EP3421409B1 - Handling gantry and handling system comprising such a gantry - Google Patents

Handling gantry and handling system comprising such a gantry Download PDF

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Publication number
EP3421409B1
EP3421409B1 EP18174729.6A EP18174729A EP3421409B1 EP 3421409 B1 EP3421409 B1 EP 3421409B1 EP 18174729 A EP18174729 A EP 18174729A EP 3421409 B1 EP3421409 B1 EP 3421409B1
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EP
European Patent Office
Prior art keywords
gantry
running
gripping arms
foot
pivoting
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.)
Active
Application number
EP18174729.6A
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German (de)
French (fr)
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EP3421409A1 (en
Inventor
Jean-Luc Andre
Jacques Ober
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Lohr Industrie SA
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Lohr Industrie SA
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Priority to PL18174729T priority Critical patent/PL3421409T3/en
Publication of EP3421409A1 publication Critical patent/EP3421409A1/en
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Publication of EP3421409B1 publication Critical patent/EP3421409B1/en
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways

Definitions

  • the present invention relates to the technical and general field of loading / unloading of loads which may arise, for example, by means of railway wagons in combined rail / road transport.
  • the present invention relates inter alia to the opening and closing of pivoting supporting structures of railway wagons using a handling gantry.
  • railway wagons also called pocket wagons, are especially intended for loading and unloading semi-trailers.
  • Such pivoting is carried out centrally on the central bogie by one end of each pivoting support structure.
  • each pivoting support structure in the open position, then comes to rest on the ground or on a dedicated platform. Loading or unloading can then be carried out.
  • one of the pivoting support structures is pivoted on one side of the railway wagon and the other pivoting support structure is pivoted symmetrically on the other side of said wagon.
  • the loading / unloading operations can then be carried out simultaneously.
  • the loading / unloading operations of the two pivoting structures can be carried out on the same side of the wagon or on either side of said wagon.
  • the present invention also relates to the opening and closing of railway wagons having only a single pivoting support structure, the pivoting of which is ensured at one of its ends.
  • WO 2011/077085 discloses a handling gantry for handling loads, said gantry comprising: at least one horizontal beam of longitudinal axis, comprising at each of its ends a substantially vertical foot for stepping over a load, each of the feet being provided at its lower end d 'a rolling base resting on a rail of a ship; a motorization system of at least one rolling base for moving said gantry; at least two substantially vertical gripping arms, each provided at a low and free end with a movable and articulated gripping interface, configured to cooperate with a complementary gripping interface provided on the load, said gripping arms each having a high end mounted on a mobile carriage supported by a beam and able to move, the gripping arms being telescopic and said mobile carriages being individually movable on at least one running track or at least a pair of rectilinear running tracks provided on the or beams.
  • the crane disclosed in this document is not suitable for opening and closing pivoting structures of railway wagons and does not include gripping arms mounted oscillating on the mobile carriage, whose oscillation movement is assisted by a motorization.
  • the object of the invention is to overcome the drawbacks of the prior art and to propose a new handling gantry making it possible to optimize the loading / unloading operations and the opening and closing of pivoting load-bearing structures of railway wagons.
  • the gripping arms are rotatably mounted along their longitudinal axis on their respective mobile carriage.
  • the gripping arms are linked to their respective mobile carriage by means of a pivot joint with an axis substantially parallel to the longitudinal axis to allow said arms to 'oscillate in a vertical plane and orthogonal to the longitudinal axis of the beam.
  • each gripping arm comprises an actuating member articulated between said gripping arm and its movable carriage, for moving said gripping arm in a controlled manner by pivoting, around the pivot joint, between a low hooking position and a retracted up position.
  • the gantry comprises position and force sensors for transmitting signals to a control unit, which controls a set of actuators for controlling the load handling phases.
  • the feet are telescopic.
  • only the rolling base is associated with a motorization, the foot mounted on the rolling base being linked to the beam by means of a rotary link of vertical axis.
  • the rotary link comprises a locking / unlocking member to authorize or prohibit the rotation of the foot relative to the beam as a function of a set point from the control unit.
  • each foot is linked to the beam via a rigid connection, the rolling tracks of the movable carriages having at least one curved section to allow the gripping arms d '' accompany the movement of the pivoting supporting structure.
  • the foot is linked to the beam via a rigid connection, the other foot being linked to the beam via an articulation along an axis articulation orthogonal to the longitudinal axis of the beam.
  • the gantry comprises a beam supporting two mobile carriages each provided with a gripping arm.
  • the gantry comprises two beams connected to each other by means of a mechanical connection structure, each of the beams supporting two mobile carriages each provided with a gripping arm.
  • the gantry according to the invention comprises a beam consisting of two sections each having a curvature, a convex shape or substantially in an arc of opposite circle mutually, each of the sections being provided with a pair of tracks bearing on which two mobile carriages move.
  • the beam is equipped with a rigid circular structure whose upper face is provided with a pair of rolling tracks on which four carriages circulate to position the gripping arms and handle loads.
  • an opening and closing system of a pivoting carrying structure of a railway wagon comprising a handling gantry according to the invention as described above, an infrastructure comprising two railway rails with statutory railway gauge, at least one additional rail parallel to the railway rails and having a determined gauge with respect to said railway rails, all of the rails being embedded in a concrete slab and at least one rolling bases being provided with rollers for moving on the additional rail, the concrete slab being configured on the one hand to allow the circulation of vehicles of the semi-trailer and tractor type and on the other hand for the resumption of loads d 'one end of the pivoting support structure in the open position resting on said concrete slab.
  • the opening and closing system of a pivoting carrying structure of a railway wagon comprises a mechanical or immaterial guidance system for at least one of the rolling bases.
  • Such a gantry according to the invention has the advantage of requiring very simple civil engineering, compatible with standard multimodal terminals.
  • civil engineering includes for example a concrete road and a guide rail if necessary.
  • the civil engineering and the gantry are advantageously compatible with the use of a known handling gantry, used for the transhipment of containers.
  • the gantry according to the invention allows a high level of automation of the different loading / unloading phases, in particular by the use of sensors.
  • Another advantage of the gantry according to the invention lies in its possible association with another gantry to allow the opening of wagons with a center of rotation located in the middle of the loading pocket.
  • the figure 1 is a perspective view of an embodiment of a handling gantry 1 according to the invention and the figure 2 is a front view of said gantry 1.
  • the latter comprises a horizontal beam 2 of longitudinal axis 2a, connecting together a first foot 3 substantially vertical and a second foot 4 substantially vertical.
  • the first foot 3 and the second foot 4 are provided at their lower end, respectively with a first rolling base 5 and a second rolling base 6.
  • the first rolling base 5 comprises for example a chassis on which are mounted at least two wheels 7, of the wheel type, tire wheels, or iron wheels.
  • the rolling base 6 for example has only one wheel 7.
  • the gantry 1 advantageously comprises a motorization system, not shown, of at least one of the rolling bases 5 and 6.
  • the motorization system for example electric, comprises an on-board generator or rechargeable batteries.
  • a motorization is for example integrated into one of the rolling bases 5 and 6.
  • the gantry 1, according to another embodiment, can for example be supplied electrically via a power cable on reel (not shown).
  • the gantry 1 also includes two telescopic gripping arms 8 and 9, as illustrated in particular in figures 1 , 2 , 3 and 4 .
  • the Figures 1 to 3 represent the gantry 1 with gripping arms 8 and 9 in an elongated configuration, while the figure 4 represents the gantry 1 with the gripping arms 8 and 9 in a retracted configuration.
  • the gripping arms 8 and 9 are each provided, at their low and free end, with a hooking interface 10.
  • the latter for example of the handling clamp type, is known as such.
  • the hooking interface 10 is configured to cooperate with a complementary attachment interface provided on each side of a load or of a pivoting carrying structure 20.
  • the attachment interface 10 can be mounted articulated via a pivot relative to the gripping arms 8 and 9 in order to guarantee planar contact with the pivoting supporting structure, regardless of the angle thereof relative to the arms gripping 8 and 9.
  • the complementary attachment interfaces are located towards one end of the pivoting support structure 20.
  • the other end of the pivoting support structure 20 is pivotally mounted on the rolling base of a railway wagon 21, for example on a central bogie of the wagon 21.
  • the gripping arms 8 and 9 are also each carried by a mobile carriage 11.
  • the latter is supported by the beam 2 and can move along said beam 2.
  • the mobile carriage 11 is advantageously provided with rollers 12 circulating on a or dedicated tracks 13, arranged for example on the upper face 2b of the beam 2.
  • the tracks 13 are preferably made two in number or in pairs. According to other exemplary embodiments, not illustrated in the figures, the beam 2 can be provided with a single rolling track 13 on which the carriages 11 move. A greater number of rolling tracks 13 can also be provided, in depending on the design of the mobile carriages 11.
  • the beam 2 advantageously has a central opening, located between two raceways 13 and crossed by the gripping arms 8, 9.
  • the movable carriages 11, movable relative to one another, are advantageously motorized.
  • the gripping arms 8 and 9 are for example each mounted to rotate along their longitudinal axis 8a and 9a on their respective mobile carriage 11. This configuration makes it possible to align the attachment interface 10 with the pivoting support structure 20.
  • the figure 5 is a representation in top view of the gantry 1 according to the invention and the figure 6 is an illustration in profile view of the same gantry 1 in a direction P indicated on the figure 5 .
  • the figure 7 is a partial illustration of an embodiment of the handling gantry 1 according to the invention in a cross-sectional view, showing a differentiated orientation of the gripping arms 8 and 9 in planes transverse to the longitudinal axis 2a. Beam 2 is not depicted on this figure 7 for reasons of simplification of presentation only.
  • the gripping arms 8 and 9 are advantageously linked to their respective mobile carriage 11 by means of a pivot joint 14 with an axis substantially parallel to the longitudinal axis 2a. Such a connection allows each gripping arm 8 and 9 to oscillate freely in a vertical plane and orthogonal to the beam 2 as shown in the figure 7 .
  • the oscillation can be controlled by means of an actuating or return member.
  • the attachment interfaces 10 can thus easily cooperate and engage in the additional attachment interfaces of the pivoting support structure 20 by compensating for any positioning, alignment or orientation faults between the gantry 1 and said structure swivel carrier 20.
  • Each gripping arm 8, 9 advantageously comprises an actuating member, not shown, articulated between said gripping arm 8, 9 and its carriage 11, to move said gripping arm 8, 9 by pivoting around the pivot joint 14, between a low hooking position and a position retracted upwards.
  • a retracted position makes it possible to move the gantry 1 of an open pivoting support structure 20, that is to say resting next to the rails on the ground or on a quay, to another pivoting support structure 20, passing to the above the open pivoting carrying structure 20.
  • the beam 2 has a sufficient length to allow sufficient spacing of the gripping arms 8 and 9, it is possible to avoid a tilting of a gripping arm in the high or retracted position when moving the gantry 1 to another structure swivel carrier 20.
  • the feet 3 and 4 are telescopic. This embodiment also makes it possible to facilitate the passage from one pivoting supporting structure to another for the gantry 1. The amplitude of retraction of a gripping arm 8, 9 can then be reduced when said gripping arm 8, 9 is retracted. It is also possible to suppress the vertical stroke of the gripping arms 8 and 9, if the vertical stroke of the feet 3 and 4 is sufficient to ensure the function.
  • the gripping arms 8 and 9 and / or the feet 3 and 4 are therefore advantageously motorized for lifting loads.
  • the first leg 3 and the second leg 4 are linked to the beam 2 by through a rigid connection.
  • the beam 2 then comprises rolling tracks 13 for the mobile carriages 11, having at least one curved section for at least one of said mobile carriages 11.
  • the movement of the mobile carriages 11 on these curved sections of the running tracks 13 allows to the gripping arms 8, 9 to accompany the rotational movement of the pivoting support structure 20, which thus moves without causing stress on the pivoting support structure 20 and a movement of the wagon 21 on the rail tracks.
  • the Figures 12a, 12b and 12c represent various embodiments of the beam 2 of the gantry 1 according to the invention.
  • the beam 2, straight of the figure 12a comprises curved tracks 13.
  • the beam 2 has the same curvatures as the raceways 13, namely two opposite curvatures or a curvature extended by a straight portion.
  • each leg 3, 4 is linked to the beam 2 by means of a rotary link 15 of vertical axis.
  • One of the two rolling bases 5 and 6 or each of the two rolling bases 5 and 6 is then provided or associated with an independent motorization.
  • only the rolling base 5 is associated with a motorization and the foot 3 is linked to the beam 2 by means of a rotary link 15 of vertical axis.
  • the rotary link 15 advantageously comprises a locking / unlocking member for authorizing or prohibiting the rotation of the leg 3 relative to the beam 2 as a function of a set point from a control unit.
  • the foot 4 is articulated to the beam 2 by means of an articulation with an axis 30.
  • This axis 30 is orthogonal to the longitudinal axis 2a and substantially horizontal.
  • An actuator, not shown, mounted between the beam 2 and the foot 4 is then controlled to adjust the mutual orientation of the beam 2 and the foot 4 as a function of the positions of the gripping arms 8 and 9.
  • This articulation of axis 30 is necessary when the second rolling base 6 is guided or when the legs 3 and 4 do not have a rotary connection 15 with the beam 2.
  • the gantry 1 according to the invention and illustrated for example in figures 5 , 8 and 9 , comprises the rotary connection 15 between the first foot 3 and the beam 2.
  • the connection between the second foot 4 and the beam 2 is rigid and the rolling base 6 is not motorized. It is then possible, by unlocking the rotary link 15 and by moving the rolling base 5, to modify the angular orientation between the beam 2 relative to railway rails 17.
  • An example of such an angular orientation is for example illustrated in the figure 8 , compared to the figure 5 , in which the beam 2 extends substantially orthogonally to the direction of movement of the rolling base 5.
  • the gantry 1 is advantageously associated with a mechanical or immaterial guidance system for at least one of the rolling bases 5 and 6.
  • the rolling base 5 comprises wheels 7 railways intended to be guided by an additional rail 16, parallel to the rail rails 17 on which the wagons run 21.
  • the additional rail 16 having a determined spacing with respect to the rail rails 17, thus makes it possible to implement mechanical guidance of the gantry 1 This determined spacing as well as the dimensions of the gantry 1 depend on the size of a pivoting support structure 20 in the open position.
  • the present invention also relates to a gripping device for a handling gantry.
  • This characterized device comprises a mobile carriage 11 comprising a mobile base and on which is mounted oscillating, a substantially vertical gripping arm with one of its ends, the other end of said gripping arm being provided with a hooking interface. 10 to a load, said gripping arm 8, 9 being telescopic for lifting the load.
  • the present invention also relates to a system for opening and closing a pivoting carrying structure of a railway wagon, comprising the handling gantry 1 and a civil engineering infrastructure.
  • the latter comprises two rails 17 with regulatory railway spacing, illustrated schematically for example on the figure 8 and at least one additional rail 16 parallel to the rail 17 rails.
  • the rails 16 and 17 are embedded in a concrete slab 18 and at least one 5 of the rolling bases 5 and 6 is provided with wheels 7 in the form of rollers to move on the additional rail 16.
  • the concrete slab 18 is for example configured on the one hand to allow the circulation of vehicles of the semi-trailer and tractor type and on the other hand for the recovery of loads from one end of the pivoting support structure in the open position resting on said concrete slab 18.
  • the figure 10 illustrates an example positioning of the gantry 1 relative to the pivoting carrying structure 20 of a wagon 21.
  • the gripping arms 8 and 9 are then brought into contact with the pivoting support structure 20, as shown in the figure 11 , so as to mutually engage the attachment interfaces 10 and the additional attachment interfaces.
  • the pivoting supporting structure 20 can then be lifted, pivoted and deposited on the concrete slab 18 to perform loading or unloading operations.
  • the gantry 1 comprises position and force sensors for transmitting signals to the control unit, on-board or at a distance, not shown, which controls a set of actuators to control the phases d opening and closing of the pivoting load-bearing structures.
  • the control unit thus makes it possible to implement the various stages of a process of opening and closing of a pivoting carrying structure of a railway wagon. This process and consequently all the movements of the gantry 1 are advantageously automated.
  • the gantry 1 is therefore equipped with sensors allowing it to locate and control suitable actuators.
  • the handling process implemented by the gantry crane 1 according to the invention thus comprises an opening phase and a closing phase of the wagon 21.
  • the method then consists in moving the gantry 1 towards another pivoting supporting structure 20 in the closed position by retracting if necessary one of the gripping arms 8 or 9 or by spreading the carriages 11 enough to allow the gripping arms 8 and 9 to pass on either side of said open pivoting support structure 20 and to repeat the preceding steps.
  • the loading operation for example, is carried out by moving a semi-trailer in reverse, in the pivoting support structure 20 then by locking said semi-trailer on said pivoting support structure 20.
  • the displacement of the semi-trailer trailer is carried out by means of a handling machine, of the tractor type, automated or not.
  • the method then consists in moving the gantry 1 towards another pivoting support structure in the open position and in repeating the preceding steps.
  • the gantry 1 comprises two beams 2 connected to each other by means of a mechanical connecting structure, each of the beams 2 supporting two mobile carriages each provided with 'a gripping arm.
  • the gantry 1 comprises four mobile carriages 11 moving on a pair of circular or substantially circular running tracks 13.
  • the beam 2 is thus equipped with a rigid circular structure 2c, the upper face 2b above is provided with the pair of rolling tracks 13.
  • the carriages 11 thus circulate along a circular or substantially circular path to position the gripping arms 8, 9 and handle loads.
  • the circular structure 2c is advantageously centered on the beam 2 with a longitudinal axis 2a.
  • the gantry 1 comprises four mobile carriages 11. Two mobile carriages 11 move on a pair of running tracks 13 of a first section 2d of the beam 2 and two additional mobile carriages 11 move on a pair of running tracks 13 of a second section 2e of the beam 2.
  • Each of the sections 2d and 2e have a curved shape, convex or substantially in an arc of a circle at its circular or substantially circular center.
  • the curved shape of the first section 2d extends in a direction opposite to the curved shape of the second section 2e.
  • Such a configuration is particularly advantageous for handling a wagon or a loading pocket pivoting in its center.
  • the gripping arms 8, 9 can thus be precisely positioned and optimally handle loads.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Jib Cranes (AREA)

Description

Domaine techniqueTechnical area

La présente invention se rapporte au domaine technique et général du chargement/déchargement de charges pouvant se présenter par exemple par l'intermédiaire des wagons ferroviaires dans le transport combiné rails/route.The present invention relates to the technical and general field of loading / unloading of loads which may arise, for example, by means of railway wagons in combined rail / road transport.

La présente invention concerne entre-autre l'ouverture et la fermeture de structures porteuses pivotantes de wagons ferroviaires à l'aide d'un portique de manutention. Ces wagons ferroviaires, appelés aussi wagons poches sont notamment destinés au chargement et au déchargement de semi-remorques.The present invention relates inter alia to the opening and closing of pivoting supporting structures of railway wagons using a handling gantry. These railway wagons, also called pocket wagons, are especially intended for loading and unloading semi-trailers.

La présente invention sera décrite en référence à titre d'exemple à un type particulier de wagons ferroviaires. Il s'agit notamment des wagons doubles poches à trois bogies. De tels wagons sont connus en tant que tels.The present invention will be described by way of example with reference to a particular type of rail car. These include double pocket wagons with three bogies. Such wagons are known as such.

Le chargement et le déchargement de telles structures porteuses pivotantes nécessitent un pivotement de ces dernières. Ces wagons ferroviaires sont donc constitués d'une base roulante, à savoir les trois bogies ainsi que de deux structures porteuses pivotantes susceptibles de se dissocier partiellement de la base roulante par soulèvement et par pivotement.The loading and unloading of such pivoting support structures requires pivoting of the latter. These railway wagons therefore consist of a rolling base, namely the three bogies, as well as two pivoting supporting structures capable of partially dissociating from the rolling base by lifting and pivoting.

Un tel pivotement est effectué de façon centrale sur le bogie central par une extrémité de chaque structure porteuse pivotante.Such pivoting is carried out centrally on the central bogie by one end of each pivoting support structure.

L'autre extrémité de chaque structure porteuse pivotante, en position d'ouverture vient alors reposer sur le sol ou sur un quai dédié. Le chargement ou le déchargement peut alors être effectué.The other end of each pivoting support structure, in the open position, then comes to rest on the ground or on a dedicated platform. Loading or unloading can then be carried out.

Avantageusement, l'une des structures porteuses pivotantes est pivotée d'un côté du wagon ferroviaire et l'autre structure porteuse pivotante est pivotée de façon symétrique de l'autre côté dudit wagon. Les opérations de chargement/déchargement peuvent alors être opérées simultanément.Advantageously, one of the pivoting support structures is pivoted on one side of the railway wagon and the other pivoting support structure is pivoted symmetrically on the other side of said wagon. The loading / unloading operations can then be carried out simultaneously.

Les opérations de chargement/déchargement des deux structures pivotantes peuvent être effectuées du même côté du wagon ou de part et d'autre dudit wagon.The loading / unloading operations of the two pivoting structures can be carried out on the same side of the wagon or on either side of said wagon.

En outre, l'utilisation simultanée de deux portiques de manutention permet d'effectuer des mouvements complémentaires comme ouvrir une poche de chargement avec un centre de rotation disposé en son milieu ou permet de déplacer une charge latéralement.In addition, the simultaneous use of two handling gantries makes it possible to carry out complementary movements such as opening a loading pocket with a center of rotation arranged in its middle or making it possible to move a load laterally.

Etat de la techniqueState of the art

Il est connu de mettre en œuvre des opérations d'ouverture et de fermeture de structures porteuses pivotantes de wagons ferroviaires par différentes méthodes. Ces dernières sont souvent très complexes et nécessitent un génie civil particulier et complexe incompatible avec des terminaux standards multimodaux. En effet, au moins une partie des équipements connus sont positionnés au niveau du sol rendant impossible la traversée de la voie ferroviaire en tous points par des engins de manutention. En outre, la localisation de ces équipements au niveau du sol les expose aux intempéries du genre neige, sable, pollution ou autres.It is known to implement opening and closing operations of pivoting supporting structures of railway wagons by different methods. These are often very complex and require specific and complex civil engineering incompatible with standard multimodal terminals. Indeed, at least some of the known equipment is positioned at ground level making it impossible to cross the railway track at any point by handling equipment. In addition, the location of this equipment at ground level exposes them to bad weather such as snow, sand, pollution or others.

La présente invention concerne également l'ouverture et la fermeture de wagons ferroviaires ne disposant que d'une seule structure porteuse pivotante, dont le pivotement est assuré à l'une de ses extrémités.The present invention also relates to the opening and closing of railway wagons having only a single pivoting support structure, the pivoting of which is ensured at one of its ends.

Un tel système au sol est par exemple décrit dans le brevet antérieur EP 1292476 .Such a ground system is for example described in the prior patent EP 1292476 .

On connait également la demande de brevet WO 2011/077085 publiée le 30 juin 2011 , qui divulgue un navire flottant dont le pont est équipé de deux rails non ferroviaires le long desquels se déplace une grue mobile, comprenant une paire de montants et une poutre transversale. Un chariot destiné à soulever des charges au-dessus du pont se déplace le long de cette poutre. Ledit document WO 2011/077085 divulgue un portique de manutention pour la manutention de charges, ledit portique comprenant : au moins une poutre horizontale d'axe longitudinal, comportant à chacune de ses extrémités un pied sensiblement vertical pour enjamber un chargement, chacun des pieds étant pourvu à son extrémité basse d'une base de roulement reposant sur un rail d'un navire ; un système de motorisation d'au moins une base roulante pour déplacer ledit portique ; au moins deux bras de préhension sensiblement verticaux, pourvus chacun à une extrémité basse et libre d'une interface d'accrochage déplaçable et articulée, configurée pour coopérer avec une interface d'accrochage complémentaire prévue sur la charge, lesdits bras de préhension présentant chacun une extrémité haute montée sur un chariot mobile supporté par une poutre et pouvant se déplacer, les bras de préhension étant télescopiques et lesdits chariots mobiles étant déplaçables individuellement sur au moins une piste de roulement ou au moins une paire de pistes de roulement rectilignes prévues sur la ou les poutres.We also know the patent application WO 2011/077085 published June 30, 2011 , which discloses a floating ship whose bridge is equipped with two non-railway rails along which a mobile crane moves, comprising a pair of uprights and a transverse beam. A carriage for lifting loads over the bridge moves along this beam. Said document WO 2011/077085 discloses a handling gantry for handling loads, said gantry comprising: at least one horizontal beam of longitudinal axis, comprising at each of its ends a substantially vertical foot for stepping over a load, each of the feet being provided at its lower end d 'a rolling base resting on a rail of a ship; a motorization system of at least one rolling base for moving said gantry; at least two substantially vertical gripping arms, each provided at a low and free end with a movable and articulated gripping interface, configured to cooperate with a complementary gripping interface provided on the load, said gripping arms each having a high end mounted on a mobile carriage supported by a beam and able to move, the gripping arms being telescopic and said mobile carriages being individually movable on at least one running track or at least a pair of rectilinear running tracks provided on the or beams.

Cependant, la grue divulguée dans ce document n'est pas adaptée à l'ouverture et à la fermeture des structures pivotantes de wagons ferroviaires et ne comporte pas de bras de préhension montés oscillants sur le chariot mobile, dont le mouvement d'oscillation est assisté par une motorisation.However, the crane disclosed in this document is not suitable for opening and closing pivoting structures of railway wagons and does not include gripping arms mounted oscillating on the mobile carriage, whose oscillation movement is assisted by a motorization.

Ces caractéristiques nouvelles de l'invention confèrent à celle-ci des avantages importants qui seront décrits ci-après.These new features of the invention give it significant advantages which will be described below.

Divulgation de l'inventionDisclosure of invention

L'objet de l'invention vise à pallier les inconvénients de l'art antérieur et proposer un nouveau portique de manutention permettant d'optimiser les opérations de chargement/déchargement et d'ouverture et de fermeture de structures porteuses pivotantes de wagons ferroviaires.The object of the invention is to overcome the drawbacks of the prior art and to propose a new handling gantry making it possible to optimize the loading / unloading operations and the opening and closing of pivoting load-bearing structures of railway wagons.

Les objets assignés à l'invention sont atteints à l'aide d'un portique de manutention pour la manutention de charges, caractérisé en ce qu'il comprend :

  • au moins une poutre horizontale d'axe longitudinal, comportant à chacune de ses extrémités un pied sensiblement vertical pour enjamber un chargement,
  • chacun des pieds étant pourvu à son extrémité basse d'une base de roulement reposant sur le sol,
  • un système de motorisation d'au moins une base roulante pour déplacer ledit portique,
  • au moins deux bras de préhension sensiblement verticaux, pourvus chacun à une extrémité basse et libre d'une interface d'accrochage déplaçable et articulée, configurée pour coopérer avec une interface d'accrochage complémentaire prévue sur la charge, lesdits bras de préhension présentant chacun une extrémité haute montée sur un chariot mobile lequel est supporté par une poutre et pouvant se déplacer,
et en ce que :
  • les bras de préhension sont télescopiques et montés oscillants sur les chariots mobiles ;
  • le portique comprend une motorisation pour assister les bras de préhension dans leur mouvement d'oscillation ; et
    • lesdits chariots mobiles étant déplaçables individuellement sur au moins une piste de roulement ou au moins une paire de pistes de roulement rectilignes ou incurvées prévues sur la ou les poutres (2) ; et
  • chaque pied est lié à la poutre par l'intermédiaire d'une liaison rotative d'axe vertical, chacune des bases roulantes étant associée à une motorisation indépendante.
The objects assigned to the invention are achieved using a handling gantry for handling loads, characterized in that it comprises:
  • at least one horizontal beam with a longitudinal axis, comprising at each of its ends a substantially vertical foot for spanning a load,
  • each of the feet being provided at its lower end with a rolling base resting on the ground,
  • a motorization system of at least one rolling base for moving said gantry,
  • at least two substantially vertical gripping arms, each provided at a low and free end with a movable and articulated gripping interface, configured to cooperate with a complementary gripping interface provided on the load, said gripping arms each having a high end mounted on a mobile carriage which is supported by a beam and which can move,
and in that :
  • the gripping arms are telescopic and mounted oscillating on the mobile carriages;
  • the gantry includes a motorization to assist the gripping arms in their oscillation movement; and
    • said movable carriages being individually movable on at least one running track or at least a pair of straight or curved running tracks provided on the beam (s) (2); and
  • each leg is linked to the beam via a rotary link with a vertical axis, each of the rolling bases being associated with an independent motorization.

Selon un exemple de réalisation du portique conforme à l'invention, les bras de préhension sont montés rotatifs selon leur axe longitudinal sur leur chariot mobile respectif.According to an exemplary embodiment of the gantry according to the invention, the gripping arms are rotatably mounted along their longitudinal axis on their respective mobile carriage.

Selon un exemple de réalisation du portique conforme à l'invention, les bras de préhension sont liés à leur chariot mobile respectif à l'aide d'une articulation à pivot d'axe sensiblement parallèle à l'axe longitudinal pour permettre aux dits bras d'osciller dans un plan vertical et orthogonal à l'axe longitudinal de la poutre.According to an exemplary embodiment of the gantry according to the invention, the gripping arms are linked to their respective mobile carriage by means of a pivot joint with an axis substantially parallel to the longitudinal axis to allow said arms to 'oscillate in a vertical plane and orthogonal to the longitudinal axis of the beam.

Selon un exemple de réalisation du portique conforme à l'invention, chaque bras de préhension comporte un organe d'actionnement articulé entre ledit bras de préhension et son chariot mobile, pour déplacer de façon contrôlée ledit bras de préhension par pivotement, autour de l'articulation à pivot, entre une position basse d'accrochage et une position escamotée vers le haut.According to an exemplary embodiment of the gantry according to the invention, each gripping arm comprises an actuating member articulated between said gripping arm and its movable carriage, for moving said gripping arm in a controlled manner by pivoting, around the pivot joint, between a low hooking position and a retracted up position.

Selon un exemple de réalisation conforme à l'invention, le portique comprend des capteurs de position et d'effort pour transmettre des signaux à une unité de commande, laquelle commande un ensemble d'actionneurs pour piloter les phases de manutention de la charge.According to an exemplary embodiment according to the invention, the gantry comprises position and force sensors for transmitting signals to a control unit, which controls a set of actuators for controlling the load handling phases.

Selon un autre exemple de réalisation du portique conforme à l'invention, les pieds sont télescopiques.According to another embodiment of the gantry according to the invention, the feet are telescopic.

Selon un exemple de réalisation du portique conforme à l'invention, seule la base roulante est associée à une motorisation, le pied monté sur la base roulante étant lié à la poutre par l'intermédiaire d'une liaison rotative d'axe vertical.According to an exemplary embodiment of the gantry according to the invention, only the rolling base is associated with a motorization, the foot mounted on the rolling base being linked to the beam by means of a rotary link of vertical axis.

Selon un exemple de réalisation du portique conforme à l'invention, la liaison rotative comprend un organe de verrouillage/déverrouillage pour autoriser ou interdire la rotation du pied par rapport à la poutre en fonction d'une consigne issue de l'unité de commande.According to an exemplary embodiment of the gantry according to the invention, the rotary link comprises a locking / unlocking member to authorize or prohibit the rotation of the foot relative to the beam as a function of a set point from the control unit.

Selon un exemple de réalisation du portique conforme à l'invention, chaque pied est lié à la poutre par l'intermédiaire d'une liaison rigide, les pistes de roulement des chariots mobiles présentant au moins un tronçon cintré pour permettre aux bras de préhension d'accompagner le déplacement de la structure porteuse pivotante.According to an exemplary embodiment of the gantry according to the invention, each foot is linked to the beam via a rigid connection, the rolling tracks of the movable carriages having at least one curved section to allow the gripping arms d '' accompany the movement of the pivoting supporting structure.

Selon un exemple de réalisation du portique conforme à l'invention, le pied est lié à la poutre par l'intermédiaire d'une liaison rigide, l'autre pied étant lié à la poutre par l'intermédiaire d'une articulation selon un axe d'articulation orthogonal à l'axe longitudinal de la poutre.According to an exemplary embodiment of the gantry according to the invention, the foot is linked to the beam via a rigid connection, the other foot being linked to the beam via an articulation along an axis articulation orthogonal to the longitudinal axis of the beam.

Selon un exemple de réalisation du portique conforme à l'invention, il comporte une poutre supportant deux chariots mobiles pourvus chacun d'un bras de préhension.According to an exemplary embodiment of the gantry according to the invention, it comprises a beam supporting two mobile carriages each provided with a gripping arm.

Selon un autre exemple de réalisation conforme à l'invention, le portique comprend deux poutres reliées entre elles par l'intermédiaire d'une structure mécanique de liaison, chacune des poutres supportant deux chariots mobiles pourvus chacun d'un bras de préhension.According to another exemplary embodiment according to the invention, the gantry comprises two beams connected to each other by means of a mechanical connection structure, each of the beams supporting two mobile carriages each provided with a gripping arm.

Selon un autre exemple de réalisation, le portique conforme à l'invention comprend une poutre constituée de deux tronçons présentant chacun une incurvation, une forme convexe ou sensiblement en arc de cercle opposée mutuellement, chacun des tronçons étant pourvu d'une paire de pistes de roulement sur lesquelles se déplacent deux chariots mobiles.According to another exemplary embodiment, the gantry according to the invention comprises a beam consisting of two sections each having a curvature, a convex shape or substantially in an arc of opposite circle mutually, each of the sections being provided with a pair of tracks bearing on which two mobile carriages move.

Selon un autre exemple de réalisation du portique conforme à l'invention, la poutre est équipée d'une structure rigide circulaire dont la face supérieure est pourvue d'une paire de pistes de roulement sur laquelle circulent quatre chariots pour positionner les bras de préhension et manipuler des charges.According to another embodiment of the gantry according to the invention, the beam is equipped with a rigid circular structure whose upper face is provided with a pair of rolling tracks on which four carriages circulate to position the gripping arms and handle loads.

Les objets assignés à l'invention sont également attenits à l'aide d'un système d'ouverture et de fermeture d'une structure porteuse pivotante d'un wagon ferroviaire, comprenant un portique de manutention selon l'invention tel que décrit précédemment, une infrastructure comprenant deux rails ferroviaires à écartement ferroviaire réglementaire, au moins un rail additionnel parallèle aux rails ferroviaires et présentant un écartement déterminé par rapport aux dits rails ferroviaires, l'ensemble des rails étant noyés dans une dalle en béton et l'une au moins des bases de roulement étant pourvue de galets pour se déplacer sur le rail additionnel, la dalle en béton étant configurée d'une part pour permettre la circulation de véhicules du genre semi-remorques et tracteurs et d'autre part pour la reprise des charges d'une extrémité de la structure porteuse pivotante en position ouverte reposant sur ladite dalle en béton.The objects assigned to the invention are also attained using an opening and closing system of a pivoting carrying structure of a railway wagon, comprising a handling gantry according to the invention as described above, an infrastructure comprising two railway rails with statutory railway gauge, at least one additional rail parallel to the railway rails and having a determined gauge with respect to said railway rails, all of the rails being embedded in a concrete slab and at least one rolling bases being provided with rollers for moving on the additional rail, the concrete slab being configured on the one hand to allow the circulation of vehicles of the semi-trailer and tractor type and on the other hand for the resumption of loads d 'one end of the pivoting support structure in the open position resting on said concrete slab.

Selon un exemple de réalisation conforme à l'invention, le système d'ouverture et de fermeture d'une structure porteuse pivotante d'un wagon ferroviaire, comprend un système de guidage mécanique ou immatériel pour l'une au moins des bases roulantes.According to an exemplary embodiment according to the invention, the opening and closing system of a pivoting carrying structure of a railway wagon, comprises a mechanical or immaterial guidance system for at least one of the rolling bases.

Un tel portique conforme à l'invention présente l'avantage de nécessiter qu'un génie civil très simple, compatible avec des terminaux standards multimodaux. Un tel génie civil comprend par exemple une voirie en béton et un rail de guidage si nécessaire.Such a gantry according to the invention has the advantage of requiring very simple civil engineering, compatible with standard multimodal terminals. Such civil engineering includes for example a concrete road and a guide rail if necessary.

Ce génie civil n'entrave en rien la circulation des différents engins afin de faciliter les flux sur le terminal. Tous les équipements techniques sont positionnés largement au-dessus du niveau du sol et sont par conséquent protégés des problèmes de pollution par le sable, la neige ou par des poussières industrielles.This civil engineering in no way hinders the circulation of the various vehicles in order to facilitate flows on the terminal. All technical equipment is positioned well above ground level and is therefore protected from problems of pollution by sand, snow or industrial dust.

Le génie civil et le portique sont avantageusement compatibles avec l'utilisation d'un portique de manutention connu, utilisé pour le transbordement de conteneurs.The civil engineering and the gantry are advantageously compatible with the use of a known handling gantry, used for the transhipment of containers.

Le portique conforme à l'invention permet un haut niveau d'automatisation des différentes phases de chargement/déchargement, notamment par l'utilisation de capteurs.The gantry according to the invention allows a high level of automation of the different loading / unloading phases, in particular by the use of sensors.

Un autre avantage du portique conforme à l'invention réside dans son association éventuelle avec un autre portique pour permettre l'ouverture de wagons avec un centre de rotation localisé au milieu de la poche de chargement.Another advantage of the gantry according to the invention lies in its possible association with another gantry to allow the opening of wagons with a center of rotation located in the middle of the loading pocket.

Brève description des dessinsBrief description of the drawings

D'autres caractéristiques de la présente invention apparaîtront plus clairement à la lecture de la description qui va suivre, faite en référence aux dessins annexés, donnés à titre d'exemple non limitatif, dans lesquels :

  • la figure 1 est une vue en perspective d'un exemple de réalisation d'un portique conforme à l'invention ;
  • la figure 2 est une vue de face du portique de la figure 1 ;
  • les figures 3 et 4 illustrent le portique conforme à l'invention avec des bras de préhension respectivement dans une configuration allongée et dans une configuration rétractée ;
  • la figure 5 est une représentation en vue de dessus du portique de manutention de manutention de la figure 1 ;
  • la figure 6 est une illustration du portique de manutention de la figure 1 selon une vue de profil ;
  • la figure 7 est une illustration d'un exemple de réalisation du portique de manutention conforme à l'invention selon une vue en coupe transversale, montrant une orientation différenciée des bras de préhension ;
  • la figure 8 illustre une configuration d'un exemple de réalisation du portique de manutention dans laquelle la poutre est pivotée par rapport à une base roulante ;
  • la figure 9 est une illustration du portique de manutention conforme à l'invention de la figure 8 selon une vue en perspective,
  • la figure 10 est une illustration d'un exemple de réalisation du système de manutention conforme à l'invention dans une première configuration,
  • la figure 1, représente le système de manutention de la figure 10 dans une seconde configuration,
  • les figures 12a, 12b et 12c illustrent d'autres exemples de réalisation du portique conforme à l'invention, et
  • les figures 13 et 14 illustrent deux exemples de réalisation additionnels du portique conforme à l'invention.
Other characteristics of the present invention will appear more clearly on reading the description which follows, given with reference to the appended drawings, given by way of nonlimiting example, in which:
  • the figure 1 is a perspective view of an exemplary embodiment of a gantry according to the invention;
  • the figure 2 is a front view of the portico of the figure 1 ;
  • the figures 3 and 4 illustrate the gantry according to the invention with gripping arms respectively in an elongated configuration and in a retracted configuration;
  • the figure 5 is a representation in top view of the handling gantry handling the figure 1 ;
  • the figure 6 is an illustration of the material handling gantry figure 1 according to a profile view;
  • the figure 7 is an illustration of an exemplary embodiment of the handling gantry according to the invention in a cross-sectional view, showing a differentiated orientation of the gripping arms;
  • the figure 8 illustrates a configuration of an exemplary embodiment of the handling gantry in which the beam is pivoted relative to a rolling base;
  • the figure 9 is an illustration of the handling gantry according to the invention of the figure 8 according to a perspective view,
  • the figure 10 is an illustration of an exemplary embodiment of the handling system according to the invention in a first configuration,
  • the figure 1 , represents the handling system of the figure 10 in a second configuration,
  • the Figures 12a, 12b and 12c illustrate other exemplary embodiments of the gantry according to the invention, and
  • the figures 13 and 14 illustrate two additional embodiments of the gantry according to the invention.

Mode(s) de réalisation de l'inventionMode (s) of Carrying Out the Invention

Les éléments structurellement et fonctionnellement identiques et présents sur plusieurs figures distinctes, sont affectés d'une même référence numérique ou alphanumérique.The structurally and functionally identical elements present in several distinct figures are assigned the same numerical or alphanumeric reference.

La figure 1 est une vue en perspective d'un exemple de réalisation d'un portique 1 de manutention conforme à l'invention et la figure 2 est une vue de face dudit portique 1. Ce dernier comporte une poutre 2 horizontale d'axe longitudinal 2a, reliant entre eux un premier pied 3 sensiblement vertical et un second pied 4 sensiblement vertical.The figure 1 is a perspective view of an embodiment of a handling gantry 1 according to the invention and the figure 2 is a front view of said gantry 1. The latter comprises a horizontal beam 2 of longitudinal axis 2a, connecting together a first foot 3 substantially vertical and a second foot 4 substantially vertical.

Le premier pied 3 et le second pied 4 sont pourvus à leur extrémité basse, respectivement d'une première base de roulement 5 et d'une seconde base de roulement 6. La première base de roulement 5 comprend par exemple un châssis sur lequel sont montés au moins deux roues 7, du genre roues à bandage, roues à pneus, ou roues en fer. La base roulante 6 ne comporte par exemple qu'une seule roue 7.The first foot 3 and the second foot 4 are provided at their lower end, respectively with a first rolling base 5 and a second rolling base 6. The first rolling base 5 comprises for example a chassis on which are mounted at least two wheels 7, of the wheel type, tire wheels, or iron wheels. The rolling base 6 for example has only one wheel 7.

Selon un autre exemple de réalisation, il est possible de monter une base de roulement 5 sur chacun des pieds 3 et 4.According to another exemplary embodiment, it is possible to mount a rolling base 5 on each of the legs 3 and 4.

Le portique 1 comprend avantageusement un système de motorisation, non représenté, d'au moins une des bases de roulement 5 et 6. Le système de motorisation, par exemple électrique, comprend un groupe électrogène embarqué ou des batteries rechargeables. Une motorisation est par exemple intégrée à l'une des bases roulantes 5 et 6.The gantry 1 advantageously comprises a motorization system, not shown, of at least one of the rolling bases 5 and 6. The motorization system, for example electric, comprises an on-board generator or rechargeable batteries. A motorization is for example integrated into one of the rolling bases 5 and 6.

Le portique 1, selon un autre mode de réalisation, peut par exemple être alimenté électriquement par l'intermédiaire d'un câble d'alimentation sur enrouleur (non représenté).The gantry 1, according to another embodiment, can for example be supplied electrically via a power cable on reel (not shown).

Le portique 1 comprend également deux bras de préhension 8 et 9 télescopiques, comme cela est illustré notamment aux figures 1, 2, 3 et 4. Les figures 1 à 3 représentent le portique 1 avec des bras de préhension 8 et 9 dans une configuration allongée, alors que la figure 4 représente le portique 1 avec les bras de préhension 8 et 9 dans une configuration rétractée.The gantry 1 also includes two telescopic gripping arms 8 and 9, as illustrated in particular in figures 1 , 2 , 3 and 4 . The Figures 1 to 3 represent the gantry 1 with gripping arms 8 and 9 in an elongated configuration, while the figure 4 represents the gantry 1 with the gripping arms 8 and 9 in a retracted configuration.

Les bras de préhension 8 et 9 sont pourvus chacun, à leur extrémité basse et libre, d'une interface d'accrochage 10. Cette dernière, par exemple du genre pince de manutention, est connue en tant que tel. L'interface d'accrochage 10 est configurée pour coopérer avec une interface d'accrochage complémentaire prévue sur chaque côté d'une charge ou d'une structure porteuse pivotante 20.The gripping arms 8 and 9 are each provided, at their low and free end, with a hooking interface 10. The latter, for example of the handling clamp type, is known as such. The hooking interface 10 is configured to cooperate with a complementary attachment interface provided on each side of a load or of a pivoting carrying structure 20.

L'interface d'accrochage 10 peut être montée articulée via un pivot par rapport aux bras de préhension 8 et 9 afin de garantir un contact plan avec la structure porteuse pivotante et cela quel que soit l'angle de celle-ci par rapport aux bras de préhension 8 et 9.The attachment interface 10 can be mounted articulated via a pivot relative to the gripping arms 8 and 9 in order to guarantee planar contact with the pivoting supporting structure, regardless of the angle thereof relative to the arms gripping 8 and 9.

Les interfaces d'accrochage complémentaires sont localisées vers une extrémité de la structure porteuse pivotante 20. L'autre extrémité de la structure porteuse pivotante 20 est montée pivotante sur la base roulante d'un wagon 21 ferroviaire, par exemple sur un bogie central du wagon 21.The complementary attachment interfaces are located towards one end of the pivoting support structure 20. The other end of the pivoting support structure 20 is pivotally mounted on the rolling base of a railway wagon 21, for example on a central bogie of the wagon 21.

Les bras de préhension 8 et 9 sont en outre portés chacun par un chariot mobile 11. Ce dernier est supporté par la poutre 2 et peut se déplacer le long de ladite poutre 2. Le chariot mobile 11 est avantageusement pourvu de galets 12 circulant sur une ou des pistes de roulement 13 dédiées, aménagées par exemple sur la face supérieure 2b de la poutre 2. Les pistes de roulement 13 sont réalisées préférentiellement au nombre de deux ou par paire. Selon d'autres exemples de réalisation, non illustrés aux figures, la poutre 2 peut être pourvue d'une seule piste de roulement 13 sur laquelle se déplacent les chariots 11. Un nombre plus important de pistes de roulement 13 peut également être prévu, en fonction de la conception des chariots mobiles 11.The gripping arms 8 and 9 are also each carried by a mobile carriage 11. The latter is supported by the beam 2 and can move along said beam 2. The mobile carriage 11 is advantageously provided with rollers 12 circulating on a or dedicated tracks 13, arranged for example on the upper face 2b of the beam 2. The tracks 13 are preferably made two in number or in pairs. According to other exemplary embodiments, not illustrated in the figures, the beam 2 can be provided with a single rolling track 13 on which the carriages 11 move. A greater number of rolling tracks 13 can also be provided, in depending on the design of the mobile carriages 11.

La poutre 2 présente avantageusement une ouverture centrale, localisée entre deux pistes de roulement 13 et traversée par les bras de préhension 8, 9.The beam 2 advantageously has a central opening, located between two raceways 13 and crossed by the gripping arms 8, 9.

Les chariots mobiles 11, déplaçables l'un par rapport à l'autre, sont avantageusement motorisés.The movable carriages 11, movable relative to one another, are advantageously motorized.

Les bras de préhension 8 et 9 sont par exemple chacun montés rotatifs selon leur axe longitudinal 8a et 9a sur leur chariot mobile 11 respectif. Cette configuration permet d'aligner l'interface d'accrochage 10 avec la structure porteuse pivotante 20.The gripping arms 8 and 9 are for example each mounted to rotate along their longitudinal axis 8a and 9a on their respective mobile carriage 11. This configuration makes it possible to align the attachment interface 10 with the pivoting support structure 20.

La figure 5 est une représentation en vue de dessus du portique 1 conforme à l'invention et la figure 6 est une illustration en vue de profil du même portique 1 selon une direction P indiquée sur la figure 5.The figure 5 is a representation in top view of the gantry 1 according to the invention and the figure 6 is an illustration in profile view of the same gantry 1 in a direction P indicated on the figure 5 .

La figure 7 est une illustration partielle d'un exemple de réalisation du portique 1 de manutention conforme à l'invention selon une vue en coupe transversale, montrant une orientation différenciée des bras de préhension 8 et 9 dans des plans transversaux à l'axe longitudinal 2a. La poutre 2 n'est pas représentée sur cette figure 7 pour des raisons de simplification de la présentation uniquement.The figure 7 is a partial illustration of an embodiment of the handling gantry 1 according to the invention in a cross-sectional view, showing a differentiated orientation of the gripping arms 8 and 9 in planes transverse to the longitudinal axis 2a. Beam 2 is not depicted on this figure 7 for reasons of simplification of presentation only.

Les bras de préhension 8 et 9 sont avantageusement liés à leur chariot mobile 11 respectif à l'aide d'une articulation à pivot 14 d'axe sensiblement parallèle à l'axe longitudinal 2a. Une telle liaison permet à chaque bras de préhension 8 et 9 d'osciller librement dans un plan vertical et orthogonal à la poutre 2 comme cela est montré à la figure 7.The gripping arms 8 and 9 are advantageously linked to their respective mobile carriage 11 by means of a pivot joint 14 with an axis substantially parallel to the longitudinal axis 2a. Such a connection allows each gripping arm 8 and 9 to oscillate freely in a vertical plane and orthogonal to the beam 2 as shown in the figure 7 .

Selon un autre mode de réalisation, l'oscillation peut être contrôlée par l'intermédiaire d'un organe d'actionnement ou de rappel.According to another embodiment, the oscillation can be controlled by means of an actuating or return member.

Les interfaces d'accrochage 10 peuvent ainsi facilement coopérer et s'engager dans les interfaces d'accrochage complémentaires de la structure porteuse pivotante 20 en compensant d'éventuels défauts de positionnement, d'alignement ou d'orientation entre le portique 1 et ladite structure porteuse pivotante 20.The attachment interfaces 10 can thus easily cooperate and engage in the additional attachment interfaces of the pivoting support structure 20 by compensating for any positioning, alignment or orientation faults between the gantry 1 and said structure swivel carrier 20.

Chaque bras de préhension 8, 9 comporte avantageusement un organe d'actionnement, non représenté, articulé entre ledit bras de préhension 8, 9 et son chariot 11, pour déplacer ledit bras de préhension 8, 9 par pivotement autour de l'articulation à pivot 14, entre une position basse d'accrochage et une position escamotée vers le haut. Une telle position escamotée permet de déplacer le portique 1 d'une structure porteuse pivotante 20 ouverte, c'est-à-dire reposant à côté des rails sur le sol ou sur un quai, vers une autre structure porteuse pivotante 20, en passant au-dessus de la structure porteuse pivotante 20 ouverte.Each gripping arm 8, 9 advantageously comprises an actuating member, not shown, articulated between said gripping arm 8, 9 and its carriage 11, to move said gripping arm 8, 9 by pivoting around the pivot joint 14, between a low hooking position and a position retracted upwards. Such a retracted position makes it possible to move the gantry 1 of an open pivoting support structure 20, that is to say resting next to the rails on the ground or on a quay, to another pivoting support structure 20, passing to the above the open pivoting carrying structure 20.

Lorsque la poutre 2 présente une longueur suffisante pour permettre un écartement suffisant des bras de préhension 8 et 9, il est possible d'éviter un basculement d'un bras de préhension en position haute ou escamotée lors du déplacement du portique 1 vers une autre structure porteuse pivotante 20.When the beam 2 has a sufficient length to allow sufficient spacing of the gripping arms 8 and 9, it is possible to avoid a tilting of a gripping arm in the high or retracted position when moving the gantry 1 to another structure swivel carrier 20.

Selon un exemple de réalisation du portique 1 conforme à l'invention, les pieds 3 et 4 sont télescopiques. Ce mode de réalisation permet également de faciliter le passage d'une structure porteuse pivotante à une autre pour le portique 1. L'amplitude d'escamotage d'un bras de préhension 8, 9 peut alors être réduite lorsque ledit bras de préhension 8, 9 est rétracté. Il est possible également de supprimer la course verticale des bras de préhension 8 et 9, si la course verticale des pieds 3 et 4 est suffisante pour assurer la fonction.According to an exemplary embodiment of the gantry 1 according to the invention, the feet 3 and 4 are telescopic. This embodiment also makes it possible to facilitate the passage from one pivoting supporting structure to another for the gantry 1. The amplitude of retraction of a gripping arm 8, 9 can then be reduced when said gripping arm 8, 9 is retracted. It is also possible to suppress the vertical stroke of the gripping arms 8 and 9, if the vertical stroke of the feet 3 and 4 is sufficient to ensure the function.

Les bras de préhension 8 et 9 et/ou les pieds 3 et 4 sont donc avantageusement motorisés pour soulever des charges.The gripping arms 8 and 9 and / or the feet 3 and 4 are therefore advantageously motorized for lifting loads.

Selon un exemple de réalisation du portique 1 conforme à l'invention, le premier pied 3 et le second pied 4 sont liés à la poutre 2 par l'intermédiaire d'une liaison rigide. La poutre 2 comporte alors des pistes de roulement 13 pour les chariots mobiles 11, présentant au moins un tronçon incurvé pour l'un au moins desdits chariots mobiles 11. Le déplacement des chariots mobiles 11 sur ces tronçons incurvés des pistes de roulement 13, permet aux bras de préhension 8, 9 d'accompagner le déplacement en rotation de la structure porteuse pivotante 20, laquelle se déplace ainsi sans engendrer de contraintes sur la structure porteuse pivotante 20 et un déplacement du wagon 21 sur les rails ferroviaires.According to an exemplary embodiment of the gantry 1 according to the invention, the first leg 3 and the second leg 4 are linked to the beam 2 by through a rigid connection. The beam 2 then comprises rolling tracks 13 for the mobile carriages 11, having at least one curved section for at least one of said mobile carriages 11. The movement of the mobile carriages 11 on these curved sections of the running tracks 13 allows to the gripping arms 8, 9 to accompany the rotational movement of the pivoting support structure 20, which thus moves without causing stress on the pivoting support structure 20 and a movement of the wagon 21 on the rail tracks.

Les figures 12a, 12b et 12c représentent divers exemples de réalisation de la poutre 2 du portique 1 conforme à l'invention. Ainsi, la poutre 2, rectiligne de la figure 12a comporte des pistes de roulement 13 incurvées.The Figures 12a, 12b and 12c represent various embodiments of the beam 2 of the gantry 1 according to the invention. Thus, the beam 2, straight of the figure 12a comprises curved tracks 13.

Aux figures 12b et 12c, la poutre 2 présente les mêmes incurvations que les pistes de roulement 13, à savoir deux incurvations opposées ou une incurvation prolongée par une portion rectiligne.To the Figures 12b and 12c , the beam 2 has the same curvatures as the raceways 13, namely two opposite curvatures or a curvature extended by a straight portion.

Ces incurvations permettent d'accompagner le mouvement de pivotement de la structure porteuse pivotante lors de son déplacement par les bras de préhension 8 et 9. Ces incurvations des pistes de roulement 13 peuvent s'avérer indispensables lorsque les pieds 3 et 4 sont liés de manière fixe à la poutre 2.These curvatures make it possible to accompany the pivoting movement of the pivoting carrying structure during its movement by the gripping arms 8 and 9. These curvatures of the rolling tracks 13 may prove to be essential when the feet 3 and 4 are so linked fixed to beam 2.

Selon un autre exemple de réalisation du portique 1 conforme à l'invention, que chaque pied 3, 4 est lié à la poutre 2 par l'intermédiaire d'une liaison rotative 15 d'axe vertical. L'une des deux bases roulantes 5 et 6 ou chacune des deux bases roulantes 5 et 6 est alors pourvue ou associée à une motorisation indépendante.According to another exemplary embodiment of the gantry 1 according to the invention, that each leg 3, 4 is linked to the beam 2 by means of a rotary link 15 of vertical axis. One of the two rolling bases 5 and 6 or each of the two rolling bases 5 and 6 is then provided or associated with an independent motorization.

Selon un autre exemple de réalisation du portique 1 conforme à l'invention, seule la base roulante 5 est associée à une motorisation et le pied 3 est lié à la poutre 2 par l'intermédiaire d'une liaison rotative 15 d'axe vertical.According to another embodiment of the gantry 1 according to the invention, only the rolling base 5 is associated with a motorization and the foot 3 is linked to the beam 2 by means of a rotary link 15 of vertical axis.

La liaison rotative 15 comprend avantageusement un organe de verrouillage/déverrouillage pour autoriser ou interdire la rotation du pied 3 par rapport à la poutre 2 en fonction d'une consigne issue d'une unité de commande.The rotary link 15 advantageously comprises a locking / unlocking member for authorizing or prohibiting the rotation of the leg 3 relative to the beam 2 as a function of a set point from a control unit.

Selon un autre mode de réalisation conforme à l'invention, le pied 4 est articulé à la poutre 2 par l'intermédiaire d'une articulation d'axe 30. Cet axe 30 est orthogonal à l'axe longitudinal 2a et sensiblement horizontal. Un actionneur, non représenté, monté entre la poutre 2 et le pied 4 est alors piloté pour ajuster l'orientation mutuelle de la poutre 2 et du pied 4 en fonction des positions des bras de préhension 8 et 9. Cette articulation d'axe 30 est nécessaire lorsque la seconde base de roulement 6 est guidée ou lorsque les pieds 3 et 4 ne présentent pas de liaison rotative 15 avec la poutre 2.According to another embodiment in accordance with the invention, the foot 4 is articulated to the beam 2 by means of an articulation with an axis 30. This axis 30 is orthogonal to the longitudinal axis 2a and substantially horizontal. An actuator, not shown, mounted between the beam 2 and the foot 4 is then controlled to adjust the mutual orientation of the beam 2 and the foot 4 as a function of the positions of the gripping arms 8 and 9. This articulation of axis 30 is necessary when the second rolling base 6 is guided or when the legs 3 and 4 do not have a rotary connection 15 with the beam 2.

Le portique 1 conforme à l'invention et illustré par exemple aux figures 5, 8 et 9, comprend la liaison rotative 15 entre le premier pied 3 et la poutre 2. La liaison entre le second pied 4 et la poutre 2 est rigide et la base roulante 6 n'est pas motorisée. Il est alors possible, en déverrouillant la liaison rotative 15 et en déplaçant la base roulante 5, de modifier l'orientation angulaire entre la poutre 2 par rapport à des rails ferroviaires 17. Un exemple d'une telle orientation angulaire est par exemple illustré à la figure 8, comparativement à la figure 5, dans laquelle la poutre 2 s'étend sensiblement orthogonalement à la direction de déplacement de la base roulante 5.The gantry 1 according to the invention and illustrated for example in figures 5 , 8 and 9 , comprises the rotary connection 15 between the first foot 3 and the beam 2. The connection between the second foot 4 and the beam 2 is rigid and the rolling base 6 is not motorized. It is then possible, by unlocking the rotary link 15 and by moving the rolling base 5, to modify the angular orientation between the beam 2 relative to railway rails 17. An example of such an angular orientation is for example illustrated in the figure 8 , compared to the figure 5 , in which the beam 2 extends substantially orthogonally to the direction of movement of the rolling base 5.

Le portique 1 conforme à l'invention est avantageusement associé à un système de guidage mécanique ou immatériel pour l'une au moins des bases roulantes 5 et 6. Dans les exemples de réalisation illustrés aux figures, seule la base roulante 5 comporte des roues 7 ferroviaires destinées à être guidées par un rail additionnel 16, parallèle aux rails ferroviaires 17 sur lesquels circulent les wagons 21. Le rail additionnel 16 présentant un écartement déterminé par rapport aux rails ferroviaires 17, permet ainsi de mettre en œuvre un guidage mécanique du portique 1. Cet écartement déterminé ainsi que les dimensions du portique 1 dépendent de l'encombrement d'une structure porteuse pivotante 20 en position ouverte.The gantry 1 according to the invention is advantageously associated with a mechanical or immaterial guidance system for at least one of the rolling bases 5 and 6. In the embodiments illustrated in the figures, only the rolling base 5 comprises wheels 7 railways intended to be guided by an additional rail 16, parallel to the rail rails 17 on which the wagons run 21. The additional rail 16 having a determined spacing with respect to the rail rails 17, thus makes it possible to implement mechanical guidance of the gantry 1 This determined spacing as well as the dimensions of the gantry 1 depend on the size of a pivoting support structure 20 in the open position.

La présente invention concerne également un dispositif de préhension pour portique de manutention. Ce dispositif caractérisé comprend un chariot mobile 11 comportant une base mobile et sur lequel est monté oscillant, un bras de préhension sensiblement vertical avec l'une de ses extrémités, l'autre extrémité dudit bras de préhension étant pourvue d'une interface d'accrochage 10 à une charge, ledit bras de préhension 8, 9 étant télescopique pour soulever la charge.The present invention also relates to a gripping device for a handling gantry. This characterized device comprises a mobile carriage 11 comprising a mobile base and on which is mounted oscillating, a substantially vertical gripping arm with one of its ends, the other end of said gripping arm being provided with a hooking interface. 10 to a load, said gripping arm 8, 9 being telescopic for lifting the load.

La présente invention concerne également un système d'ouverture et de fermeture d'une structure porteuse pivotante d'un wagon ferroviaire, comprenant le portique 1 de manutention et une infrastructure de génie civil. Cette dernière comprend deux rails 17 à écartement ferroviaire réglementaire, illustré de façon schématique par exemple à la figure 8 et au moins un rail additionnel 16 parallèle aux rails 17 ferroviaires.The present invention also relates to a system for opening and closing a pivoting carrying structure of a railway wagon, comprising the handling gantry 1 and a civil engineering infrastructure. The latter comprises two rails 17 with regulatory railway spacing, illustrated schematically for example on the figure 8 and at least one additional rail 16 parallel to the rail 17 rails.

Les rails 16 et 17 sont noyés dans une dalle en béton 18 et l'une 5 au moins des bases de roulement 5 et 6 est pourvue de roues 7 sous forme de galets pour se déplacer sur le rail additionnel 16.The rails 16 and 17 are embedded in a concrete slab 18 and at least one 5 of the rolling bases 5 and 6 is provided with wheels 7 in the form of rollers to move on the additional rail 16.

La dalle en béton 18 est par exemple configurée d'une part pour permettre la circulation de véhicules du genre semi-remorques et tracteurs et d'autre part pour la reprise des charges d'une extrémité de la structure porteuse pivotante en position ouverte reposant sur ladite dalle en béton 18.The concrete slab 18 is for example configured on the one hand to allow the circulation of vehicles of the semi-trailer and tractor type and on the other hand for the recovery of loads from one end of the pivoting support structure in the open position resting on said concrete slab 18.

La figure 10, illustre un exemple positionnement du portique 1 par rapport à la structure porteuse pivotante 20 d'un wagon 21.The figure 10 , illustrates an example positioning of the gantry 1 relative to the pivoting carrying structure 20 of a wagon 21.

Les bras de préhension 8 et 9 sont ensuite amenés en contact avec la structure porteuse pivotante 20, comme le montre la figure 11, de manière à engager mutuellement les interfaces d'accrochage 10 et les interfaces d'accrochage complémentaires. La structure porteuse pivotante 20 peut alors être soulevée, pivotée et déposée sur la dalle en béton 18 pour effectuer des opérations de chargement ou de déchargement.The gripping arms 8 and 9 are then brought into contact with the pivoting support structure 20, as shown in the figure 11 , so as to mutually engage the attachment interfaces 10 and the additional attachment interfaces. The pivoting supporting structure 20 can then be lifted, pivoted and deposited on the concrete slab 18 to perform loading or unloading operations.

Avantageusement, le portique 1 conforme à l'invention comprend des capteurs de position et d'effort pour transmettre des signaux à l'unité de commande, embarquée ou à distance, non représentée, laquelle commande un ensemble d'actionneurs pour piloter les phases d'ouverture et de fermeture des structures porteuses pivotantes.Advantageously, the gantry 1 according to the invention comprises position and force sensors for transmitting signals to the control unit, on-board or at a distance, not shown, which controls a set of actuators to control the phases d opening and closing of the pivoting load-bearing structures.

L'unité de commande permet ainsi de mettre en œuvre les différentes étapes d'un procédé d'ouverture et de fermeture d'une structure porteuse pivotante d'un wagon ferroviaire. Ce procédé et par conséquent tous les mouvements du portique 1 sont avantageusement automatisés. Le portique 1 est donc équipé de capteurs lui permettant de se repérer et de commander des actionneurs adéquats.The control unit thus makes it possible to implement the various stages of a process of opening and closing of a pivoting carrying structure of a railway wagon. This process and consequently all the movements of the gantry 1 are advantageously automated. The gantry 1 is therefore equipped with sensors allowing it to locate and control suitable actuators.

Le procédé de manutention mis en œuvre par le portique 1 conforme à l'invention comprend ainsi une phase d'ouverture et une phase de fermeture du wagon 21.The handling process implemented by the gantry crane 1 according to the invention thus comprises an opening phase and a closing phase of the wagon 21.

La phase d'ouverture consiste donc à :

  • déplacer le portique 1 au-dessus d'un wagon 21 ferroviaire, du genre wagon à double poches ou double coques, chacune des coques ou poches constituant une structure porteuse pivotante 20,
  • déverrouiller la structure porteuse pivotante 20 de sa base roulante,
  • déplacer les chariots mobiles 11 et ajuster la longueur des bras de préhension 8, 9 pour aligner les interfaces d'accrochage 10 avec les interfaces d'accrochage complémentaire de chaque côté de la structure porteuse pivotante 20 et engager mutuellement les interfaces d'accrochage 10 avec les interfaces d'accrochage complémentaires,
  • soulever à l'aide des bras de préhension 8, 9 la structure porteuse pivotante 20 à l'une de ses extrémités sur laquelle sont localisées les interfaces d'accrochage complémentaires,
  • déplacer les chariots mobiles 11 dans une même direction pour pivoter sensiblement horizontalement la structure porteuse pivotante 20 jusqu'à une position d'ouverture,
  • déposer la structure porteuse pivotante 20 sur la dalle en béton 18 ou sur un quai dédié, et
  • dégager les interfaces d'accrochage 10 des interfaces d'accrochage complémentaires.
The opening phase therefore consists of:
  • move the gantry crane 1 above a railway wagon 21, of the wagon type with double pockets or double shells, each of the shells or pockets constituting a pivoting carrying structure 20,
  • unlock the pivoting support structure 20 from its rolling base,
  • move the mobile carriages 11 and adjust the length of the gripping arms 8, 9 to align the hooking interfaces 10 with the complementary hooking interfaces on each side of the pivoting support structure 20 and mutually engage the hooking interfaces 10 with additional attachment interfaces,
  • using the gripping arms 8, 9 to lift the pivoting support structure 20 at one of its ends on which the additional attachment interfaces are located,
  • moving the mobile carriages 11 in the same direction to pivot the pivoting carrying structure 20 substantially horizontally to an open position,
  • deposit the pivoting supporting structure 20 on the concrete slab 18 or on a dedicated quay, and
  • clear the attachment interfaces 10 from the additional attachment interfaces.

Le procédé consiste ensuite à déplacer le portique 1 vers une autre structure porteuse pivotante 20 en position fermée en escamotant le cas échéant l'un des bras de préhension 8 ou 9 ou en écartant suffisamment les chariots 11 pour permettre aux bras de préhension 8 et 9 de passer de part et d'autre de ladite structure porteuse pivotante 20 ouverte et à répéter les étapes précédentes.The method then consists in moving the gantry 1 towards another pivoting supporting structure 20 in the closed position by retracting if necessary one of the gripping arms 8 or 9 or by spreading the carriages 11 enough to allow the gripping arms 8 and 9 to pass on either side of said open pivoting support structure 20 and to repeat the preceding steps.

L'opération de chargement, à titre d'exemple, est effectuée en déplaçant en marche arrière une semi-remorque, dans la structure porteuse pivotante 20 puis en verrouillant ladite semi-remorque sur ladite structure porteuse pivotante 20. Le déplacement de la semi-remorque est effectué par l'intermédiaire d'un engin de manutention, du genre tracteur, automatisé ou non.The loading operation, for example, is carried out by moving a semi-trailer in reverse, in the pivoting support structure 20 then by locking said semi-trailer on said pivoting support structure 20. The displacement of the semi-trailer trailer is carried out by means of a handling machine, of the tractor type, automated or not.

D'autres modes de chargement ou déchargement peuvent également être prévus dans le cadre de la présente invention.Other modes of loading or unloading can also be provided in the context of the present invention.

La phase de fermeture, une fois la structure porteuse pivotante 20 chargée ou déchargée, comprend les étapes suivantes :

  • déplacer le portique 1 au-dessus de la structure porteuse pivotante 20 ouverte, chargée ou déchargée,
  • déplacer les chariots mobiles 11 et ajuster la longueur des bras de préhension 8, 9 pour aligner les interfaces d'accrochage 10 avec les interfaces d'accrochage complémentaire de chaque côté de la structure porteuse pivotante 20 et engager mutuellement les interfaces d'accrochage 10 avec les interfaces d'accrochage complémentaires,
  • soulever à l'aide des bras de préhension 8, 9 la structure porteuse pivotante 20 à l'extrémité sur laquelle sont localisées les interfaces d'accrochage complémentaires,
  • déplacer les chariots mobiles 11 dans une même direction pour pivoter sensiblement horizontalement la structure porteuse pivotante 20 jusqu'à une position de fermeture au-dessus de la base roulante du wagon 21,
  • abaisser la structure porteuse pivotante 20 sur la base roulante,
  • verrouiller la structure porteuse pivotante 20 sur la base roulante, et
  • dégager les interfaces d'accrochage 10 des interfaces d'accrochage complémentaires.
The closing phase, once the pivoting supporting structure 20 is loaded or unloaded, comprises the following steps:
  • move the gantry crane 1 above the open, loaded or unloaded pivoting support structure 20,
  • move the mobile carriages 11 and adjust the length of the gripping arms 8, 9 to align the hooking interfaces 10 with the complementary hooking interfaces on each side of the pivoting support structure 20 and mutually engage the hooking interfaces 10 with additional attachment interfaces,
  • using the gripping arms 8, 9 lift the pivoting support structure 20 at the end on which the additional attachment interfaces are located,
  • moving the mobile carriages 11 in the same direction to pivot the pivoting carrying structure 20 substantially horizontally to a closed position above the rolling base of the wagon 21,
  • lower the pivoting supporting structure 20 on the rolling base,
  • lock the pivoting support structure 20 on the rolling base, and
  • clear the attachment interfaces 10 from the additional attachment interfaces.

Le procédé consiste ensuite à déplacer le portique 1 vers une autre structure porteuse pivotante en position ouverte et à répéter les étapes précédentes.The method then consists in moving the gantry 1 towards another pivoting support structure in the open position and in repeating the preceding steps.

Dans le cas d'un wagon ou d'une poche de chargement pivotant en son centre, les opérations mentionnées ci-dessus sont identiques mais nécessitent deux portiques conformes à l'invention.In the case of a wagon or a loading pocket pivoting in its center, the operations mentioned above are identical but require two gantries according to the invention.

L'utilisation de deux portiques conformes à l'invention permet en outre de manipuler des conteneurs et des semi-remorques préhensibles. Cette configuration rend possible ainsi les mouvements de translation, de rotation et d'élévation.The use of two gantry cranes in accordance with the invention also makes it possible to handle containers and semi-trailers which can be gripped. This configuration thus makes possible the movements of translation, rotation and elevation.

Selon un autre exemple de réalisation conforme à l'invention, non illustré aux figures, le portique 1 comprend deux poutres 2 reliées entre elles par l'intermédiaire d'une structure mécanique de liaison, chacune des poutres 2 supportant deux chariots mobiles pourvus chacun d'un bras de préhension.According to another exemplary embodiment according to the invention, not illustrated in the figures, the gantry 1 comprises two beams 2 connected to each other by means of a mechanical connecting structure, each of the beams 2 supporting two mobile carriages each provided with 'a gripping arm.

Selon un autre mode de réalisation conforme à l'invention, illustré à la figure 13, le portique 1 comprend quatre chariots mobiles 11 se déplaçant sur une paire de pistes de roulement 13 circulaires ou sensiblement circulaires. La poutre 2 est ainsi équipée d'une structure rigide circulaire 2c dont la face supérieure 2b dessus est pourvue de la paire de pistes de roulement 13. Les chariots 11 circulent ainsi selon un trajet circulaire ou sensiblement circulaire pour positionner les bras de préhension 8, 9 et manipuler des charges. La structure circulaire 2c est avantageusement centrée sur la poutre 2 d'axe longitudinal 2a.According to another embodiment in accordance with the invention, illustrated in figure 13 , the gantry 1 comprises four mobile carriages 11 moving on a pair of circular or substantially circular running tracks 13. The beam 2 is thus equipped with a rigid circular structure 2c, the upper face 2b above is provided with the pair of rolling tracks 13. The carriages 11 thus circulate along a circular or substantially circular path to position the gripping arms 8, 9 and handle loads. The circular structure 2c is advantageously centered on the beam 2 with a longitudinal axis 2a.

Selon un autre mode de réalisation conforme à l'invention, illustré à la figure 14, le portique 1 comprend quatre chariots mobiles 11. Deux chariots mobiles 11 se déplacent sur une paire de pistes de roulement 13 d'un premier tronçon 2d de la poutre 2 et deux chariots mobiles 11 additionnels se déplacent sur une paire de pistes de roulement 13 d'un second tronçon 2e de la poutre 2. Chacun des tronçons 2d et 2e présentent une forme incurvée, convexe ou sensiblement en arc de cercle en son centre circulaires ou sensiblement circulaires. La forme incurvée du premier tronçon 2d s'étend dans une direction opposée à la forme incurvée du second tronçon 2e.According to another embodiment in accordance with the invention, illustrated in figure 14 , the gantry 1 comprises four mobile carriages 11. Two mobile carriages 11 move on a pair of running tracks 13 of a first section 2d of the beam 2 and two additional mobile carriages 11 move on a pair of running tracks 13 of a second section 2e of the beam 2. Each of the sections 2d and 2e have a curved shape, convex or substantially in an arc of a circle at its circular or substantially circular center. The curved shape of the first section 2d extends in a direction opposite to the curved shape of the second section 2e.

Une telle configuration est particulièrement avantageuse pour manipuler un wagon ou une poche de chargement pivotant en son centre. Les bras de préhension 8, 9 peuvent ainsi être positionnés avec précision et manipuler de façon optimale des charges.Such a configuration is particularly advantageous for handling a wagon or a loading pocket pivoting in its center. The gripping arms 8, 9 can thus be precisely positioned and optimally handle loads.

Claims (16)

  1. Handling gantry (1) for the handling of loads defined in that it includes:
    - at least one horizontal beam (2) having a longitudinal axis (2a), comprising at each of its ends a foot (3, 4), substantially vertical to straddle a load,
    - each of the feet (3, 4) having at its bottom, a running base (5, 6) resting on the ground,
    - a motor drive system for at least one running base (5, 6) to move the said gantry (1), and
    - at least two gripping arms (8, 9), substantially vertical, each having at one bottom and free end, an attaching interface (10) capable of being moved and articulated, configured to work together with an additional attaching interface provided on the load, the said gripping arms (8, 9) each having a top end mounted on a mobile trolley (11) supported by a beam (2) and capable of moving,
    and in that:
    - the gripping arms (8, 9) are telescopic and assembled to oscillate on the mobile trolleys (11);
    - the gantry (1) has a motor drive system to assist the gripping arms (8, 9) in their oscillation movement; and
    - the said mobile trolleys (11) can be moved individually along at least one running track (13) or at least one pair of running tracks (13), rectilinear or curved inwards and provided on the beam or beams (2); and
    - each foot (3, 4) is connected to the beam (2) by means of a rotating link (15) having a vertical axis, wherein each of the running bases (5, 6) is associated with an independent motor drive.
  2. Gantry (1) according to claim 1, characterized in that the gripping arms (8, 9) are mounted to rotate on their longitudinal axis (8a, 9a) on their respective mobile trolleys (11).
  3. Gantry (1) according to claim 1 or 2, characterized in that the gripping arms (8, 9) are connected to their respective mobile trolleys (11) by means of a pivoting articulation (14) having an axis substantially parallel to the longitudinal axis (2a) to enable the said arms (8, 9) to oscillate in a vertical plane at right angles to the longitudinal axis (2a) of the beam (2).
  4. Gantry (1) according to the claim 3, characterized in that each gripping arm (8, 9) includes an actuating device articulated between the said gripping arm (8, 9) and its mobile trolley (11), to move in a controlled manner the said gripping arm (8, 9) by swivelling about the pivot articulation (14), between a bottom attaching position and a position retracted upwards.
  5. Gantry (1) according to any one of claims 1 to 4, characterized in that it comprises position and force sensors to transmit signals to a control unit which controls a set of actuators controlling the load handling phases.
  6. Gantry (1) according to one of the claims 1 to 5, characterized in that the feet (3, 4) are telescopic.
  7. Gantry (1) according to one of the claims 1 to 6, characterized in that a single running base (5) is associated with a motor drive, with the foot (3) mounted on the running base (5) being connected to the beam (2) by means of a rotating link (15) having a vertical axis.
  8. Gantry (1) according to claim 7 characterized in that the rotating link (15) has a locking/unlocking device to enable or prohibit the rotation of the foot (3) with respect to the beam (2) depending on an instruction from the control unit.
  9. Gantry (1) according to any one of the claims 1 to 6, characterized in that each foot (3, 4) is connected to the beam (2) by a rigid link, with the running tracks (13) of the mobile trolleys (11) having at least one curved section enabling the gripping arms (8, 9) to accompany the movements of the pivoting supporting structure.
  10. Gantry (1) according to any one of the claims 1 to 6, characterized in that the foot (3) is linked to the beam (2) by a rigid link, with the other foot (4) being linked to the beam (2) by an articulation on an articulation axis (30) at right angles to the longitudinal axis (2a) of the beam (2).
  11. Gantry (1) according to any one of the claims 1 to 10, characterized in that it comprises a beam (2) supporting two mobile trolleys (11) each equipped with a gripping arm (8, 9).
  12. Gantry (1) according to any one of the claims 1 to 10, characterized in that it comprises two beams (2) connected together by means of a mechanical linking structure, with each of the beams (2) supporting two mobile trolleys (11) each having a gripping arm (8, 9).
  13. Gantry (1) according to any one of the claims 1 to 10, characterized in that it comprises a beam (2) consisting of two sections (2e, 2d) each having an inward curve, of a convex shape or substantially in the form of a circle arc, opposed mutually, with each section (2d, 2e) being provided with a pair of running tracks (13) over which two mobile trolleys (11) move.
  14. Gantry (1) according to any one of the claims 1 to 10, characterized in that the beam (2) has a rigid circular structure (2c) the upper face of which having a pair of running tracks (13), four trolleys (11) running over the said running tracks (13) to position the gripping arms (8, 9) and manipulate the loads.
  15. System for opening and closing a pivoting bearing structure of a railway wagon, comprising a handling gantry (1) according to any one of the claims 1 to 14, an infrastructure comprising two railway rails (17) at regulatory railway intervals, at least one additional rail (16) in parallel with the railway rails (17) having a determined interval with respect to the said railway rails (17), all the rails (16, 17) being embedded in a concrete slab (18) and at least one of the running bases (5, 6) being provided with rollers to move over the additional rail (16), with the concrete slab (18) being configured to allow the movement of semitrailer and tractor type vehicles and also to recover the loads at one end of the pivoting bearing structure in the open position, resting on the said concrete slab (18).
  16. System according to claim 15 characterized in that it comprises a mechanical or intangible guiding system for at least one of the running bases (5, 6).
EP18174729.6A 2017-06-30 2018-05-29 Handling gantry and handling system comprising such a gantry Active EP3421409B1 (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1756217A FR3068343B1 (en) 2017-06-30 2017-06-30 HANDLING GATE AND HANDLING SYSTEM INCLUDING SUCH GANTRY

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EA (1) EA201891242A1 (en)
ES (1) ES2778999T3 (en)
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CN111992927A (en) * 2020-08-04 2020-11-27 中车长江车辆有限公司 Railway wagon end wall and side wall assembling system
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Publication number Publication date
EP3421409A1 (en) 2019-01-02
FR3068343B1 (en) 2020-11-13
PL3421409T3 (en) 2020-06-01
CN109205474A (en) 2019-01-15
ES2778999T3 (en) 2020-08-13
EA201891242A1 (en) 2019-02-28
FR3068343A1 (en) 2019-01-04

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