EP2681149A1 - Method and device to stabilize an agv during transport of elevated loads - Google Patents
Method and device to stabilize an agv during transport of elevated loadsInfo
- Publication number
- EP2681149A1 EP2681149A1 EP11707151.4A EP11707151A EP2681149A1 EP 2681149 A1 EP2681149 A1 EP 2681149A1 EP 11707151 A EP11707151 A EP 11707151A EP 2681149 A1 EP2681149 A1 EP 2681149A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- agv
- bogie
- wheels
- unit
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
Definitions
- the present Invention relates to a method and a device to physically stabilize a lead combination comprising stapled unit loads, such as at least two standard containers applied a top of each other or for Instance loads loaded on pallets stacked a top of each other, and at least one Automatically or semi automaticall Guided Vehicle o (AGV) below said loads, together with means for fixation thereof to each other and/or to said vehicle, during transport: of said loads ⁇ n all directions on the ground
- the load is comprised of containers they may be at least t o standard containers (FEU « Forty feet Equivalent Unit - 40 ' oontainer or TEU ⁇ Twenty feet Equivalent Unit ⁇ 20 container ) applied a top of each other or In line, possibly both, possibly in a5 cassette and on top of at least one AGV, if more than one AGV Is utilized, the are commonly controlled by commo software.
- FEU « Forty feet Equivalent Unit - 40 ' oontainer or TEU ⁇ Twenty feet Equivalent Unit ⁇ 20 container applied a top of each other or In line, possibly both, possibly in a5 cassette and on top of at least one AGV, if more than one AGV Is utilized, the are commonly controlled by commo software.
- the Invention deals with the Issue of enhancing s abili y of suc Items ⁇ AGVMoad), where the load Is applied on/in and engaged to the upper side of a framework or cassette framework, the latter of which together lately has become named C-AGV being a shoftform for Cassette- a AGV, being in turn on Its bottom side on request earned by the AGV or the AGV:s, each in turn comprising one or more bogie provided for the dhvabsiit of the whole unit A top of each bogie the frame of the AGV is provided with means for jacking (bringing the cassette Into a transport position), driving as well as means for braking.
- the wheel-base and the fraction of each bogle must at least in an Initial position of 5 introduction be held within the inner limits (as seen from above) of the transport
- the transport system comprising said framework to be lifted and transported together with said loads.
- the transport system is mainly designed for use in harbors or the like shunting areas, but may of course be scaled up or down for other more or less similar possible uses.
- AOV s of the kind her ⁇ meant, are normally used in areas stei transport of articles, such as containers of sta dardized volume is re uentl performed in large numbers such as in harbors. It is normally not allowed for people to stay in areas where loads of this kind is handled. Such areas are often heavy industrial applications where two or more AGV:s may be utilized in order to be able to bear more load.. When loads of standardized volume are stowed in height of at least two items at a time if is required to either b mechanically f them to each other or guide them in ceil guides or the like.
- a main object of the present invention is therefore considered to lie in enhancing the stability of a unit comprising a flexibly integrated arrangement, of loads (such as containers or pallets) indirectly and d ' ispJaceably standing on the ground and a top of i n each other to be randomly translated thereon.
- the loads can be either loaded on the AGV frame or on: a cassette to constitute a unit to be transported.
- t e vehicle can fee driven in below sa d loads, lift it and drive away in any direction free of choice.
- the frame beams o! the AGV are only there to hold the bogies together as a common unit 4.
- the function of the frame 4 ca be taken by can be taken by the cassette.
- the AGV has been
- jacking means that independently act directly on said unit loads and makes the total height of the transported unit loads tower, which also contributes to the transport stability of the unit as a whole.
- the bogles " main dimensions differ from each other In that the dimension as seen from above Is rectangular instead of being essentially square, This means that the bogies whe In line with the frames thereof are longer in that direction than In a direction 90 * deviant from the same.
- each bogie By controlling the angular position of each bogie to be a value of between 45" and 75" where the wheels are pivotabie to a larger extent than */ ⁇ 4S ⁇ If will be possible to maximize the traction of the bogie even further. This will of course enhance stability of the complete unit even more than with the use of the method and device according to its initial embodiment. Finally, by an appropriate design of t e wheels steering, a angular position of the bogie of 9CT can be achieved, which during certain conditions allows to reach a better loading of the wheels in comparison to the 45 degrees configuration.
- Fig 1 is a perspective view shew overview picture of the whole concept together with bogles of an AGV situated below a cassette, being controllable according to the Invention
- Fig 2 shows In a perspective view slightly from above a bogie of an AGV comprising tw bogies having four wheels each, in a firs! stability enhancing position,
- Fig 4 shows a bogie analogous to that of fig 3 seen in a perspective view slightly from above and in a norma! transport position
- Fig 5 shows a bogie of the same type, however, now from Its front.
- Figs 8a to c are schematics.! views of AGV;s having their bogies and wheels displaced in different patterns,
- Figs ?a to 7e are sohernatlcal views of a bogie of an .AGV showing yet anothe lot of possible positions and patterns for said bogies and wheels,
- Fig 8a to 8d each show different ways to displace the bogles and wheels when it is desired that an AGV is to "crab in all directions between sideways and straight forward, and
- Fig 9 illustrates a cassette AGV according to the technology referred to in TTS- Review of a 2009 and is here used as primary prior art.
- a Cassette Loading Unit CLU Such a unit comprise a framework 1 made to be standing on the ground with legs 2, support pillars 3 and is preferably but not necessarily made from steel.
- an Automatic Guided Vehicle AGV comprising a framework.4 of its own being provided with bogles 5 at each end with four steerab e wheels 8 each.
- the AGV is designed such that it may be driven in below the framework 1 either in the longitudinal direction of said framework or sideways.
- the framework 4 of the AGV s designed to between the bogies 5 contain an em edded driving unit (not shown), for instance a diesel engine, however, any possible unit may be used as such a driving unit (Otto with petrol, Otto with alcohol, electrical, inductive etc).
- em edded driving unit for instance a diesel engine
- any possible unit may be used as such a driving unit (Otto with petrol, Otto with alcohol, electrical, inductive etc).
- the overall design of the CLU is standardized to fit certain measurements in areas such as harbors or large warehouses, where goods in large quantities are handled and stored.
- fig 2 a more detailed view in perspective, approximately 45 * obliquely both seen from above and from the side of the framework 4 of said AGV, of a bogle 5 of an AGV is shown, it comprise sturdy main beams 7 at which ends the beams 7 are fixed by commonly known Chevron elements (sturdy rubber elements ⁇ -- not shown) or the like to crossbeams 8.
- the wheels 6 are fixed to joints being plvotable preferably 45 * and possibly some degrees more than 45" in each direction starting from an Initial position corresponding to a normal transport direction straight forward in which the wheels are in line with the framework 4 as well as with the main beams 7,
- another crossbeam 9 pivotably joymafed at 16 to the main beams 7.
- a turning unit 11 having yet another beam 12 connected thereto being fixed to the main beams 7.
- the turning on 11 Is able to turn the bogie preferably 90 s and possibly some degrees more than 90 * In each direction.
- Said beam 12 is In turn at its ends provided with lacking means 13 for interacting and locking to evlsoeratioos (not shown) made on the bottom side of the framework 1 of the CLU.
- the jacking means ma be hydraulicaliy, pneumatically or electrically' maneuvered. The same goes for the turning unit All wheels 6 are steerably controlled under the influence of at least one tie rod 14 fixed e w en each wheel and Its cross beam 3.. These rods are Ike the fuming unit of for that sake the jacking means driven hydrauiieaily, pneumatically or electrically in interaction with a main control system (not shown) : containing algorithms for all possible positions of all the controllable parts.
- the position of the AGV shown in Fig 2 is one of two possible, however, identical stabilizing wheel- and bogie positions for transporting the whole CLU sideways. This, however, means that the othe bogie, situated at the other end of the frame, may he controlled to the same or Its inverted identical position. From Fig 3 it is most clearly elucidated how the AGV ⁇ tfn.it is built as it is own from above. From the main beams ? the cross beams 8 extend one at each end of the main beams out to its ends where the wheels 8 are arranged pivotabiy in a horizontal plane. The maximum pivotation of the wheels according to this embodiment is +/- 45 * and is affected by the controlled tie rods 14, which act simultaneously at a common command from a control unit (not shown).
- the wheels if differently fixed to the bogie, might be made able to pivot as much as +/ ⁇ 180 ⁇ It should be noted that the bogie is either driven by one two or more wheels. Brakes are provided integrated in the rim area of the wheels. In the two wheel driven variant two wheels are driven, while the other two are provided with brake units (not shown).
- Fig 4 shows the device according to the invention in a perspective close to that of Fig 2 ; however, from another direction.
- the bogie is in a different position corresponding to a normal driving position without the stabilization function initiated.
- the wheel driving units together with Its brakes 15 are shown.
- Inside the unit 12 there is a controllable swivel unit (not shown in detail) that enables the bogie to be pivoted In relation to Its frame elements 4.
- Fig 5 shows the bogle ' s front as a. plan view. From this figure rt is clearly evident, that the beam 12 is snugly fried to the below side of the main beams 7 thereby being used as a counter stay . From this figure is also dearly shown the previously mentioned- rubber elements 1? (Chevron elements) which are situated in V-shaped evisceratlons In such fashion that ail of the load loaded on the AGV from the containers press the rubber to a very stable relation, though loose.
- This is a solution ell known from the railway Industry , but gives the bogie a possibilit to even out or even eliminate problems such as holes m or bumps on the ground of up to 100mm,
- Figs 8a to 6c are described m a common context.
- fig 6a Is shown one of three possible positions of the bogies 5 and wheels 8 thereof to achieve a sideways transnational movement of the AGV,.
- the bogies 5 are with regard to their centers pivoted 45 ⁇ clockwise for the in the figure left bogie, and counterclockwise for the in the figure right bogie.
- the second possibility in this context is to from the position shown, pivot each bogie ⁇ , 90 * counterclockwise and clockwise while simultaneously turning each of the eight wheels 6 I concert with the movement of each bogie.
- the third and last possibilit is to make a full 30" pivotation of each of the bogies (see fig ?a) y while when this position has been achieved control the wheels to a position like their starting position, in which they are pivotable each ⁇ */- 45 ⁇ To reach this third position an in between position like one of the positions s own in fig 7b to 7d will have to be used.
- figs 6b and 6c it is shown how the bogles and the wheels may be controlled to be positioned so as to move the turning center TC of the CtU. Said center TC thus can he positioned anywhere on the ground, which as a bonus effect gives an extremely good maneuverability to the CLU,
- Figures 7a to 7e shows examples of different positions (as previously mentioned) of the bogles and wheels in comparison to the outer limitation of the cassette, Especially fig 7e shows a bogle with its wheels in their respective initial positions, enabling a CLU having two such bogles configured In the same way to he transported straight forwardly.
- a stability enhancing position for transport straight forward one would have to employ a position like the one shown in fig 7c and thereafter turn the wheels 6' 90 * clockwise. A quite considerable traction increase of twice the width of the wheels is thereby accomplished.
- Figs 8a to 8d shows different bogie and wheel configurations to accomplish a
- FIG 9 shows a a cassette AGV according to the prior art chosen as a starting point for the claimed invention.
- the wheel pairs of the AGV shown In this figure all are pivotable */- 180 * . They are
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Handcart (AREA)
Abstract
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2011/052952 WO2012116729A1 (en) | 2011-02-28 | 2011-02-28 | Method and device to stabilize an agv during transport of elevated loads |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2681149A1 true EP2681149A1 (en) | 2014-01-08 |
EP2681149B1 EP2681149B1 (en) | 2014-12-17 |
Family
ID=43806894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11707151.4A Not-in-force EP2681149B1 (en) | 2011-02-28 | 2011-02-28 | Method and device to stabilize an agv during transport of elevated loads |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2681149B1 (en) |
WO (1) | WO2012116729A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103420107A (en) * | 2013-07-26 | 2013-12-04 | 广西曼彻彼斯自动化设备有限公司 | Intelligent physical distribution trolley driven by constant torque low-voltage direct current |
GB2579248B (en) | 2018-11-28 | 2021-05-12 | Arrival Ltd | Two wheel automatic guided vehicles used in combination |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4432690A (en) * | 1978-06-06 | 1984-02-21 | Monk John T | Straddle carrier |
KR100540589B1 (en) * | 1998-11-30 | 2006-03-23 | 삼성중공업 주식회사 | Travelling device of Transfer Crane |
DE102005035329B4 (en) * | 2005-07-28 | 2019-12-12 | Konecranes Global Corp. | Floor conveyor, in particular portal stacker for containers |
CN1872653A (en) * | 2006-06-29 | 2006-12-06 | 上海振华港口机械(集团)股份有限公司 | Up rising and steering gear of portal crane for container in tire type |
ITMO20080092A1 (en) * | 2008-03-28 | 2009-09-29 | Luciano Fantuzzi | MACHINE FOR HANDLING VARIOUS LOADS, IN PARTICULAR CONTAINERS IN PORT, INTERPORTAL AREAS, RAILWAY OR SIMILAR STAIRS |
-
2011
- 2011-02-28 WO PCT/EP2011/052952 patent/WO2012116729A1/en active Application Filing
- 2011-02-28 EP EP11707151.4A patent/EP2681149B1/en not_active Not-in-force
Non-Patent Citations (1)
Title |
---|
See references of WO2012116729A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2012116729A1 (en) | 2012-09-07 |
EP2681149B1 (en) | 2014-12-17 |
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