The present invention relates to a cable guide apparatus, a power supply system, and a method for connecting a line cable to the connecting apparatus.
DE 20 2006 009 750 U1 discloses a container loading crane comprising a line cable drum for winding and unwinding a line cable. The line cable is connected to a stationary feed device, in relation to which the loading crane moves in a longitudinal direction. Depending on the position of movement, the line cable is wound onto or off the line cable drum. The disadvantage is that the conductor crane is fixedly confined to a path, along which the crane moves back and forth in the longitudinal direction. For this reason, for a long time the cranes were mounted on rails and rigidly connected to a feed device.
Since cranes are increasingly intended to move not only along a single container stacking area, but also between different laterally and longitudinally staggered stacking areas, they can no longer be rigidly connected to a single feed device that is dedicated to the particular container stacking area. Instead, it must be possible to connect them flexibly to different feed devices.
To make this possible, WO 2014/131826 A1 proposes an apparatus for automatically connecting a crane to an electrical power supply source, with the ends of the connecting line, which is carried along on the crane, being fitted with a plug which is plugged into a docking station which is buried in a hole in the ground. The docking station comprises two vertical rods which are spaced at a distance from one another and which are inserted into the guide openings of the plug as the plug is being inserted into the docking station. In addition, to secure the plug to the docking station, an automatic locking mechanism is disposed in the hole in the ground.
The line cable extends from the docking station vertically in the upward direction and, as the crane moves away from the docking station, comes to rest on the ground in the longitudinal direction next to the crane. The line cable should be bent as smoothly as possible and the bending radius of the line cable should not fall below a specific minimum. In addition, to avoid damage to the electrical lines inside the line cable when the cable is pulled or wound up, a strain relief means is provided. To this end, the prior art apparatus comprises an additional line cable support system, around which support system the line cable extending from the plug in the ground is deposited. The line cable support system, together with the plug, is placed onto the docking station. This has the disadvantage that either an operator must wrap the line cable around the line cable support system or the line cable must already have been wound around the support system prior thereto. Furthermore, the line cable support system is technically complex as well as large and heavy, which requires that the apparatus for placing and receiving the plug and the line cable support system must be constructed to be sufficiently robust and strong. In addition, the overall apparatus that has to be carried along on the crane is heavy and thus increases the weight of the crane, which requires a more powerful drive system for the crane. Furthermore, this unit has large dimensions which require a large installation space on the crane and increase the width of the crane.
CN 102751690 A relates to the field of port machinery and discloses a guide apparatus and a power supply unit. The guide apparatus comprises a guide rail system, a sliding system and a control system, with the guide rail system having a guide rail, with the sliding system being movably disposed on the guide rail and, on the inside, having a cable guide gear rack for guiding a cable, and with the control system being used to control the cable and to stop the cable from being retracted or paid out. If the tension applied to the cable exceeds the preset tension while the cable is being retracted or paid out, the sliding system is actuated to cause it to slide on the guide rail system through the cable. If the sliding distance of the sliding system on the guide rail system is greater than a preset distance, the control system stops the cable from being retracted or paid out. The cable can actuate the sliding system to cause the system to slide on the guide rail system in order to exert a buffering effect on the cable if the tension applied by a cable drum to the cable is excessive and exceeds the preset tension, thereby ensuring that the cable is not damaged or torn during the process of slowing down or stopping an apparatus that is used to retract or pay out the cable.
Thus, one aspect of the present invention relates to eliminating the disadvantages referred to above and to make it easier to automatically connect a line cable to a feed device disposed on the ground and to make it possible to guide and store the line cable in a protective manner and, more specifically, to reduce the risk of the line cable breaking or becoming excessively bent when the electrical load is moved.
A cable guide apparatus, a power supply system, and a method for connecting a line cable to the connecting apparatus are disclosed. Advantageous refinements and developments of the invention are also disclosed.
According to the present invention, an above-mentioned cable guide apparatus for a line cable is characterized in that the oscillating link can be moved in relation to the oscillation axis in a linear manner. The oscillation axis can preferably extend essentially at right angles to the travel direction.
The cable guide apparatus can preferably comprise at least one roller bow with sliding and/or rolling elements disposed thereon for guiding a line cable in the travel direction, with a preferred implementation providing that a second roller bow with sliding and/or rolling elements disposed thereon be arranged opposite to the first roller bow in the travel direction. The sliding and/or rolling elements can preferably have different widths, with the width increasing especially in the payout direction of the line cable.
In a useful modification, the cable guide apparatus can have a second cable guide for the line cable, which, in the payout direction of the line cable, can be disposed upstream of the cable guide of the oscillating link.
Preferably disposed on the oscillating link can be a drive for the linear movement of the oscillating link in relation to the oscillation axis, especially for the movement of a linearly moving part of the oscillating link in relation to the oscillator bracket, which is mounted on the cable guide apparatus, especially on a frame of the cable guide apparatus, so as to be able to pivot about the oscillation axis. The drive can preferably comprise a linear drive, especially an electrical linear motor and/or a belt drive. The drive can also comprise a gear rack, which is disposed on the part of the oscillating link that moves in the linear direction, and a rotary motor with a drive pinion which meshes with the gear rack.
Preferably disposed on the cable guide apparatus can be at least one holding element for holding a connecting element which is disposed on the end of the line cable. The holding element can preferably comprise a first lever arm which, in the retracted position of the connecting element on the cable guide apparatus, rests against the connecting element. The holding element can also comprise a stop, which, upon retraction of the connecting element into the cable guide apparatus, rests against the connecting element and/or the cable guide of the oscillating link and moves the first lever arm to make it rest against the connecting element. The holding element can preferably be held in an open position intended for the reception of the connecting element on the cable guide apparatus.
According to the present invention, an above-mentioned power supply system is characterized in that a cable guide apparatus according to the present invention as described above and below is disposed on the movable electrical load. The reservoir can preferably be a motor-driven cable drum. In addition, a layout direction of the line cable can preferably extend from the feed device to an exit of the line cable from a cable guide apparatus disposed on the electrical load, with the difference between the travel direction and the laydown direction preferably being very small, especially no more than 15°.
According to the present invention, an above-mentioned method for connecting a line cable disposed on an electrical load to a feed device is characterized by the following steps: a) retracting a connecting element, which is disposed on the line cable, into the cable guide apparatus and, prior thereto, at the same time or afterwards, b) moving the oscillating link in relation to the oscillation axis from an extended position to a retracted position in a linear manner. Additional steps can preferably comprise: c) positioning the connecting element in relation to the feed device, d) gripping the connecting element and/or the line cable by means of a manipulator of a connecting apparatus according to step b), e) connecting the connecting element to a connector of the feed device by means of the manipulator.
The invention will be described below based on detailed embodiment examples with reference to the accompanying drawings. These drawings show:
To supply electrical power to the crane 1 and to the electrical equipment installed thereon, e.g., the motors for lifting and moving the containers 2 and the electrical drive systems of the wheels 3, 3′, and/or optionally to transmit data from and to the crane 1, a line cable drum 4 is disposed on the outside of the crane 1, around and from which drum an electrical line cable 5 can be wound and unwound in a laydown direction according to the travel path of the crane 1 in the travel direction F. As a rule, the laydown direction and the travel direction F are the same or differ only slightly from one another since the line cable 5 is preferably laid down parallel to the travel direction F. The line cable 5 is laid down along the travel path of the crane 1, which travel path along its length generally also differs slightly from the ideal line that runs parallel to the containers 2. Thus, “parallel” here and hereinafter does not mean that the paths are mathematically exactly parallel at each point of the traveling path, but that the line cable 5 is laid down next to the container stacking area within the limits of travel and laydown inaccuracies. This is known from the prior art.
Disposed on the freely downwardly suspended end of the line cable 5 is a connecting element in the form of a connector plug 6 and 106 which can be guided accurately and as free from tension as possible by means of a cable guide apparatus 7 and 107 disposed on the crane 1 for the purpose of laying the cable down on the ground and for rewinding it onto the cable drum 4.
In the detailed diagrammatic three-dimensional view of a first embodiment example in
To connect the connector plug 6 to an electrical power supply, not shown in detail in the drawing, a feed device 12 with a connecting apparatus 13 disposed thereon is stationarily arranged next to the travel path of the container crane 1. In the case at hand, the feed device 12 comprises two connectors in the form of plug-in connectors 14, 14′ which, by means of two connector members in the form of swivel plates 15, 15′, are articulated in bearings 16, 16′ so as to pivot about axes of rotation D, D′ (see
The connecting apparatus 13 comprises a manipulator 18 which is designed to grip and actively move the connector plug 6 and to establish a connection between the connector plug 6 and the plug-in connector 14. The manipulator 18 comprises a manipulator base 19, to which a lower manipulator arm 20 with lower sub-arms 21, 21′, 21″ are articulated, two of which are fully visible in
On their upper ends, the lower sub-arms 21, 21′, 21″ are connected to a cross-shaped connecting piece 23 in such a way that the sub-arms 21, 21′ 21″ form a first guide in the shape of a parallelogram. Also connected to this connecting piece is an upper manipulator arm 24 which, together with two upper manipulator arms 25, 25′, is pivotably articulated to two other hinge connectors of the connecting piece 23, which hinge connector are offset in a crosswise manner relative to the hinge connectors of the lower sub-arms 21, 21′, 21′″. On their upper front ends, the manipulator arms 25, 25′ are again connected to one another in the shape of a parallelogram. The upper sub-arm 25′ can be rotated about its lower hinge axes via an upper manipulator drive 26.
Disposed on the upper front end of the upper manipulator arm 24 is a gripping device 27 for the connector plug 6, which allows the connector plug 6 to be accurately positioned in relation to the plug-in connector 14 by means of the manipulator 18, which moves only in the horizontal feed direction H and the vertical feed direction V. The gripping device 27 has a funnel-shaped feed opening 28 to allow the connector plug 6 to be securely gripped and moved as shown in
In order to be able to position the connector plug 6 relative to the manipulator 18, which moves only in the horizontal feed direction H at right angles to the travel direction F of the crane 1, in such a manner that the gripping device 27 can securely grip the connector plug 6, a signal mast 29 is mounted next to the connecting apparatus 13. A positioning element in the form of an identification plate 30 is disposed on the signal mast 29. The sensor unit 11, which in
For example, it is possible to check whether or not the identification plate 30 is located within the measuring range of the sensor unit 11. Thus, the identification plate 30 can have a large-surface QR Code and the sensor unit 11 can have a very narrow measuring range, within which the QR Code must be located. Alternatively or additionally, the identification plate 30 can also have a reflector foil of known dimensions and position, in which case the distance thereto is then preferably measured by means of the sensor unit 11. As soon as the beginning of the reflector foil is detected, the position of the crane 1 and the cable guide apparatus 7 in relation to the manipulator 18 can be determined based on the known dimensions. The distance measurement can also be used to ensure that the manipulator 18 grips the connector plug 6 quickly and at the most accurate distance possible.
Since the feed opening 28 has the shape of a funnel, a certain offset of the connector plug 6 in relation to the feed opening 28 in the travel direction F can be compensated for even if the crane 1 is not completely accurately positioned.
To signal the accurate position and optionally the securely established connection between the connector plug 6 and the plug-in connector 14 to the driver or operating personnel of the crane 1, an easily visible signal light 31 with the conventional traffic light signal colors, red, yellow and green, is mounted on the upper end of the signal mast 29. Red signals that no connection has yet been established, yellow indicates that the connection is being established, and green signals the established connection and the withdrawal of the manipulators 18, i.e., clearance for further movements. It is, however, also possible to use different colors or light signals, such as slow and rapid blinking or the like. Alternatively, the signal light 31 can also be used to inform the driver whether a plug-in connector 14, 14′ on the feed device 12 is still open: Thus, red would indicate ‘none open’ and green would indicate ‘open plug-in connector,’ while yellow would signal that a connection to the feed device is currently being established.
The process of gripping and connecting the connector plug 6 to the plug-in connector 14 will be described below by way of example with reference to
In
The gripping member 38 has a centering funnel 39, readily visible in
By rotating the upper manipulator arm drive 26 and optionally the lower manipulator arm drive 22, the manipulator 18 subsequently moves the connector plug 6 over the plug-in connector 14, as shown in
The guide system of the manipulator 18 in the form of two parallelograms offers the advantage that it ensures that the gripping device 27 during its movement does not change its angle of inclination in relation to the plug-in connector 14. Thus, the connector plug 6 moved by the gripping device 27 is not tilted out of the ideal position shown in the drawings, thereby ensuring that the line cable 5 is not excessively bent or even broken off. To ensure this result, the design of the manipulator 18 can, however, differ from that used for the guide system in the form of a parallelogram, for example, by using a robot with at least one robot arm and a gripping device disposed thereon, or by using another method known to those skilled in the art. For example, it is also possible to used two linear telescopic arms or extensions, such as one horizontal and one vertical extension.
Subsequently, as shown in
As is known from the prior art, to ensure the longest possible service life of the line cable 5, it is important not to bend the cable beyond the admissible minimum bending radius or even that it be completely kinked, at least as rarely as possible, preferably never.
Thus, one aspect of the present invention relates to making available an improved guide system for the line cable 5 that is connected to a feed device and, more specifically, to reduce the risk of kinking or excessive bending of the line cable 5 during travel of the electrical load, particularly the crane 1.
To this end, the invention proposes that the plug-in connectors 14, 14′ be pivotably disposed about an axis of rotation D and D′ extending at right angles to the travel direction F and preferably parallel to the ground, as especially clearly indicated in
Thus, throughout the entire laydown process, the line cable 5 undergoes only slight bending, which ensures protected line guidance, prolongs the service life of the line cable 5 and thus increases the reliability of the facility.
The use of the rotary function of the plug-in connector 14 illustrated in the drawings and described above is also possible in facilities in which the line cable 5 is permanently connected to the feed device 12, thereby leading to the advantages of an improved line cable guidance in these situations as well.
The detail view of the connecting apparatus 13 in
The plug-in connector 14 comprises a plug-in connector housing 33 in which the electrical connector elements for an electrical power connection and/or a data link connection (not shown) are disposed.
To prevent moisture, dust, water, rain, etc., from penetrating the electrical connector elements from above, the upper end of the plug-in connector housing 33, which in
In order to be able to open the cover 34 automatically while the connector plug 6 is being positioned or plugged in, opening tabs 36 interactively connected to the cover 34 are disposed on the surface of the hinges 35 and project outwardly beyond the plug-in connector housing 33. A mating stop in the connector plug 6, especially the mating edge of the connector plug opening 32, pushes the opening tabs 36 downwardly while the connector plug 6 is being placed or pushed over the plug-in connector housing 33, which causes the cover 34 to move upwardly. This uncovers the electrical connector elements of the plug-in connector 14. Subsequently, the connector plug 6 is moved even further downwardly, and the electrical and/or data connector elements, in this case male, located in the connector plug 6 can be connected to the mating connector elements, in this case female, in the plug-in connector housing 33 and be protected against outside influences, such as wind, water, rain, etc. The cover 34 also prevents operating personnel or unauthorized persons from direct and unprotected access to the connector elements, especially the electrical connector elements.
To retain the swivel plate 15 and thus the plug-in connector 14 in the rest position shown in
According to an alternative configuration of the connecting apparatus 13, which can preferably also be disposed along a travel path of the crane 1, the plug-in connectors 14, 14′ are preferably designed to be able to pivot about an axis of rotation D, preferably disposed in the center, in both directions of the travel direction F, i.e., so that the line cable 5 can be laid down both on one side and on the other side of the plug-in connectors 14, 14′. Again, it is useful to provide a holding device which ensures that the unconnected plug-in connector extends in the direction suitable, and preferably upwardly pointing, for connecting the connector plug 6. The plug-in connector 14 can then be locked to the ground plate 17 until the connector plug 6 is securely connected to the plug-in connector 14. This type of development will be described below and can be independently implemented by those skilled in the art.
The feed device 112 shown in
The working principle of the power transmission system in
Subsequently, the connector plug 106 is again moved from the position in
The alternative signal mast 129 shown in
To position the connector plug 106 so as to center it relative to the central section 153, the distance sensor 111, at the beginning of movement in the travel direction F from right or left as seen in
In this manner, the positioning of the connector plug 106 in relation to the manipulator 118 can be simplified in that an active sensor 111 can be disposed only on the cable guide apparatus 107 while the identification plate 130 can be a passive element. The configuration of the identification plate 130 can be different as long as it is possible for the sensor 111 to detect a clearly defined change in distance. Thus, e.g., the central section can be offset toward the rear, and the bracketlike sections can be closer to the crane 1. More particularly, using the simplified configuration, the bracket-like sections 154, 154′ can be omitted so that only the transition from the completely non-reflecting or unsatisfactorily reflecting surroundings to the highly reflective area of the identification plate need be determined. Furthermore, optionally the central section 153 and the adjoining bracketlike sections 154, 154′, regardless of whether they are offset with respect to each other in the horizontal feed direction H, can have reflective properties of varying degree so that a differentiation is possible based on the level of the reflected signal strength.
In addition, the configuration according to
As
To ensure that during swiveling of the plug-in connector 114 the cables 149 disposed on its bottom surface are cleanly guided and encapsulated relative to the surroundings, inter alia, for reasons of protection from electric shock, a first protective enclosure 157, which pivots with the swivel plate 115 about the axis of rotation D, is disposed on the bottom surface of the plug-in connector 114, more particularly on the bottom surface of the swivel plate 115. Adjoining the bottom surface of the swivel plate 115 are identically configured circular segment-shaped side walls 158, 158′ measuring approximately 100° as well as a front wall 158″ of the first protective enclosure 157, which front wall connects the circular arc surfaces of the side walls 158, 158′, as clearly illustrated in
The first protective enclosure 157 is enclosed in a second protective enclosure 159 which is rigidly attached to the bottom surface of the ground plate 117, said second protective closure having circular segment-shaped side walls 160, 160′, a front wall 160″ connecting these side walls and an opening 160′″ on the front for the cables 149 coming from the cable conduit 150, which second enclosure is slightly larger, but otherwise has the same configuration. Alternatively, the second protective enclosure 159 can be omitted since the first protective enclosure 157 also offers protection for the cables 149 when the swivel plate 115 is lowered, as indicated in
The length of the cables 149 is dimensioned in such a way that it is possible for the plug-in connector 114 to assume the completely swiveled-out position as shown in
To compensate for a not quite exact positioning of the connector plug 106 in relation to the plug-in connector 114, a centering bracket 161, 161′, respectively, is disposed on the narrow end faces of the swivel plate 115. These centering brackets comprise a lower vertical guide section 162, 162′ which is adjoined by an upper oblique feed-in section 163, 163′ which faces away from the plug-in connector 114. When the plug-in connector 114 is plugged in, as shown, for example, in
To prevent an accidental detachment of the connector plug 106 from the plug-in connector 114, which is undesirable especially while power is being transmitted, disposed on the swivel plates 115, 115′, 115″ along the end faces of the plug-in connectors 114, 114′, 114″ are plug locking mechanisms 164, 164′, 164″, which can be especially clearly seen in
The plug locking mechanism 164 comprises a locking bolt 165 which, in the area of the connector plug 106, passes through the swivel plate 115 and extends upwardly beyond the swivel plate 115 and which comprises an elongated locking head 166. On the opposite front face of the plug-in connector 114, preferably an identically configured locking bolt 165a is disposed, as indicated in
In the open position, the locking head 166 is oriented in such a way that it can pass through a mating locking opening 169 on the connector plug 106, which can be especially clearly seen in
When the connector plug 106 is fully plugged into the plug-in connector 114, the locking head 166 and the locking head, not shown, of the locking bolt 165a can be simultaneously moved by means of the locking drive 167, shown in
Instead of a lever assembly 168, a separate locking drive can be provided for each locking bolt 165, 165′ 165″ and 165a, 165a′ 165a″, respectively. In principle, each plug-in connector 114, 114′, 114″ can also have only one plug locking mechanism.
The plug locking mechanism 164 according to the invention also serves to secure the swivel plate 115 to the ground plate 117 if no connector plug 114 is connected. To this end, in the secured position shown in
Another aspect of the invention provides that for the purpose of improving the automatic connecting process, the line cable 5 have a special configuration. In addition, the connector plug 6, 106 can also be specially configured in order to improve the gripping with the manipulator 18, 118 and especially the gripping device 27, 127, and this applies to both embodiment examples described above.
This will now be described in detail with reference to
This relieves the tension acting on the sensitive conductors 42 to 44 that are disposed in the line cable 5, while the supporting member 45 serves primarily to absorb the longitudinal forces during the winding and unwinding of the line cable 5. Furthermore, an additional tension relief mechanism 46 can be disposed in the outer casing 41, for example, a braided or woven fabric that is embedded in the outer casing 41.
To ensure that the supporting member 45 can serve as a tension relief mechanism, it is mounted, as described below, in the connector plug 106, which in
The connector plug 106 comprises two connector cover halves, with only the connector cover half 170 shown in
Also provided is an essentially U-shaped supporting frame 171 made of a robust material, preferably of sheet steel, which on each of its free leg ends 172, 172′ has the above-mentioned locking opening 169, 169′ in the form of oblong holes. The middle section 173 of the supporting frame 171 which connects the free leg ends 172, 172′ has a circular opening 174, through which the gripping member 138 of the connector plug 106 is inserted from below, as shown in
To be able to absorb stresses in the longitudinal direction of the line cable 5, the tension relief mechanism 47 of the outer casing 41 can, on the one hand, be bracketed on the gripping member 138 and/or on the supporting frame 171 (not show). On the other hand, a tensioning bolt 176 extending at right angles to the longitudinal direction of the line cable 5 is disposed on the circular outer flange 175 of the gripping member 138. The tensioning bolt 176 comprises an attachment means, not shown in the drawings, for the supporting member 45, more particularly a through-opening through which supporting member 45 is inserted.
Disposed on the tensioning bolt 176 is a spring element, more particularly a spiral spring 177, which is connected to a surrounding tensioning bolt sheath 178, to which one end of the supporting member 45 is attached. To tension the supporting member 45, the tensioning bolt 176 is first pushed in its axial direction against the pressure of a spiral spring 177 disposed on a stepped end 178 of the tensioning bolt 176 out of an anti-slip means 179 shown in
In contrast, the various conductors 42 to 44 are routed unstressed through the circular opening 174 in the supporting frame 171 into the area between the free leg ends 172, 172 of the supporting frame 171 where they are electrically and mechanically connected to the mating male electrical connector elements 180 of the connector plug 106. The individual male connector elements 180 are disposed on a connector support 181, which is stationarily retained in the longitudinal direction extending from the connector plug opening 132 to the gripping member 138, i.e., also in the longitudinal direction of the line cable 5, and is freely floatingly mounted at right angles to said longitudinal direction.
To protect the male connector elements 180 against undesired contact and other external influences, the connector plug opening 132 is covered by means of a protective cover 182. The protective cover 182 is retained by spring action in the closed position shown in
In order to be able to insert the male connector elements 180 of the connector plug 106 into the mating female connector elements (not shown) of the plug-in connector 114, disposed on the connector support 181 are elongated centering bolts 183 with conical ends, which engage in mating centering openings of the plug-in connector 114 (not shown).
In addition, as an additional function of the embodiment shown in
To this end, an oscillator retaining means 185 pivoting about an oscillation axis P which extends essentially in the horizontal direction and at right angles to the travel direction F of the crane 1 is disposed on the cable guide apparatus 107, so that the oscillating link 184 can oscillated back and forth about the oscillation axis P, as clearly visible in
The deflection of the oscillating link 184 from the vertical S is caused in a manner known in the art by the line cable 5, which, during movement of the crane 1, is being wound and unwound and which passes through a cable guide 186 disposed on the lower end of the oscillating link 184 and having longitudinal and transverse cable guide rollers. Using tautness and slackness sensors known in the art, and not further described here, it is possible to detect whether the line cable 5 is guided tautly or slackly and subsequently, if necessary, to retract or pay out the line cable 5. The line cable 5 is preferably guided by an additional cable guide disposed in the payout direction of the line cable 5 upstream of the cable guide 186 of the oscillating link 184, which additional cable guide is preferably arranged between and/or on the upper end of the two roller bows 108, 108′. The cable guide can preferably be formed by the lateral guide rollers 110, 110′, but other methods of guiding the line cable 5 can be used as well.
In order to be able to move the oscillating link 184 back and forth between the uppermost and lowermost positions shown in
Also disposed on the oscillator retaining means 185 is an oscillator drive, which moves with the oscillating link 184 and which has an electric motor 191, a 90° gearbox 192 and a drive pinion 194 intermeshing with a toothed rack 193, which is disposed on the oscillating link 184. This allows the oscillating link 184 to be moved by a motor in the longitudinal direction toward and away from the oscillator retaining means 185. Alternatively, a direct linear drive or a toothed belt drive can be used to retract and extend the oscillating link 184.
In order to be able to cleanly position the connector plug 106 for the gripping device 127 in the cable guide apparatus 107, the oscillating link 184 moves completely to the top, as shown in
In order to be able to further improve the positioning of the connector plug 106 for gripping by the manipulator 118 in the cable guide apparatus 107, oppositely lying retaining brackets 195, 195′ are disposed on the roller bows 108, 108′. The retaining brackets 195, 195′ pivot about essentially horizontal axes of rotation 196, 196′ that extend at right angles to the travel direction F and comprise downwardly extending rod-shaped retaining extensions 197, 197′, 197″, 197′″, which, in the upper position shown in
In general, the retaining brackets 195, 195′ are retained by the action of a spring in the open retracted position, as shown in
Only when the oscillating link 184 is moved into the upper retaining position shown in
As indicated in
In the present case, the above-described sensor 111 is preferably disposed on the oscillating link 184, where it is supplied with current via an energy chain 200 and technically connected in terms of data to the controller of the crane. However, the sensor 111 can also be disposed at a point of the cable guide apparatus 107 or even on the crane 1 and be wirelessly connected to the controller.
The outer longitudinal guide rollers 209″ in the outer lower area of the roller bow 208′ are wider than the inner longitudinal guide rollers 209′ of the roller bow 208′ disposed in the inner upper area of the roller bow 108′. The advantage is that if the line cable 5 is paid out not completely parallel to the travel direction F of the crane 1, the line cable 5 can be laterally offset slightly more in the outer area of the roller bows 208, i.e., when looking at the cable guide apparatus 207 from above, the line cable 5 can be oriented slightly obliquely relative to the longitudinal direction of the roller bows 208′. To this end, the frame of the roller bow 208′ on its outer lower outwardly facing end preferably has two oppositely lying walls, between which the longitudinal guide rollers 209″ are mounted, which walls are spaced at a greater distance from one another than the walls in the area of the inner narrower longitudinal guide rollers 209′. The design of the second roller bow 208 is correspondingly reversed; otherwise, the explanations relating to the roller bow 208′ correspondingly apply.
In addition, instead of the rotary electric motor 191 shown in
As described in detail above, by means of the connecting apparatus 13, 113 according to the present invention, the connector plug 6, 106 of the line cable 5 can be simply and automatically connected to the feed device 12, 112, without having to manually insert or remove the connector plug 6, 106. Another aspect of the invention provides that, for the purpose of improving the automatic connecting process, the line cable 5 be specially configured. In addition, the connector plug 6, 106 can also be specially configured in order to improve the gripping with the manipulator 18, 118 and especially the gripping device 27, 127. Also, to simplify automatic gripping of the line cable 5 and the connector plug 106, a height-adjustable oscillating link 284 can be provided. According to another aspect of the invention, the line cable 5 is guided so as to protect the cable.
The feed direction H preferably extends toward and away from the cable guide apparatus 7, 107 and 207 and the crane 1 and preferably at right angles to the travel direction F. In another embodiment, not shown, the manipulator 18 and 118 and/or the gripping device 27 and 127 can, however, also be moved in the travel direction F in order to compensate, if necessary, for an offset in the travel direction F. The manipulator 18 and 118 and/or the gripping device 27 and 127 can also be designed to move about a vertical axis so as to better compensate for an angular offset, e.g., in case of an obliquely positioned cable guiding apparatus 7, 107 and 207.
Number | Date | Country | Kind |
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10 2017 109 990.5 | May 2017 | DE | national |
Filing Document | Filing Date | Country | Kind |
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PCT/EP2018/061357 | 5/3/2018 | WO |
Publishing Document | Publishing Date | Country | Kind |
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WO2018/206392 | 11/15/2018 | WO | A |
Number | Name | Date | Kind |
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20080048163 | Maino | Feb 2008 | A1 |
20130056588 | Harr | Mar 2013 | A1 |
20160009530 | Teruzzi | Jan 2016 | A1 |
Number | Date | Country |
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101450485 | Jun 2009 | CN |
101549824 | Oct 2009 | CN |
102751690 | Oct 2012 | CN |
103052589 | Apr 2013 | CN |
105073623 | Nov 2015 | CN |
205509450 | Aug 2016 | CN |
20 2006 009750 | Oct 2007 | DE |
0017178 | Oct 1980 | EP |
WO-2009053338 | Apr 2009 | WO |
2014081378 | May 2014 | WO |
2014131826 | Sep 2014 | WO |
Entry |
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First Office Action dated Jan. 6, 2020, for Chinese Application No. 201880003620.7 (with partial English translation), 10 pages. |
International Preliminary Report on Patentability, dated Nov. 12, 2019, with Written Opinion (English translation) for PCT/EP2018/061357, filed May 3, 2018. |
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Result of examination report for German Application No. 10 2017 109 990.5 dated May 9, 2017. |
Number | Date | Country | |
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20190367334 A1 | Dec 2019 | US |