.
  • a rotation about the x-axis is further supportive compensated by means of a corresponding control for the movement of the third holding member 12c.
  • This embodiment can be used, for example, to restrict the degrees of freedom of the spreading system while it is being moved vertically.
  • FIG. 6 shows a side view in FIG. 6a and a top view in FIG. 6b
  • Embodiment which in comparison to the embodiment of Fig. 5 only has two arms and holding elements, wherein in the second arm 14b as well as in the first arm 14a another controllable pivot 46 'is arranged.
  • Embodiment is the y-rotation (exclusively) on the control of the two controllable hinges 46, 46 'and the holding elements 12a, 12b possible. You can do this the controllable hinges 46, 46 ', for example by means of the actuator 52, in such a way
  • This movement can be in the direction in which the spreading system rotates.
  • Movement direction of the further controllable rotary joint 46 ' is visualized by the arrow 50' ".
  • an actuator 52 may be provided to effect the rotation of the hinges.
  • FIG. 7 shows a side view in FIG. 7a and a top view in FIG. 7b
  • Embodiment which is a modification of the embodiment of Fig. 6.
  • the further controllable pivot 46 ' has been removed and replaced by a drive 48, the load 4 on the receiving element 10 horizontally (indicated by arrow 50 ""), for example by means of the
  • Control unit 44 controlled actuator 52 can proceed.
  • the position of the load 4 can be improved, i. be moved in or at least closer to a position below the center of gravity of the Sp Dahlsystems.
  • a torque inherent in the expansion system can be reduced or even completely compensated.
  • the motion sensor may each measure the movement of the spreading system in the directions determined by a control of the actuators, i. the holding elements and / or the controllable hinges and / or the position of the load on the receiving element can be compensated.
  • Control unit these actuators can be controlled depending on the deflection.
  • the control unit forms a control loop together with the actuators and the motion sensor.
  • Arrows 50, 50 ', 50 ", 50'", 50 "" indicate that the direction of movement of the associated actuators.
  • the guide rail (s) and / or one or more controllable hinges and / or the separate control of one or more movable holding elements can be used as means for reducing the degrees of freedom.
  • Represent method so that a block or a component of a device is to be understood as a corresponding method step or as a feature of a method step.
  • aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.

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Abstract

L'invention concerne un dispositif destiné à lever une charge dans une cage. Le dispositif comporte un système d'écartement pourvu d'une pluralité de bras, au moins deux bras de la pluralité de bras étant reliés mécaniquement ensemble au niveau d'une articulation de liaison. Un élément d'accueil est agencé au niveau du système d'écartement, l'élément d'accueil servant à accueillir la charge. Le dispositif comporte en outre une pluralité d'éléments de maintien, un élément de maintien de la pluralité d'éléments de maintien étant agencé d'un côté, opposé à l'articulation de liaison, d'un bras de la pluralité des bras. Le système d'écartement sert à exercer à travers les éléments de maintien une composante de force perpendiculaire à la cage de sorte que le dispositif soit fixé dans la cage par la pluralité des éléments de maintien. Le système d'écartement sert en outre à augmenter la composante de force perpendiculaire lors d'un chargement de l'élément d'accueil.
PCT/EP2019/054922 2018-03-02 2019-02-28 Dispositif destiné à lever une charge dans une cage pourvu d'un système d'écartement Ceased WO2019166525A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018203156.8A DE102018203156A1 (de) 2018-03-02 2018-03-02 Vorrichtung zum Heben einer Last in einem Schacht mit einem Spreizsystem
DE102018203156.8 2018-03-02

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WO2019166525A2 true WO2019166525A2 (fr) 2019-09-06
WO2019166525A3 WO2019166525A3 (fr) 2019-10-24

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PCT/EP2019/054922 Ceased WO2019166525A2 (fr) 2018-03-02 2019-02-28 Dispositif destiné à lever une charge dans une cage pourvu d'un système d'écartement

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WO (1) WO2019166525A2 (fr)

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Publication number Priority date Publication date Assignee Title
CN114667264B (zh) 2019-11-12 2024-07-30 因温特奥股份公司 用于在竖井中移位和固定的装配框架

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Publication number Priority date Publication date Assignee Title
JP2636992B2 (ja) * 1991-10-29 1997-08-06 富士車輌株式会社 ごみの搬送装置
HU213428B (en) * 1992-10-27 1997-06-30 Inventio Ag Self propelled device mainly for passanger carriing
EP0681984A1 (fr) * 1994-05-13 1995-11-15 Inventio Ag Ascenseur automoteur
JP4103322B2 (ja) * 2000-10-26 2008-06-18 フジテック株式会社 エレベーター昇降路天井面近傍高さ位置への駆動機の吊上げ方法及び装置
DE20119170U1 (de) * 2001-11-24 2002-02-28 Jörke, Renato, 99713 Großbrüchter Vorrichtung zum Lösen des Fang von Aufzügen
EP1621506B1 (fr) * 2004-07-07 2017-09-13 Inventio AG Dispositif pour déplacer des éléments d'ascenseur
WO2007066667A1 (fr) * 2005-12-05 2007-06-14 Toshiba Elevator Kabushiki Kaisha Dispositif de positionnement temporaire de poids d'ascenseur et procede d'installation de poids

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WO2019166525A3 (fr) 2019-10-24
DE102018203156A1 (de) 2019-09-05

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