Cable guide apparatus, power supply system and method for connecting a line cable to the connecting apparatus

A cable guide apparatus has an oscillating link rotatable about an axis and a cable guide for the line cable. The line cable is fed from and into a reservoir based on the distance between the reservoir and the feed device and is guided by the cable guide. A simplified automatic connection of a line cable to a feed device is achieved and provides protective guidance and storage of the line cable by a cable guide apparatus in which the oscillating link can be moved linearly relative to the oscillation axis. A power supply system includes this cable guide apparatus. The related method comprises: a) retracting a connecting element, which is arranged on the line cable, into the cable guide apparatus and before, at the same time or afterwards b) moving the oscillating link from an extended to a retracted position relative to the oscillation axis in a linear manner.

FIELD OF THE INVENTION

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.

BACKGROUND OF THE INVENTION

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.

SUMMARY OF THE INVENTION

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.

DETAILED DESCRIPTION OF THE INVENTION

FIG.1shows a crane1known in the art for the transfer of containers2stored in a container stacking area, such as is used in large transfer facilities, especially in ports. The crane1is able to move on wheels3,3′ in a travel direction F along a travel path next to the container stacking area, with the travel path generally running parallel to the stored containers2. As a rule, in transfer facilities, a plurality of such container stacking areas is arranged side by side and sometimes one behind the other, and the crane1as well as other cranes can be moved between the individual container stacking areas.

To supply electrical power to the crane1and to the electrical equipment installed thereon, e.g., the motors for lifting and moving the containers2and the electrical drive systems of the wheels3,3′, and/or optionally to transmit data from and to the crane1, a line cable drum4is disposed on the outside of the crane1, around and from which drum an electrical line cable5can be wound and unwound in a laydown direction according to the travel path of the crane1in 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 cable5is preferably laid down parallel to the travel direction F. The line cable5is laid down along the travel path of the crane1, which travel path along its length generally also differs slightly from the ideal line that runs parallel to the containers2. 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 cable5is 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 cable5is a connecting element in the form of a connector plug6and106which can be guided accurately and as free from tension as possible by means of a cable guide apparatus7and107disposed on the crane1for the purpose of laying the cable down on the ground and for rewinding it onto the cable drum4.

In the detailed diagrammatic three-dimensional view of a first embodiment example inFIG.2, a portion of the crane1and the wheels3,3′ is once again shown from an oblique lateral perspective. It also depicts details of the cable guide apparatus7, by means of which the line cable5can be laid down on the ground neatly and with application of the lowest possible force and tension. The cable guide apparatus7comprises two oppositely lying roller bows8,8′, which, in the travel direction F of the crane1, are offset relative to one another and which widen toward the bottom. In the roller bows8,8′, a plurality of freely pivotable longitudinal guide rollers9,9′ are disposed, along which the line cable5can be guided with the lowest possible friction. In the lateral direction H at right angles to the travel direction F, the line cable5is guided by means of two lateral guide rollers10,10′, which are disposed above the roller bows8,8′ and which, in the current embodiment example, connect these roller bows, which is, however, not necessary. On the lower end of the roller bow8′ on the right side inFIG.2, a sensor unit11is disposed, the function of which will be explained below. It is, however, also possible to dispose the sensor unit11somewhere along the cable guide apparatus7or on the crane1and to link it to the control unit without a cable.

To connect the connector plug6to an electrical power supply, not shown in detail in the drawing, a feed device12with a connecting apparatus13disposed thereon is stationarily arranged next to the travel path of the container crane1. In the case at hand, the feed device12comprises two connectors in the form of plug-in connectors14,14′ which, by means of two connector members in the form of swivel plates15,15′, are articulated in bearings16,16′ so as to pivot about axes of rotation D, D′ (seeFIG.7). The bearings16,16′ are attached to the ground or, more specifically, to a mounting element, especially a mounting plate17, on the ground, which mounting plate in turn is generally attached to a fixed foundation. The function of the pivotable bearing will be explained in greater detail below with reference toFIG.7. It is, however, also possible to dispose more or fewer plug-in connectors on a feed device.

The connecting apparatus13comprises a manipulator18which is designed to grip and actively move the connector plug6and to establish a connection between the connector plug6and the plug-in connector14. The manipulator18comprises a manipulator base19, to which a lower manipulator arm20with lower sub-arms21,21′,21″ are articulated, two of which are fully visible inFIGS.2to6and the third partially obscured. The manipulator arm20can be moved by means of a lower manipulator drive22which rotates sub-arm21″ and preferably also sub-arm21′.

On their upper ends, the lower sub-arms21,21′,21″ are connected to a cross-shaped connecting piece23in such a way that the sub-arms21,21′21″ form a first guide in the shape of a parallelogram. Also connected to this connecting piece is an upper manipulator arm24which, together with two upper manipulator arms25,25′, is pivotably articulated to two other hinge connectors of the connecting piece23, which hinge connector are offset in a crosswise manner relative to the hinge connectors of the lower sub-arms21,21′,21′″. On their upper front ends, the manipulator arms25,25′ are again connected to one another in the shape of a parallelogram. The upper sub-arm25′ can be rotated about its lower hinge axes via an upper manipulator drive26.

Disposed on the upper front end of the upper manipulator arm24is a gripping device27for the connector plug6, which allows the connector plug6to be accurately positioned in relation to the plug-in connector14by means of the manipulator18, which moves only in the horizontal feed direction H and the vertical feed direction V. The gripping device27has a funnel-shaped feed opening28to allow the connector plug6to be securely gripped and moved as shown inFIG.4. A more detailed description will be provided below.

In order to be able to position the connector plug6relative to the manipulator18, which moves only in the horizontal feed direction H at right angles to the travel direction F of the crane1, in such a manner that the gripping device27can securely grip the connector plug6, a signal mast29is mounted next to the connecting apparatus13. A positioning element in the form of an identification plate30is disposed on the signal mast29. The sensor unit11, which inFIG.2is disposed on the lower right end of the roller bow8, detects whether the identification plate30, relative to the sensor unit11, is in a position in which the manipulator18is able to grip the connector plug6. If so, the gripping procedure is triggered by the manipulator18, which is able to somewhat compensate for distance differences in the horizontal feed direction H.

For example, it is possible to check whether or not the identification plate30is located within the measuring range of the sensor unit11. Thus, the identification plate30can have a large-surface QR Code and the sensor unit11can have a very narrow measuring range, within which the QR Code must be located. Alternatively or additionally, the identification plate30can 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 unit11. As soon as the beginning of the reflector foil is detected, the position of the crane1and the cable guide apparatus7in relation to the manipulator18can be determined based on the known dimensions. The distance measurement can also be used to ensure that the manipulator18grips the connector plug6quickly and at the most accurate distance possible.

Since the feed opening28has the shape of a funnel, a certain offset of the connector plug6in relation to the feed opening28in the travel direction F can be compensated for even if the crane1is not completely accurately positioned.

To signal the accurate position and optionally the securely established connection between the connector plug6and the plug-in connector14to the driver or operating personnel of the crane1, an easily visible signal light31with the conventional traffic light signal colors, red, yellow and green, is mounted on the upper end of the signal mast29. 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 manipulators18, 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 light31can also be used to inform the driver whether a plug-in connector14,14′ on the feed device12is 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 plug6to the plug-in connector14will be described below by way of example with reference toFIGS.3to6.

InFIG.3, the crane1has already been moved into the favorable position with respect to the connecting apparatus13, and the manipulator arm18has already gripped the connector plug6by means of the gripping device27. Prior thereto, the manipulator18travels with the gripping device27toward the line cable5above the connector plug6and grips it. The gripping device27subsequently travels from the top downwardly via an upper cylindrical gripping member38of the connector plug6up to a stop (not shown) until a grip stop locks the connector plug6to the gripping device27.

The gripping member38has a centering funnel39, readily visible inFIG.2, into which oppositely lying centering pins40disposed in the funnel-shaped feed opening28engage. InFIG.2, a centering pin40, in its suggested position, is shown to be disposed on the outside of the gripping device27. The advantage of this configuration is that the connector plug6held by the gripping device27is oriented in such a manner that it can be cleanly plugged into one of the plug-in connectors14,14′.

By rotating the upper manipulator arm drive26and optionally the lower manipulator arm drive22, the manipulator18subsequently moves the connector plug6over the plug-in connector14, as shown inFIG.4, so that a connector plug opening32(only visible inFIG.6) of the connector plug6is aligned with the outside contour of the plug-in connector14. AsFIG.4indicates, the connector plug6is subsequently pushed onto the plug-in connector12by means of the manipulator18and is detachably connected to a plug locking mechanism, which is not shown in detail but will be described in detail below. At the same time, the plug-in connector14also establishes an electrical connection between an electrical power supply of the container stacking area, which is electrically connected to the plug-in connector14and the connector plug6of the crane1, and thus to the electrical supply network of said crane. Similarly, a data link, e.g., an electrical or optical data transmission link, can be established, e.g., by making available detachable plug-in connectors.

The guide system of the manipulator18in the form of two parallelograms offers the advantage that it ensures that the gripping device27during its movement does not change its angle of inclination in relation to the plug-in connector14. Thus, the connector plug6moved by the gripping device27is not tilted out of the ideal position shown in the drawings, thereby ensuring that the line cable5is not excessively bent or even broken off. To ensure this result, the design of the manipulator18can, 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 inFIG.5, the grip stop of the gripping device27is released and the manipulator18is moved by turning the manipulator arm drives22,26away from the line cable5and the connector plug6to the right side of the crane1as seen inFIG.5. Subsequently, the signal lamp31signals to the operating personnel of the crane1that the connection between the connector plug6and the plug-in connector14has been established and that the manipulator18is released, i.e., that the crane1can move away from the connecting apparatus13to resume its normal operation. In the current embodiment example, the connecting apparatus13is disposed at the entrance to a travel path for the crane1so that the travel direction along the container stacking area inFIGS.2to6is oriented obliquely upwardly toward the right. The connecting apparatus13can, however, also be disposed at a different spot.

As is known from the prior art, to ensure the longest possible service life of the line cable5, 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 cable5that is connected to a feed device and, more specifically, to reduce the risk of kinking or excessive bending of the line cable5during travel of the electrical load, particularly the crane1.

To this end, the invention proposes that the plug-in connectors14,14′ 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 inFIGS.6and7. When the crane1, along with the line cable5, subsequently moves out of the connected position shown inFIG.2in the travel direction F toward the right, as indicated inFIG.6, the line cable5, because of the plug-in connector14which swivels in the travel direction F, will not be bent or will hardly be bent or kinked, but instead extend from the plug-in connector14predominantly in a straight and in the direction of pull of the line cable5to the cable guide apparatus7. As the crane1subsequently moves farther away from the feed device12and the connecting apparatus13, the line cable5is laid down, section by section, as is known in the art, next to the travel path of the crane1. In contrast to the prior art, however, in the current development, the plug-in connector14is tilted just enough so that the connector plug6slants slightly downwardly and the line cable5, coming from the connector plug6in a hardly bent or only slightly bent condition, is laid down on the ground.

Thus, throughout the entire laydown process, the line cable5undergoes only slight bending, which ensures protected line guidance, prolongs the service life of the line cable5and thus increases the reliability of the facility.

The use of the rotary function of the plug-in connector14illustrated in the drawings and described above is also possible in facilities in which the line cable5is permanently connected to the feed device12, thereby leading to the advantages of an improved line cable guidance in these situations as well.

The detail view of the connecting apparatus13inFIG.7shows an additional plug-in connector14″, which, however, has the same function as the plug-in connectors14,14′. Since these have the same design, the invention will hereinafter preferably be explained with reference to this specific plug-in connector14. The other two plug-in connectors14′,14″ and their parts will be identified by reference characters identical to those used for the plug-in connector14, with the addition of one or two apostrophes if required.

The plug-in connector14comprises a plug-in connector housing33in 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 housing33, which inFIG.2is shown in its rest position, has a cover34which is pivotably articulated to the plug-in connector housing33by means of two hinges35. The cover34is held in the closed position by the action of a spring as known in the art and moved from an open position back into the closed position.

In order to be able to open the cover34automatically while the connector plug6is being positioned or plugged in, opening tabs36interactively connected to the cover34are disposed on the surface of the hinges35and project outwardly beyond the plug-in connector housing33. A mating stop in the connector plug6, especially the mating edge of the connector plug opening32, pushes the opening tabs36downwardly while the connector plug6is being placed or pushed over the plug-in connector housing33, which causes the cover34to move upwardly. This uncovers the electrical connector elements of the plug-in connector14. Subsequently, the connector plug6is moved even further downwardly, and the electrical and/or data connector elements, in this case male, located in the connector plug6can be connected to the mating connector elements, in this case female, in the plug-in connector housing33and be protected against outside influences, such as wind, water, rain, etc. The cover34also prevents operating personnel or unauthorized persons from direct and unprotected access to the connector elements, especially the electrical connector elements.

To retain the swivel plate15and thus the plug-in connector14in the rest position shown inFIGS.2to5, a stop37shown inFIG.7can be disposed on the bearing16for the swivel plate15. In the implementation shown, the plug-in connector14subsequently remains in the rest position as a function of the weight. According to an advantageous implementation, not shown, it is also possible to have an elastic force act upon the swivel plate15in order to return the plug-in connector14to its rest position when it is not connected to the connector plug6.

According to an alternative configuration of the connecting apparatus13, which can preferably also be disposed along a travel path of the crane1, the plug-in connectors14,14′ 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 cable5can be laid down both on one side and on the other side of the plug-in connectors14,14′. 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 plug6. The plug-in connector14can then be locked to the ground plate17until the connector plug6is securely connected to the plug-in connector14. This type of development will be described below and can be independently implemented by those skilled in the art.

FIGS.8to28show alternative developments of parts of the power transmission system, the principle of which is shown inFIG.1, especially with a modified feed device112, connecting apparatus113and cable guide apparatus107. Since these have largely an identical or similar function as those shown inFIGS.2to7, these components are identified by identical reference characters, each with the addition of numeral “100.” Any differences will be especially pointed out so that, unless otherwise specified, the explanations relating to specific components in the first implementation according toFIGS.2to7apply correspondingly to the alternative developments ofFIGS.8to28and vice versa.

The feed device112shown inFIG.8includes a control cabinet148in which the electrical power supply unit is located and to which supply and data cables149, indicated inFIG.16lead, which pass through cable conduits150,150′,150″ (seeFIGS.16to18) into the control cabinet148.

The working principle of the power transmission system inFIGS.8to13is basically the same as that shown inFIGS.2to7. Thus, inFIG.8, the line cable5with a connector plug106is again positioned relative to the manipulator118in such a manner that a gripping device127can grip the connector plug106during movement in the horizontal feed direction H. Subsequently, the connector plug106is slightly loosened so that the manipulator118can grip it with the gripping device127as described above and move it into the position required to place it onto the plug-in connector114. The plug-in connector114has the same design as the plug-in connector14and particularly comprises a plug-in connector housing with a movable cover.

Subsequently, the connector plug106is again moved from the position inFIG.9to a plug-in connector114on which it is placed, as described above and as illustrated inFIGS.10to11. The connector plug106is again locked to the feed device112, which will be explained in greater detail below with reference toFIGS.19and20. Subsequently, as shown in FIG.12, the manipulator118can be disengaged from the connector plug106and moved into its rest position.

FIG.13shows that by moving the crane1, not shown, the connector plug106with the plug-in connector114is again swiveled about the axis of rotation D from the rest position shown inFIG.12.

The alternative signal mast129shown inFIGS.8to13comprises two slanted legs151supporting a boom152, on the free front end of which an alternative identification plate130is to mounted. Similarly, an alternative sensor111, disposed on the cable guide apparatus107, is used to detect the identification plate130. To this end, it is recommended that a distance sensor111with a narrow measuring range be used. The identification plate130preferably has a central section153in the front relative to the horizontal feed direction H, and on both sides, in the travel direction F, adjoining bracket-like sections154,154′, which, relative to the central section153, are offset toward the rear in the horizontal feed direction H, i.e., away from the crane1. The identification plate130preferably comprises a reflector, e.g., a reflector foil, in order to reflect the signal emitted by the distance sensor111as effectively as possible. Optionally, however, the identification plate31of the embodiment example described above can be used as well.

To position the connector plug106so as to center it relative to the central section153, the distance sensor111, at the beginning of movement in the travel direction F from right or left as seen inFIG.8, first detects the distance relative to one of the two rear bracketlike sections154,154′. As it subsequently travels in the travel direction F further toward the central section153, it detects, while spatially capturing the central section153, a sudden decrease in distance and thus the beginning of the central front section153. Based on the known geometric dimensions, particularly the extension of the central section153in the travel direction F, the still required travel length in the travel direction F can be determined in order to position the connector plug106as accurately as possible on the gripping device127.

In this manner, the positioning of the connector plug106in relation to the manipulator118can be simplified in that an active sensor111can be disposed only on the cable guide apparatus107while the identification plate130can be a passive element. The configuration of the identification plate130can be different as long as it is possible for the sensor111to 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 crane1. More particularly, using the simplified configuration, the bracket-like sections154,154′ 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 section153and the adjoining bracketlike sections154,154′, 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 toFIGS.8to28differs from the configuration shown inFIGS.2to7with respect to the pivotable plug-in connectors114. Therefore, the following discussion will again primarily focus on the differences, while the explanations provided in the context of the discussion ofFIG.1continue to apply to identical or similar components. Thus, unless otherwise specified, because of the identical design of the plug-in connectors114,114′,114″, the invention will again be described with reference to the plug-in connector114. These statements also accordingly apply to the other plug-in connectors114′,114″.

AsFIGS.16to18indicate, the plug-in connector114is mounted by means of a swivel plate115on a bearing116on a mounting plate117so as to pivot about an axis of rotation D. However, the plug-in connector114could also be pivotably disposed directly on the mounting plate117. The axis of rotation D extends essentially in the horizontal direction and in the direction of the horizontal feed direction H of the manipulator118. The mounting plate117is disposed above a pit156located in the foundation155. As indicated inFIGS.16and18, the cable conduits150coming from the control cabinet148, which enclose the power supply and data cables149shown inFIG.16, terminate in the pit156. These cables149are each routed through a connecting opening disposed below the plug-in connector114in the ground plate117to the bottom surface of the plug-in connector114, where they are electrically connected to the female connector elements of the plug-in connector114, as indicated inFIG.20.

To ensure that during swiveling of the plug-in connector114the cables149disposed 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 enclosure157, which pivots with the swivel plate115about the axis of rotation D, is disposed on the bottom surface of the plug-in connector114, more particularly on the bottom surface of the swivel plate115. Adjoining the bottom surface of the swivel plate115are identically configured circular segment-shaped side walls158,158′ measuring approximately 100° as well as a front wall158″ of the first protective enclosure157, which front wall connects the circular arc surfaces of the side walls158,158′, as clearly illustrated inFIGS.15and17. A second front face between the side walls158,158′, the front wall158″ and the swivel plate115remains unconnected and forms an opening158′″ visible from the front inFIG.18for the cables149coming from the cable conduit150.

The first protective enclosure157is enclosed in a second protective enclosure159which is rigidly attached to the bottom surface of the ground plate117, said second protective closure having circular segment-shaped side walls160,160′, a front wall160″ connecting these side walls and an opening160′″ on the front for the cables149coming from the cable conduit150, which second enclosure is slightly larger, but otherwise has the same configuration. Alternatively, the second protective enclosure159can be omitted since the first protective enclosure157also offers protection for the cables149when the swivel plate115is lowered, as indicated inFIGS.14and16.

The length of the cables149is dimensioned in such a way that it is possible for the plug-in connector114to assume the completely swiveled-out position as shown inFIGS.15and17. In the completely swiveled-in position of the plug-in connector114shown inFIGS.14and16, the excess cable length of the cable149preferably folds or coils up inside the protective enclosures157,159. Since the cables149in the area of the protective enclosures157,159are completely surrounded by said enclosures, the cables149can be reliably guided during swiveling of the plug-in connector114, so that both the risk of damage to the cable149and the risk of hindering the movement of the plug-in connector114are eliminated. To guide the cables149, a cable carrier, not shown, is preferably used, which extends along the bottom of the pit156and then follows an S-shaped course in the upward direction as shown inFIG.17.

To compensate for a not quite exact positioning of the connector plug106in relation to the plug-in connector114, a centering bracket161,161′, respectively, is disposed on the narrow end faces of the swivel plate115. These centering brackets comprise a lower vertical guide section162,162′ which is adjoined by an upper oblique feed-in section163,163′ which faces away from the plug-in connector114. When the plug-in connector114is plugged in, as shown, for example, inFIG.13, the vertical guide sections162,162′ enfold the connector plug106, which improves positioning and, more specifically, pre-centering the connector plug106on the plug-in connector114.

To prevent an accidental detachment of the connector plug106from the plug-in connector114, which is undesirable especially while power is being transmitted, disposed on the swivel plates115,115′,115″ along the end faces of the plug-in connectors114,114′,114″ are plug locking mechanisms164,164′,164″, which can be especially clearly seen inFIGS.19and20. Because of the identical configuration of the plug locking mechanism164,164′,164″, again, only the plug locking mechanism164will be described unless otherwise specified.

The plug locking mechanism164comprises a locking bolt165which, in the area of the connector plug106, passes through the swivel plate115and extends upwardly beyond the swivel plate115and which comprises an elongated locking head166. On the opposite front face of the plug-in connector114, preferably an identically configured locking bolt165ais disposed, as indicated inFIG.20.

In the open position, the locking head166is oriented in such a way that it can pass through a mating locking opening169on the connector plug106, which can be especially clearly seen inFIG.24.

When the connector plug106is fully plugged into the plug-in connector114, the locking head166and the locking head, not shown, of the locking bolt165acan be simultaneously moved by means of the locking drive167, shown inFIG.20, via a lever assembly168from an open position, as indicated inFIGS.19and20by two outer plug-in connectors114,114″, into a closed position preferably rotated by 90°, as indicated inFIGS.19and20by the plug-in connector114′ in the middle. Optionally, however, a smaller or larger angle of rotation can be used to ensure a secure lock. Preferably, the locking drive167simultaneously drives the locking bolt165and the oppositely lying locking bolt165avia a lever assembly168.

Instead of a lever assembly168, a separate locking drive can be provided for each locking bolt165,165′165″ and165a,165a′165a″, respectively. In principle, each plug-in connector114,114′,114″ can also have only one plug locking mechanism.

The plug locking mechanism164according to the invention also serves to secure the swivel plate115to the ground plate117if no connector plug114is connected. To this end, in the secured position shown inFIGS.19and20, the lower lever arm shown inFIG.20, which drives the lower rearward locking bolt165ashown inFIG.19, engages the ground plate117from below, so that the swivel plate115cannot be swiveled about the axis of rotation D indicated which extends above the ground plate117away from the ground plate117. In contrast thereto, the fixed position of the middle swivel plate115′ is open, thereby allowing it to be tipped. Alternatively or additionally, a retaining mechanism independent of the plug locking mechanism164, more specifically, a plug-in connector locking mechanism for the detachable attachment of the plug-in connector114in the rest position, can be disposed on the ground plate117until the connector plug114and the plug-in connector114are securely connected to one another.

Another aspect of the invention provides that for the purpose of improving the automatic connecting process, the line cable5have a special configuration. In addition, the connector plug6,106can also be specially configured in order to improve the gripping with the manipulator18,118and especially the gripping device27,127, and this applies to both embodiment examples described above.

This will now be described in detail with reference toFIGS.21to24.

FIG.21shows a cross section through a line cable5, for example, slightly above the connector plug106. The line cable5comprises an outer casing41made of a flexible material, for example, rubber, PVC or another elastic plastic material. The outer casing41surrounds three symmetrically disposed phase conductors42for the transmission of electric power, a protective conductor divided into two separate conductors43and a data transmission conductor44, especially an optical data transmission conductor. Also disposed in the core of the line cable5is a flexible but robust supporting member45, for example, an aramid rope or a wire rope. The supporting member45is surrounded by a filling material and/or molded parts46which serve as supports and retainers for the other conductors42to44of the line cable5.

This relieves the tension acting on the sensitive conductors42to44that are disposed in the line cable5, while the supporting member45serves primarily to absorb the longitudinal forces during the winding and unwinding of the line cable5. Furthermore, an additional tension relief mechanism46can be disposed in the outer casing41, for example, a braided or woven fabric that is embedded in the outer casing41.

To ensure that the supporting member45can serve as a tension relief mechanism, it is mounted, as described below, in the connector plug106, which inFIGS.22to24is shown in detail in a partially disassembled state.

The connector plug106comprises two connector cover halves, with only the connector cover half170shown inFIGS.22and23, while the other half has been omitted in order to show the internal structure of the connector plug106.

Also provided is an essentially U-shaped supporting frame171made of a robust material, preferably of sheet steel, which on each of its free leg ends172,172′ has the above-mentioned locking opening169,169′ in the form of oblong holes. The middle section173of the supporting frame171which connects the free leg ends172,172′ has a circular opening174, through which the gripping member138of the connector plug106is inserted from below, as shown inFIGS.22and23, with the gripping member essentially having the form of a hollow cylinder. The circular segment-shaped outer flange175of the gripping member138abuts the supporting frame171, where it is mounted, for example, by means of screws or rivets.

To be able to absorb stresses in the longitudinal direction of the line cable5, the tension relief mechanism47of the outer casing41can, on the one hand, be bracketed on the gripping member138and/or on the supporting frame171(not show). On the other hand, a tensioning bolt176extending at right angles to the longitudinal direction of the line cable5is disposed on the circular outer flange175of the gripping member138. The tensioning bolt176comprises an attachment means, not shown in the drawings, for the supporting member45, more particularly a through-opening through which supporting member45is inserted.

Disposed on the tensioning bolt176is a spring element, more particularly a spiral spring177, which is connected to a surrounding tensioning bolt sheath178, to which one end of the supporting member45is attached. To tension the supporting member45, the tensioning bolt176is first pushed in its axial direction against the pressure of a spiral spring177disposed on a stepped end178of the tensioning bolt176out of an anti-slip means179shown inFIG.22. The tensioning bolt176is then turned a plurality of times in the winding direction, so that the supporting member45is wound with a plurality of turns on the tensioning bolt176. To prevent the supporting member45from unwinding under stress, the spiral spring177subsequently pushes the tensioning bolt176back into the anti-slip means179, which is clearly visible inFIG.22. Instead of the spiral spring177, different spring elements can be used, e.g., cup springs, which, after tensioning the supporting member45, push the tensioning bolt securely back the into anti-slip means179. The anti-slip means179can preferably comprise a knurled inner bore which cooperates with an equally knurled end of the tensioning bolt176.

In contrast, the various conductors42to44are routed unstressed through the circular opening174in the supporting frame171into the area between the free leg ends172,172of the supporting frame171where they are electrically and mechanically connected to the mating male electrical connector elements180of the connector plug106. The individual male connector elements180are disposed on a connector support181, which is stationarily retained in the longitudinal direction extending from the connector plug opening132to the gripping member138, i.e., also in the longitudinal direction of the line cable5, and is freely floatingly mounted at right angles to said longitudinal direction.

To protect the male connector elements180against undesired contact and other external influences, the connector plug opening132is covered by means of a protective cover182. The protective cover182is retained by spring action in the closed position shown inFIGS.21and22; however, when the connector plug106is plugged into the plug-in connector114, it can be folded back by the force of the manipulator118to move into the area between the free leg ends172,172′.

In order to be able to insert the male connector elements180of the connector plug106into the mating female connector elements (not shown) of the plug-in connector114, disposed on the connector support181are elongated centering bolts183with conical ends, which engage in mating centering openings of the plug-in connector114(not shown).

FIG.23clearly shows the gripping member138with the centering funnel139, the lower end of which, in addition to the version shown inFIGS.2to7, is lengthened in the shape of a slot to form a centering slot. Thus, via the centering pins140disposed in the feed-in opening128of the gripping device127, the positions of which are suggested in the drawing, the connector plug106can be optimally aligned with the plug-in connector114as soon as it is gripped by the gripping device127.

In addition, as an additional function of the embodiment shown inFIG.2, an alternative cable guide apparatus107, details of which are shown inFIGS.25to28, comprises an oscillating link184to improve the guidance of the line cable5, not shown inFIGS.8to20and25to28. Such oscillating links are basically known in the art, but the novel feature according to the invention is the possibility of linear mobility, more particularly the linear height adjustment, of the oscillating link184. This serves to allow the oscillating link184, which during movement of the crane1is in the lowermost position, to be moved to the uppermost position and out of the gripping radius of the manipulator118for automatically gripping the connector plug106by means of the manipulator118and to correctly position the connector plug106.

To this end, an oscillator retaining means185pivoting about an oscillation axis P which extends essentially in the horizontal direction and at right angles to the travel direction F of the crane1is disposed on the cable guide apparatus107, so that the oscillating link184can oscillated back and forth about the oscillation axis P, as clearly visible inFIG.27.

The deflection of the oscillating link184from the vertical S is caused in a manner known in the art by the line cable5, which, during movement of the crane1, is being wound and unwound and which passes through a cable guide186disposed on the lower end of the oscillating link184and 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 cable5is guided tautly or slackly and subsequently, if necessary, to retract or pay out the line cable5. The line cable5is preferably guided by an additional cable guide disposed in the payout direction of the line cable5upstream of the cable guide186of the oscillating link184, which additional cable guide is preferably arranged between and/or on the upper end of the two roller bows108,108′. The cable guide can preferably be formed by the lateral guide rollers110,110′, but other methods of guiding the line cable5can be used as well.

In order to be able to move the oscillating link184back and forth between the uppermost and lowermost positions shown inFIGS.25and28, the oscillating link184comprises two guide rails187,187′, shown in a partially broken view inFIG.25, which have a U-shaped cross section, with their open sides facing one another. The guide rail187is guided by means of lateral guide rollers188,188′ disposed on the oscillator retaining means185, by means of inside front-end guide rollers189,189′ and by means of an outside front-end guide roller189″ running on the outside of the middle leg of the guide rail187. The guide rail187is run in parallel on the side of an angled guide plate190on which the outside front-end guide roller189″ is disposed. The guide rail187′, which is similarly guided, withFIG.26clearly showing the guide plate190′ of the other guide rail187′ with the outside front-end guide roller189′″, is disposed on the side of the cable guide apparatus107opposite to the oscillator retaining means185.

Also disposed on the oscillator retaining means185is an oscillator drive, which moves with the oscillating link184and which has an electric motor191, a 90° gearbox192and a drive pinion194intermeshing with a toothed rack193, which is disposed on the oscillating link184. This allows the oscillating link184to be moved by a motor in the longitudinal direction toward and away from the oscillator retaining means185. Alternatively, a direct linear drive or a toothed belt drive can be used to retract and extend the oscillating link184.

In order to be able to cleanly position the connector plug106for the gripping device127in the cable guide apparatus107, the oscillating link184moves completely to the top, as shown inFIGS.8to11and28. At the same time or afterwards, the connector plug106is pulled via the line cable5to the uppermost position to reach the cable guide186of the oscillating link184.

In order to be able to further improve the positioning of the connector plug106for gripping by the manipulator118in the cable guide apparatus107, oppositely lying retaining brackets195,195′ are disposed on the roller bows108,108′. The retaining brackets195,195′ pivot about essentially horizontal axes of rotation196,196′ that extend at right angles to the travel direction F and comprise downwardly extending rod-shaped retaining extensions197,197′,197″,197′″, which, in the upper position shown inFIGS.8and28, adjoin the connector plug106, thereby preventing the connector plug106from twisting or moving aside while it is being gripped by the gripping device127.

In general, the retaining brackets195,195′ are retained by the action of a spring in the open retracted position, as shown inFIGS.12,25and27, on the roller bows108,108′.

Only when the oscillating link184is moved into the upper retaining position shown inFIGS.8to11and28the stop rollers198,198′ on the upper, shorter lever arms of the retaining brackets195,195′ strike mating stops199,199′ of the cable guide186, so that the lower, longer, approximately L-shaped inwardly bent lever arms of the retaining brackets195,195′ are moved toward each other and to the connector plug106. The retaining brackets195,195′ can also have a different configuration; the only essential requirement is that, as the oscillating link184or possibly also the connector plug106as such is actuated, the retaining brackets195,195′ are moved to make contact with the connector plug106.

As indicated inFIG.27, the cable guide stops199,199′ also serve as actuating elements for the tautness sensors, here not described in detail, when the oscillating link184is pulled into its laterally completely deflected position.

In the present case, the above-described sensor111is preferably disposed on the oscillating link184, where it is supplied with current via an energy chain200and technically connected in terms of data to the controller of the crane. However, the sensor111can also be disposed at a point of the cable guide apparatus107or even on the crane1and be wirelessly connected to the controller.

FIGS.29and30show an alternative configuration of a cable guide apparatus207which essentially differs in two aspects from the configuration shown inFIGS.25to28, i.e., the design of the roller bows208,208′ and the longitudinal guide rollers209,209′ and209″, on the one hand, and an alternative drive291of an oscillating link284. Therefore, identical reference characters, with the addition of the numeral “200,” will again be used for the cable guide apparatus207. Again, the focus is on the differences, so that, unless otherwise specified, the explanations relating to components of the first configuration inFIGS.2to7and the second configuration as inFIGS.8to28also correspondingly apply to the configuration shown inFIGS.29and30.

The outer longitudinal guide rollers209″ in the outer lower area of the roller bow208′ are wider than the inner longitudinal guide rollers209′ of the roller bow208′ disposed in the inner upper area of the roller bow108′. The advantage is that if the line cable5is paid out not completely parallel to the travel direction F of the crane1, the line cable5can be laterally offset slightly more in the outer area of the roller bows208, i.e., when looking at the cable guide apparatus207from above, the line cable5can be oriented slightly obliquely relative to the longitudinal direction of the roller bows208′. To this end, the frame of the roller bow208′ on its outer lower outwardly facing end preferably has two oppositely lying walls, between which the longitudinal guide rollers209″ 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 rollers209′. The design of the second roller bow208is correspondingly reversed; otherwise, the explanations relating to the roller bow208′ correspondingly apply.

In addition, instead of the rotary electric motor191shown inFIGS.25to28, a direct linear drive291is used to move the oscillating link284in the longitudinal direction. To this end, the oscillator retaining means285is slightly lengthened upwards, as is the angled guide plate290. The driving element of the linear drive291is preferably supported by the angled guide plate290and the oscillator retaining means285, and a moving piston rod201of the linear drive291is mounted on the moving part of the oscillating link284. The output end of the piston rod201can preferably be disposed on the lower end of the moving part of the oscillating link284, as shown inFIGS.29and30, especially on a U-shaped guide rail287. To actuate the oscillating link284, the piston rod201is moved upwardly.

As described in detail above, by means of the connecting apparatus13,113according to the present invention, the connector plug6,106of the line cable5can be simply and automatically connected to the feed device12,112, without having to manually insert or remove the connector plug6,106. Another aspect of the invention provides that, for the purpose of improving the automatic connecting process, the line cable5be specially configured. In addition, the connector plug6,106can also be specially configured in order to improve the gripping with the manipulator18,118and especially the gripping device27,127. Also, to simplify automatic gripping of the line cable5and the connector plug106, a height-adjustable oscillating link284can be provided. According to another aspect of the invention, the line cable5is guided so as to protect the cable.

The feed direction H preferably extends toward and away from the cable guide apparatus7,107and207and the crane1and preferably at right angles to the travel direction F. In another embodiment, not shown, the manipulator18and118and/or the gripping device27and127can, however, also be moved in the travel direction F in order to compensate, if necessary, for an offset in the travel direction F. The manipulator18and118and/or the gripping device27and127can 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 apparatus7,107and207.

LIST OF REFERENCE CHARACTERS