EP2681149B1 - Procédé et dispositif pour stabiliser un véhicule guidé automatisé pendant le transport de charges élevées - Google Patents

Procédé et dispositif pour stabiliser un véhicule guidé automatisé pendant le transport de charges élevées Download PDF

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Publication number
EP2681149B1
EP2681149B1 EP11707151.4A EP11707151A EP2681149B1 EP 2681149 B1 EP2681149 B1 EP 2681149B1 EP 11707151 A EP11707151 A EP 11707151A EP 2681149 B1 EP2681149 B1 EP 2681149B1
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EP
European Patent Office
Prior art keywords
bogie
agv
wheels
transport
unit
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.)
Not-in-force
Application number
EP11707151.4A
Other languages
German (de)
English (en)
Other versions
EP2681149A1 (fr
Inventor
Vincent Bourquin
Dominique DÉRIAZ
Michel Lyrstrand
Pontus Karlsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TTS Port Equipment AB
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TTS Port Equipment AB
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Publication date
Application filed by TTS Port Equipment AB filed Critical TTS Port Equipment AB
Publication of EP2681149A1 publication Critical patent/EP2681149A1/fr
Application granted granted Critical
Publication of EP2681149B1 publication Critical patent/EP2681149B1/fr
Not-in-force legal-status Critical Current
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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 load 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 automatically Guided Vehicle (AGV) below said loads, together with means for fixation thereof to each other and/or to said vehicle, during transport of said loads in all directions on the aground
  • 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
  • AGV Automatically or semi automatically Guided Vehicle
  • AGV AGV
  • the invention deals with the issue of enhancing stability of such items (AGV+load), 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 shortform for Cassette-AGV, being in turn on its bottom side on request carried by the AGV or the AGV:s, each in turn comprising one or more bogies provided for the drivability of the whole unit.
  • AGV+load 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 shortform for Cassette-AGV, being in turn on its bottom side on request carried by the AGV or the AGV:s, each in turn comprising one or more bogies provided for the drivability of the whole unit.
  • 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 traction of each bogie must at least in an initial position of introduction be held within the inner limits (as seen from above) of 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.
  • AGV s of the kind here meant, are normally used in areas where transport of articles, such as containers of standardized volume is frequently 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 it is required to either be mechanically fix them to each other or guide them in cell 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 displaceably standing on the ground and a top of 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.
  • the vehicle In the case of a load on a cassette, the vehicle can be driven in below said loads, lift it and drive away in any direction free of choice.
  • the AGV to be arranged below said unit load is provided with at least one wheel-bogie, which in turn is provided with at least three wheels or pairs of wheels, said bogie being arranged controllably able to pivot in the horizontal plane in relation to a frame of said AGV while each wheel being arranged controllable able to pivot at its respective fixation point in relation to the bogie, whereby during transport in all possible directions of the load, each bogie may be translated to a position in reflation to its position of introduction that the wheels define a considerably larger traction than they do when they are maintained in their initial position before pivotation of the bogie.
  • the frame beams of the AGV are only there to hold the bogies together as a common unit. 4.
  • the function of the frame 4 can be taken by can be taken by the cassette.
  • the AGV has been provided with jacking means that independently act directly on said unit loads and makes the total height of the transported unit loads lower, which also contributes to the transport stability of the unit as a whole.
  • the bogies 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 when 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 pivotable to a larger extent than +/-45°, it 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 the wheels steering, an angular position of the bogie of 90° can be achieved, which during certain conditions allows to reach a better loading of the wheels in comparison to the 45 degrees configuration.
  • a unit of what in this branch is called 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 bogies 5 at each end with four steerable wheels 6 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 is designed to between the bogies 5 contain an embedded 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).
  • an embedded driving unit 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).
  • 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 bogie 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. At the ends of said beams 8 the wheels 6 are fixed to joints being pivotable 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.
  • a crossbeam 9 pivotably journalled 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 unit 11 is able to turn the bogie preferably 90° and possibly some degrees more than 90° in each direction.
  • Said beam 12 is in turn at its ends provided with jacking means 13 for interacting and locking to eviscerations (not shown) made on the bottom side of the framework 1 of the CLU.
  • the jacking means may be hydraulically, 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 between each wheel and its cross beam 8.
  • the rods are like the turning unit of for that sake the jacking means driven hydraulically, 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 other bogie, situated at the other end or the frame, may be controller to the same or its inverted identical position.
  • the AGV-unit is built as it is shown from above.
  • the cross beams 8 extend one at each end of the main beams out to its ends where the wheels 6 are arranged pivotably 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°,
  • 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 .
  • 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 bogie's front as a plane view. From this figure it is clearly evident that the beam 12 is snugly fitted to the below side of the main beams 7 thereby being used as a counter stay. From this figure is also clearly shown the previously mentioned rubber elements 17 (Chevron elements) which are situated in V-shaped eviscerations in such a fashion that all of the load leaded on the AGV from the containers press the rubber to a very stable relation, though loose. This is a solution well known from the railway industry, but gives the bogie a possibility to even out or even eliminate problems such as holes in or bumps on the ground of up to 100mm. Below Figs 6a to 6c are described in a common context.
  • fig 6a is shown one of three possible positions of the bogies 5 and wheels 8 thereof to achieve a sideways translational 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 5, 90° counterclockwise and clockwise while simultaneously turning each of the eight wheels 6 in concert with the movement of each bogie.
  • the third and last possibility is to make a full 90° pivotation of each of the bogies (see fig 7a ), while when this position has been achieved control the wheels to a position like their starting position, in which they are pivotable each +/- 45°.
  • figs 6b and 6c it is shown how the bogies and the wheels may be controlled to be positioned so as to move the turning center TC of the CLU Said center TC thus can be 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 bogies and wheels in comparison to the outer limitation of the cassette.
  • fig 7e shows a bogie with its wheels in their respective initial positions, enabling a CLU having two such bogies configured in the same way to be 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 "crablike" movement of the whole CLU, which may be of use in certain circumstances.
  • 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 therefore unable to deliver any contribution to enhance the stability of the AGV, or for that sake of the whole CLU with an AGV situated below it.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Handcart (AREA)

Claims (7)

  1. Procédé de stabilisation pour stabiliser physiquement une combinaison de charges comprenant des charges unitaires amarrées, par exemple au moins deux conteneurs standard placés l'un au-dessus de l'autre, et au moins un véhicule sans conducteur guidé automatiquement ou semi- automatiquement (ci-après "AGV") situé en dessous desdites charges, ainsi que des moyens de fixation de celles-ci entre elles et / ou audit véhicule durant le transport desdites charges dans toutes les directions sur le sol, caractérisé en ce que, l'AGV, disposé en dessous desdites charges unitaires, est pourvu d'au moins un bogie à roues qui, en ce qui le concerne, est muni d'au moins trois roues, ledit bogie étant agencé de façon à être apte à pivoter de manière commandée dans le plan horizontal par rapport au châssis dudit AGV, tandis que chaque roue est agencée de façon à être apte à pivoter de manière commandée à son point de fixation, de sorte que, lors du transport de la charge dans toutes les directions possibles, chaque bogie soit apte à être amené dans une position en relation à sa position d'introduction telle que les roues définissent une traction beaucoup plus grande que ce qu'elles font lorsqu'elles sont maintenues dans leur position initiale avant le pivotement du bogie.
  2. Procédé selon la revendication 1, caractérisé en ce que le bogie est agencé de façon pivotante en son centre vu perpendiculairement à l'horizontale, de sorte que la longueur de l'arc de son pivotement soit égal pour toutes les roues, indépendamment de la roue qui est prise en considération, afin d'assurer une répartition égale de la charge au repos.
  3. Procédé selon la revendication 1, caractérisé en ce que les roues de chaque bogie sont commandées simultanément en ce qui concerne leur angle d'inclinaison de façon à maintenir la direction de roulement de chaque roue dans la direction de transport, (en fonction des aspects physiques des roues, ce qui permet des corrections spécifiques d'angle sur chaque roue en particulier dans les courbes ou lorsque le bogie pivote), quelle que soit la direction, afin d'améliorer, en tant qu'effet global, la traction de l'AGV.
  4. Procédé selon la revendication 1, caractérisé en ce que les bogies, par le fait qu'ils sont pourvus d'un châssis qui sert uniquement à maintenir l'AGV, et l'AGV, par le fait qu'il est pourvu d'un système de vérins qui agit de manière indépendante directement sur lesdites charges unitaires, font que la hauteur totale des charges unitaires transportées étant réduite et contribuent ainsi à la stabilité de l'unité de transport dans son ensemble.
  5. Dispositif de stabilisation destiné à commander plrysiquement la stabilité d'une unité de chargement sous forme de cassette (ci-après CLU), comprenant des charges unitaires amarrées, telles qu'au moins deux conteneurs standards engagés à l'intérieur d'une unité de chargement sous forme de cassette en étant placés l'un au-dessus de l'autre, et au-dessous desquels au moins un véhicule commandé automatiquement (ci-après AGV) est situé pour soulever et transporter ladite CLU vers une position arbitraire à partir d'une position au sol donnée, caractérisé en ce qu'il comprend au moins un bogie fixé à un châssis d'un véhicule à guidage automatique (AGV), chacun comprenant, en ce qui le concerne, au moins trois roues, et comprenant en outre des moyens pour commander positivement le pivotement à la fois du bogie et desdites roues dans un plan horizontal, vers des positions dans lesquelles lesdits moyens placent ledit ou lesdits bogie(s) et les roues dans des positions qui simultanément permettent le transport dans une direction donnée tout en maximisant la stabilité de la CLU dans son ensemble dans la direction de transport et dans toute direction transversale.
  6. Dispositif selon la revendication 4, caractérisé en ce que le bogie comprend des moyens pour le pivoter de +/- 90°, et en ce que les roues, au niveau de leurs articulations, comprennent des moyens pour les faire pivoter de +/- 45°.
  7. Dispositif selon la revendication 4, caractérisé en ce que les roues comprennent des moyens pour les faire pivoter de +/- 180°.
EP11707151.4A 2011-02-28 2011-02-28 Procédé et dispositif pour stabiliser un véhicule guidé automatisé pendant le transport de charges élevées Not-in-force EP2681149B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2011/052952 WO2012116729A1 (fr) 2011-02-28 2011-02-28 Procédé et dispositif pour stabiliser un véhicule guidé automatisé pendant le transport de charges élevées

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EP2681149A1 EP2681149A1 (fr) 2014-01-08
EP2681149B1 true EP2681149B1 (fr) 2014-12-17

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WO (1) WO2012116729A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103420107A (zh) * 2013-07-26 2013-12-04 广西曼彻彼斯自动化设备有限公司 恒扭矩低压直流驱动的物流智能小车
GB2579248B (en) 2018-11-28 2021-05-12 Arrival Ltd Two wheel automatic guided vehicles used in combination

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4432690A (en) * 1978-06-06 1984-02-21 Monk John T Straddle carrier
KR100540589B1 (ko) * 1998-11-30 2006-03-23 삼성중공업 주식회사 트랜스퍼 크레인의 주행장치
DE102005035329B4 (de) * 2005-07-28 2019-12-12 Konecranes Global Corp. Flurförderer, insbesondere Portalstapler für Container
CN1872653A (zh) * 2006-06-29 2006-12-06 上海振华港口机械（集团）股份有限公司 轮胎式集装箱龙门起重机的顶升转向装置
ITMO20080092A1 (it) * 2008-03-28 2009-09-29 Luciano Fantuzzi Macchina per la movimentazione di carichi vari, in particolare container in aree portuali, interportuali, scali ferroviari o simili

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WO2012116729A1 (fr) 2012-09-07

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