Patent Grant
12208997
The following documents are incorporated herein by reference as if fully set forth: Austrian Patent Application No. A282/2020, filed Dec. 23, 2020.
The invention relates to a load transport system for transporting a load in a working space, wherein the load transport system has a load carrier and at least one load receiving device which for receiving the load is fastened to the load carrier, and at least three positioning cables and at least three suspension devices that are disposed so as to be mutually spaced apart, wherein each suspension device has at least one positioning cable winch for winding and unwinding one of the positioning cables, and the load carrier by means of the positioning cables is suspended from the suspension devices, wherein the load carrier and the load receiving device fastened thereto are able to be relocated in and/or above the working space by activating the positioning cable winches.
In load transport systems of this type the load carrier by means of positioning cables is suspended from suspension devices that are spatially distributed and disposed so as to be mutually spaced apart. The load carrier can be moved back and forth in a region between the suspension devices by winding and unwinding the positioning cables in a corresponding manner on the respective positioning cable winches, so as to be able to transport loads that are suspended from the load receiving device and thus from the load carrier from one place to another in the region between the suspension devices.
A load transport system of the generic type is shown in DE 10 2009 050 729 A1. A platform which is capable of carrying a load and has a rectangular footprint is provided there as a load carrier. The positioning cables are fastened to the respective corners of this platform. Gripping tools fixed on the platform are provided as the load receiving device in DE 10 2009 050 729 A1.
An issue in the technology shown in DE 10 2009 050 729 A1 lies in that in a central region between the suspension devices the loads which are fastened to the load carrier, or to the load receiving device, respectively, can indeed be very easily gripped and transported but the working space of the load transport system in which loads can be transported is more or less limited to this central region between the suspension devices. In the prior art it is difficult and, from a certain distance from the central region practically impossible, to receive and transport loads by the load receiving device. At the peripheries, thus close to the suspension device, sagging arises in the positioning cables and the platform used as the load carrier in the prior art is difficult to control at said peripheries.
It is therefore an object of the invention to improve a load transport system of the type mentioned above with a view to the working space between the suspension devices being as large as possible.
To this end, the invention proposes that the load carrier has at least one multi-cable suspension by means of which at least two of the positioning cables are in each case connected to the load carrier by way of one cable connector, wherein each of the cable connectors is mounted on the multi-cable suspension so as to be pivotable about at least two pivot axes aligned so as to be mutually orthogonal, and all pivot axes of the cable connectors intersect in a common intersection point of this multi-cable suspension.
All pivot axes here preferably always, thus in other words in any arbitrary operating position of the load carrier, meet in the common intersection point of this multi-cable suspension.
As a result of this multi-cable suspension, a particularly large operating space between the suspension devices can be achieved. The multi-cable suspension permits the load carrier to be moved in a targeted manner to the position where the latter is required for lifting or depositing the load even in peripheral regions of the space between the suspension devices. As a result of the use of multi-cable suspensions of the type mentioned on the load carrier, the latter can also be very positively controlled in the mentioned peripheral regions. Above all, uncoupling between a load swaying on the load carrier and the positioning cables is also achieved as a result of the use of such multi-cable suspensions on the load carrier. Swinging of the positioning cables does not arise, or at least does not arise that fast, when the load suspended from the load receiving device swings or oscillates, respectively. The use of such multi-cable suspensions is particularly favorable when the load carrier is suspended from four, five, six or more positioning cables and thus also from a corresponding number of suspension devices.
The working space is the space between the suspension devices in which the load fastened to the load receiving device, or received by the load is receiving device, respectively, can be transported from one location to another by the load transport system.
The term cable is to be understood in general terms. Here, this is an elongate flexible element which can be stressed for tension and is able to be wound onto a winch. The cable can in each case be a cable in the more concise sense, for example a steel cable, or else a belt or a chain or the like. For the sake of linguistic simplicity, this collectively is included in the term cable. The same applies in an analogous manner to the positioning cables as well as to the lifting cables and activating cables yet to be mentioned hereunder.
The respective cable can be embodied as a single cable. Accordingly, the singular is also substantially used here for the cable. Of course, the respective cable which for the sake of linguistic simplicity is also referred to in the singular may also be implemented by a plurality of cables which in particular run in a mutually parallel manner, or by a cable pack. Moreover, it is likewise possible for individual or a plurality of the cables to be deflected or embodied, respectively, in the form of a tackle, for example. In the context of the invention, the latter can in each case be adapted to the respective tasks and to the specific loads to be considered. This also applies to the positioning cables as well as to the lifting cables and activating cables yet to be mentioned hereunder.
The load carrier is the part on which the positioning cables by way of the end thereof that faces away from the respective suspension device engage in each case. The load carrier by means of the positioning cables thus is suspended from the suspension devices. The load carrier can be relocated in or above the working space by activating the positioning cable winches, thus in other words by winding or unwinding the respective positioning cable in a corresponding manner onto or from the respective positioning cable winch. It is obvious here that it is typically necessary for all positioning cables to be wound or unwound in order for the load carrier to be moved. This, however, is known per se in the prior art and does not need to be explained in more detail.
The load receiving device is the part of the load transport system that serves for fastening the load to the load carrier. This can be, for example, a hook or a mechanical or magnetic grip, a shovel or the like, depending on the type of load that is to be transported by means of the load transport system. If the loads are individual objects, a hook or a gripping device is often expedient as a corresponding load receiving device. However, if the load to be transported is bulk material such as, for example, gravel or sand, the load receiving device can thus be a shovel, a gravel loader or the like. If the load is a liquid, the load receiving device can be, for example, a corresponding vessel in which the liquid can be received. The implementation of the invention here has no strict limits. Practically all load receiving devices which are known in the prior art and suitable for the respective field of application can be used for implementing the invention.
Load transport systems according to the invention may also be referred to as robotic cables.
Load transport systems according to the invention have at least three positioning cables and accordingly also at least three suspension devices that are disposed so as to be mutually spaced apart. The invention however is particularly well implemented when the load transport system has more than three positioning cables, thus four, five or six positioning cables, for example, and a corresponding number of suspension devices. The suspension devices are favorably but not mandatorily set up so as to be uniformly spaced apart, for example such that said suspension devices in a plan view are in each case disposed in the corners of an inherently closed polygonal line. In the case of three suspension devices, the latter is a triangle, in the case of four suspension devices a quadrangle, preferably a square or a rectangle, in the case of five suspension devices a pentagon, etc.
The suspension devices are the devices from which at least one of the positioning cables is in each case suspended. In order for the suspension devices to be configured, suspension possibilities already existing in the respective terrain, or in the respective region, respectively, in which the load transport system is to operate, can be utilized. In the case of buildings, for example, the suspension possibilities may be already existing walls, or in the case of a natural topography, rock faces, rock protrusions or other points which are preferably disposed so as to be elevated in relation to the environment. It can however also be provided that at least one, preferably all, of the suspension devices has/have at least one mast or tower, wherein the positioning cable winch and/or a return pulley for the positioning cable suspended from the respective suspension device is disposed on the mast or the tower. It is possible here for the positioning cable winch to be disposed on an elevated or else the highest point of the mast or the tower. In this case, return pulleys for the respective positioning cable on the respective suspension device can optionally be dispensed with. It is however also possible for the positioning cable winch to be disposed further down on the respective suspension device. In this instance it is typically favorable for the positioning cable to be guided by way of a return pulley of the suspension device that is disposed above the positioning cable winch on the respective suspension device. The suspension devices can be configured so as to be stationary, thus fixed in the respective hard ground, or else so as to be movable. Said suspension devices can be designed, for example as in the prior art mentioned at the outset, on mobile support structures, or so as to be relocatable from one position to another in another manner. It can be provided that the respective suspension device is anchored in the hard ground, or only set up on the respective hard ground. The suspension devices can have compression members as well as tie bars. In the case of the compression members it can be provided that the latter stand on the hard ground only by way of pressure-introduction faces, optionally only secured against lateral slippage. The tie bars can be anchored in the hard ground or have a base which is equipped with a suitable weight for receiving the respective tensile forces and is only deposited on the hard ground. The base can be a fixed member such as, for example, a concrete member, or else a container which can be filled with water or other liquids or bulk material. The latter has the advantage that the base in the unfilled state is able to be transported in a relatively easy and thus ready manner.
There are various possibilities when multi-cable suspensions are used. It can thus be provided, for example, that all positioning cables by means of the multi-cable suspension are in each case connected to the load carrier by way of one cable connector, wherein each of the cable connectors is mounted on the multi-cable suspension so as to be pivotable about at least two pivot axes aligned so as to be mutually orthogonal, and all pivot axes of the cable connectors intersect in a common intersection point of this multi-cable suspension. Here too, it is preferably provided that all pivot axes of the cable connectors intersect always, thus in any arbitrary operating position, in the common intersection point of the multi-cable suspension.
In another group of design embodiments of the invention it can, however, also be provided that the load carrier has an elongate support beam, and the multi-cable suspension is disposed on the support beam, preferably on one end of the support beam. In such design embodiments it can be provided, for example, that the load carrier has a single-cable suspension by means of which a single other one of the positioning cables is connected to the load carrier, wherein the single-cable suspension is disposed on the support beam so as to be spaced apart from the multi-cable suspension, preferably on an end of the support beam that is opposite the multi-cable suspension. However, it is also possible for the load carrier to have at least one further multi-cable suspension by means of which at least two other ones of the positioning cables are connected to the load carrier, wherein the multi-cable suspensions are disposed on the support beam so as to be mutually spaced apart, preferably on mutually opposite ends of the support beam. In other words, it is thus also possible for the positioning cables to be fastened to the load carrier in groups by way of a corresponding number of multi-cable suspensions. The further multi-cable suspensions here can be embodied like the multi-cable suspensions already described. It is thus in particular possible for the at least two other ones of the positioning cables by means of the further multi-cable suspension to be in each case connected to the load carrier by way of one further cable connector, wherein each of the further cable connectors is mounted on the further multi-cable suspension so as to be pivotable about at least two pivot axes aligned so as to be mutually orthogonal, and all pivot axes of the further cable connector intersect in a common intersection point of this further multi-cable suspension.
It is preferably provided that the cable connectors are in each case configured as elongate and/or inherently rigid members. In order for an ideally large pivot angle of the cable connectors to be achieved, particularly preferred variants provide that the cable connectors are configured so as to be L-shaped or C-shaped. It is in any case favorable for the respective positioning cable to be fastened to a first end of the respective cable connector, and for the cable connector by way of a second end that is opposite the first end to be pivotably mounted on the multi-cable suspension.
The multi-cable suspensions can be of different designs. For example, it can thus be provided that at least two of the cable connectors by means of at least two, mutually orthogonal, axle pins are mounted on the multi-cable suspension so as to be pivotable about at least two pivot axes aligned so as to be mutually orthogonal. It is preferably provided here that the respective cable connector on a first one of the axle pins is mounted so as to be pivotable about a first one of the pivot axes, and the first one of the axle pins by way of the second one of the axle pins is mounted so as to be pivotable about a second one of the pivot axes. In particularly preferred embodiments, even a third pivot axis can be implemented, for example in that the first one of the axle pins and the second one of the axle pins are pivotably mounted in a yoke, wherein the yoke is pivotable or rotatable, respectively, about the third pivot axis. In this instance, all three pivot axes here favorably intersect in the common intersection point of the multi-cable suspension.
Another design embodiment for the multi-cable suspension provides that the multi-cable suspension for each of the cable connectors pivotably mounted thereon has a guide in the shape of an arcuate segment, on which the respective cable connector is guided for pivoting about a first one of the orthogonal pivot axes, and the guides in the shape of arcuate segments, for pivoting the respective cable connectors about a second one of the pivot axes aligned so as to be mutually orthogonal, are pivotable about a common axle pin. These variants of a multi-cable suspension are particularly favorable when four, five, or more positioning cables have to be connected to the load carrier.
In the implementation of the invention, the fastening of the load receiving device to the load carrier can in principle be embodied as is known in the prior art.
In the context of the object mentioned at the outset of achieving an ideally large operating space between the suspension devices, particularly preferred design embodiments of the invention however provide that the load transport system has a lifting cable winch and a lifting cable, wherein the lifting cable is able to be wound onto and unwound from the lifting cable winch, and the load receiving device by means of the lifting cable is suspended from the load carrier and is able to be lifted and lowered relative to the load carrier.
By suspending the load receiving device from the load carrier by means of the lifting cable and the possibility of lifting the load receiving device relative to the load carrier by means of the lifting cable and of lowering said load receiving device from said load carrier, the working space of the load transport system is additionally enlarged in comparison to the prior art, in particular in the peripheral regions in the direction toward the respective suspension devices. Loads can also be transported in a safe and controlled manner by way of the load transport system in a peripheral region between the suspension devices.
A further advantage lies in that the load transport system can also be better used in terrain surfaces having a pronounced surface topography, or an inconsistent relief, thus in areas in which hills or other elevations and/or valleys and/or other terrain depressions are configured between the suspension devices. In load transport systems according to the prior art, specific regions between the suspension devices cannot be reached in the first place by means of the load receiving device in the case of a very inconsistent relief, or an intense surface topography, respectively. The suspension of the load receiving device that is able to be lifted or lowered by means of the lifting cable on the load carrier however makes it possible for loads to be transported between different positions without significant restrictions even in the case of an inconsistent surface topography, or an intense surface relief, respectively.
In order for the positioning cable to run onto the positioning cable winch, or run off from the latter, respectively at an ideally optimal angle, thus ideally at an orthogonal angle, preferred variants of the embodiment provide that the positioning cable winch(es) is/are in each case disposed so as to be pivotable on the respective suspension device. This here can be a free pivoting capability in which the tension on the positioning cable ensures corresponding pivoting of the positioning cable winch. It can however also be provided that the positioning cable winch(es) is/are configured so as to be pivotable in a motorized manner. In these design embodiments, a drive such as, for example, a motor and/or a corresponding transmission, ensures targeted pivoting of the positioning cable winch in order for the latter to be aligned for the positioning cable to run in or off, respectively, in an optimal manner. The pivoting capability of the positioning cable winch is particularly favorable when no return pulley is present on the respective suspension device in the first place, the positioning cable thus running directly from the positioning cable winch to the load carrier. However, if a corresponding return pulley for the positioning cable is present on the suspension device, it is favorable in this instance for the positioning cable winch to be correspondingly pivotable, preferably in a motorized manner, when the return pulley is disposed so as to be relatively close to the positioning cable winch. The pivotable arrangement can however be implemented not only in the positioning cable winch but in an analogous manner also in the lifting cable winch and in an activating cable winch which is optionally present for an activating cable yet to be mentioned, in order for the mentioned advantages to be achieved in a correspondingly adapted form also there.
Preferred variants provide that the load receiving device has at least one return pulley for diverting the lifting cable. It can be provided, in particular while utilizing this return pulley, for example, that the lifting cable between the load carrier and the load receiving device is guided by way of a tackle in order to be able to achieve greater forces, in particular when lifting the load disposed on the load receiving device. In the configuration of a tackle, the cable forces arising in the lifting cable are also decreased in accordance with the quotient resulting from the reeving. As a result, the lifting cable can be embodied so as to be lighter and thinner. The equilibrium of the forces of the positioning cables is thus influenced to a lesser extent. At the same time, an enlargement of the working space is also achieved as a result, because the load carrier can thus be moved closer to that suspension device that lies diagonally opposite the suspension device having the lifting cable winch.
In a first group of design embodiments, the lifting cable winch can be disposed on one of the suspension devices. The load carrier in this instance can have a deflection pulley, wherein the lifting cable from the lifting cable winch is guided to the load receiving device by way of the deflection pulley. As has already been explained above in the context of the positioning cable winch, the lifting cable winch can be configured so as to be pivotable, preferably so as to be disposed on the suspension device. Here too, a free pivoting capability or a motorized pivoting capability of the lifting cable winch is possible. Here too, this pivoting capability can be utilized so that the lifting cable always runs onto the lifting cable winch, or is unwound from the latter, at an ideally orthogonal angle.
Alternatively, and in another group of design embodiments, the lifting cable winch can however also be disposed on the load carrier. To this end, it can be provided that an electric power supply line for supplying a drive motor of the lifting cable winch with electric power is integrated in at least one of the positioning cables. It is likewise possible that this power supply line is guided to the lifting cable winch as a separate line. In the case of the integration in one of the positioning cables, technologies which are known per se can be resorted to. The power supply line, or the power supply lines, can thus be intertwined in the respective positioning cable as electrically conducting strands which are electrically insulated toward the outside. Combined variants in which the power supply line, or the power supply lines, respectively, over a partial distance is/are integrated in the positioning cable and over another partial distance is/are guided to the lifting cable winch as a separate line.
The load receiving device can be configured as an inherently rigid component such as, for example, as a load hook. In other design embodiments, the load receiving device can however also have an activatable actuator. The latter can be configured for fastening the load to the load receiving device, for example. This actuator can in principle be driven by a local motor. Preferred variants however provide that at least one activating cable of the load transport system for activating the actuator is preferably guided to the load receiving device by way of the load carrier. This here can be an activation cable or a plurality of activation cables. The latter can actuate one or a plurality of actuators, or potentially also a plurality of functions of one actuator.
The positioning cables favorably run in vertical planes between the respective suspension device and the load carrier, while taking into account their respective slack. These vertical planes are thus defined by the respective positioning cable. If lifting cables and/or activating cables and/or power supply lines have also to be guided from the load carrier to the suspension device, it is thus preferably provided that the lifting cable and/or the activating cable and/or the power supply line are/is guided in the same vertical plane as the positioning cable guided between the respective suspension device and the load carrier. It is obvious here that the respective vertical plane is displaced when the positioning cable defining said plane changes its profile when the load carrier moves.
Further features and details of preferred design embodiments of the invention will be explained in an exemplary manner in the description of the figures hereunder in which:
The load transport system according to the prior art illustrated in
In the prior art in which the load receiving device 5 is fixedly fastened to the load carrier 4, the working space 3 schematically illustrated in
When the load carrier 4 with the load receiving device 5 in the prior art is moved into the peripheral regions of the space between the suspension devices 7, states which are no longer able to be managed and also no longer able to be controlled and calculated arise in the prior art due to sagging regions of the positioning cable 6 and due to tilting of the load carrier 4 caused by suspension from the positioning cables 6 such that the working space 3 in the prior art, as illustrated in
A measure according to the invention for designing the working space 3 between the suspension devices 7 so as to be as large as possible, provides that the load carrier 4, as has already been explained at the outset, has at least one multi-cable suspension 20 as will be explained once again hereunder by means of the exemplary embodiments. By using such multi-cable suspensions 20, the load carrier 4 can be moved far better into the peripheral regions close to the suspension device 7 without states that are difficult to manage or control arising here. These multi-cable suspensions 20 in the case of the load 2 oscillating on the load carrier 4 also ensure uncoupling however, such that the positioning cables 6 as a result of the oscillation of the load 6 are not likewise set in oscillation.
A further advantage of load transport systems 1 according to the invention in comparison to the prior art becomes evident when the surface 35 of the terrain is not flat but has a correspondingly rough topography, or a correspondingly rough relief having elevated regions and depressions or valleys. In particular in the case of such demanding characteristics of the surface 35 of the terrain, the entire available space by means of load transport systems 1 according to the invention can be much better accessed and thus utilized by the load receiving device 5 in order for loads 2 to be received or deposited there than in the prior art.
In this exemplary embodiment, it is in any case also provided that the load receiving device 5, here embodied as a hook, is suspended from the load carrier 4 by means of a lifting cable 10 and is thus able to be lifted and lowered relative to the load carrier. The lifting cable 10 is able to be wound onto a lifting cable winch 9. The lifting cable winch 9 in this first exemplary embodiment is situated on one of the suspension devices 7, as this is specifically shown in
The working space 3 of this load transport system 1 is illustrated with dashed lines in
The load carrier 4 by correspondingly winding the positioning cables 6 onto the respective positioning cable winches 8 thereof, or unwinding said positioning cables 6 therefrom, respectively, has now been relocated in, or above, respectively, the working space 3 in
The vertical planes 36 are also shown in
The load receiving device 5 in this exemplary embodiment is suspended from the load carrier 4 by means of the lifting cable 10 such that said load receiving device 5 is able to be lifted and lowered relative to the load carrier 4. The load receiving device 5 in the exemplary embodiment shown has a simple hook. Said load receiving device 5 can however also be embodied in any other arbitrary form, for example as a gripper, as a magnetic receiving device, as a shovel or in any other manner. In any case, the lifting cable 10, as has already been explained by means of
The third cable connector 21 of this exemplary embodiment is mounted on third axle pins 63 so as to be pivotable about the fourth pivot axis 25. The third axle pins 63 in this exemplary embodiment are configured on a yoke 64. This yoke 64 by means of the axle pin 32 is mounted on the support beam 26 so as to be pivotable about the pivot axis 24.
The two axle pins 30 and 31, and thus also the cable connectors 21 engaging thereon, are mounted on the yoke 40 so as to be pivotable about the pivot axis 23. Additionally, the axle pins 30 and 31 in this design embodiment as well as other preferred design embodiments by means of the yoke 40 are conjointly pivotable about the third pivot axis 24. To this end, the yoke 40 in this exemplary embodiment, likewise by means of the axle pin 32, is mounted on the support beam 26 so as to be pivotable about the pivot axis 24. It is however to be pointed out here that the two yokes 40 and 64 are pivotable about the pivot axis 24 in a mutually independent manner. This independent pivoting capability of the yokes 40 and 64 can be achieved by way of a correspondingly independent mounting on the axle pin 32. However, it would of course also be possible for two axle pins to be provided, said axle pins being rotatable in a mutually independent manner about the pivot axis 24 and disposed in a mutually coaxial manner, wherein one of the yokes 40 and 64 would in each case be connected to one of the axle pins. In any case, all four pivot axes 22, 23, 24 and 25 intersect in the common intersection point 39.
It can also be seen in
The difference in comparison to the exemplary embodiment described above lies in the configuration of the load receiving device 5. The latter in this exemplary embodiment is composed of the hook, already known from
This manner of the multi-cable suspension 20 having the arcuate guides 33 for the respective cable connectors 21 is particularly favorable when comparatively many positioning cables 6 are to converge in one multi-cable suspension 20. Accordingly,
A further exemplary embodiment of the invention is shown in
A further difference in comparison to the preceding exemplary embodiments lies in that the lifting cable winch 9 in this exemplary embodiment according to
Of course, other variants of embodiment are also conceivable. For example, the power supply line 18 could also be guided completely as a separate line to one of the suspension devices 7. In this instance, it would in any case be favorable if said power supply line 18 were however guided in a vertical plane 36 of one of the positioning cables 6. It is however likewise conceivable that the power supply line 18 integrated in the positioning cable 6 is guided directly into the load carrier 4 by way of a corresponding cable connector 21 and the corresponding multi-cable suspension 20 or 28, respectively, or a corresponding single-cable suspension 27.
In this exemplary embodiment according to
In any case, it is to be pointed out that
The suspension device 7 in
In order for the wear and tear on the cables and on the cable winches to be minimized as far as possible, it is favorable for the respective cable to run orthogonally onto the cable winch. In order for this to be guaranteed, it is generally favorable for the cable winch to be pivotably mounted. This pivotable mounting is particularly advantageous when the respective cable runs directly, without deflection, to the load carrier 4, as is shown by means of the exemplary embodiment in
In order for the suspension devices 7 to be fastened in the hard ground, said suspension devices 7 can in principle of course be fixedly connected to said hard ground, for example by way of corresponding foundations or the like. In particular in such load transport systems 1 that are only required for a specific period at one location, it is however also favorable to provide solutions in which the suspension devices 7 only have to be anchored to a minor extent in the hard ground, if at all.
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