EP3847324B1 - Dispositif de transport pour déplacer des charges lourdes - Google Patents

Dispositif de transport pour déplacer des charges lourdes Download PDF

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Publication number
EP3847324B1
EP3847324B1 EP19762292.1A EP19762292A EP3847324B1 EP 3847324 B1 EP3847324 B1 EP 3847324B1 EP 19762292 A EP19762292 A EP 19762292A EP 3847324 B1 EP3847324 B1 EP 3847324B1
Authority
EP
European Patent Office
Prior art keywords
wheel
chassis
support
transport device
longitudinal axis
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
EP19762292.1A
Other languages
German (de)
English (en)
Other versions
EP3847324C0 (fr
EP3847324A1 (fr
Inventor
Hubert Palfinger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Abc Ip Holding GmbH
Original Assignee
Abc Ip Holding GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Abc Ip Holding GmbH filed Critical Abc Ip Holding GmbH
Publication of EP3847324A1 publication Critical patent/EP3847324A1/fr
Application granted granted Critical
Publication of EP3847324C0 publication Critical patent/EP3847324C0/fr
Publication of EP3847324B1 publication Critical patent/EP3847324B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B81/00—Repairing or maintaining vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • B63C5/02—Stagings; Scaffolding; Shores or struts
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/18—Scaffolds primarily resting on the ground adjustable in height
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/24—Scaffolds primarily resting on the ground comprising essentially special base constructions; comprising essentially special ground-engaging parts, e.g. inclined struts, wheels
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/36—Scaffolds for particular parts of buildings or buildings of particular shape, e.g. for stairs, cupolas, domes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B2059/065—Cleaning devices for hulls mounted on land-borne vehicles, e.g. travelling on the bottom of a dry-dock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • B63C5/02—Stagings; Scaffolding; Shores or struts
    • B63C2005/022—Shores or struts, e.g. individual oblique support elements for stabilizing hulls in dry-docks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • B63C5/02—Stagings; Scaffolding; Shores or struts
    • B63C2005/025—Stagings, or scaffolding, i.e. constructions providing temporary working platforms on slipways, in building or repair docks, or inside hulls

Definitions

  • the invention relates to a transport device for moving heavy loads, in particular an automated maintenance device for large, essentially vertical surfaces, for example ship hulls, along a direction of movement on a freely movable monorail system, wherein a chassis is provided with a longitudinal axis running essentially parallel to the direction of movement on which the heavy load can be arranged, on which the heavy load can be arranged, a support device is arranged on the chassis, the longitudinal axis of which in the position of use runs at an angle not equal to 180°, preferably at an angle of 90° to the longitudinal axis of the chassis, the support device being over has an arm, via the first, proximal end of which the support device can be arranged on the chassis in a rigid or articulated manner.
  • WO 2010/057942 A1 a maintenance device for large steel construction areas with a mobile carrier system is disclosed, which can be moved via a rail system.
  • a maintenance device for large steel construction areas with a mobile carrier system is disclosed, which can be moved via a rail system.
  • US 3,785,454 A as well as in the US 3,112,009
  • a Work platforms that can be moved on rails are shown with a chassis, with the ones in the US 3,112,009
  • a Device shown has a boom rigidly attached to the chassis.
  • the maintenance device Due to its own weight and the supply units also arranged on the chassis, the maintenance device has a low center of gravity, so that it cannot tip over under normal operating conditions, but the tower can swing, particularly when the maintenance device is moved along the rails or due to windy weather.
  • additional support devices are provided in the upper area of the carrier tower, which are supported during operation on the surface to be processed.
  • a wheel device is arranged at the second, distal end of the boom, the boom of the support device consisting of at least two extension elements which can be telescopically displaceable relative to one another in the longitudinal axis.
  • the support device moves the center of gravity of the transport device with the heavy load on it outside the rail, thereby achieving greater stability.
  • the entire system is detected using sensors, with leveling sensors in particular being used to monitor the vertical alignment of the maintenance device.
  • the support device has a boom, the first proximal end of which can be arranged rigidly or articulated on the chassis, and a wheel device is arranged at the second distal end.
  • the support device is also moved in this direction essentially transversely to its longitudinal axis, with the wheel device moving in normal operation essentially parallel to the direction of movement of the chassis.
  • the boom of the support device consists of at least two extension elements that are telescopically displaceable relative to one another in the longitudinal axis, wherein preferably the at least two extension elements can be moved towards one another via at least two heavy-duty linear guides.
  • This means that the length of the boom can be changed as required, meaning that the overall center of gravity of the transport system with the heavy load on it can be moved as required.
  • the heavy load arranged on the transport device according to the invention in particular a maintenance device, usually has a high weight of 40 t to 100 t, so that corresponding forces act on the wheel device. Therefore, in a particularly preferred embodiment of the invention, the wheel device is designed as a support wheel, preferably with twin tires.
  • This floating dock has a sheet metal floor arranged on a water surface, which is arranged on frames attached at regular intervals.
  • the sheet metal base has a wavy structure caused by the frames.
  • vehicles that are moved on a rail system laid on this sheet metal floor exhibit resonance behavior at certain speeds. This resonance behavior is particularly problematic when high tower structures, as are common in maintenance devices in particular, start to vibrate.
  • the wheel device is designed as a double wheel, with two support wheels being arranged on a preferably length-adjustable arm system with two pendulum arms. These two support wheels function with their two pendulum arms as damping elements, with the distance between the two support wheels preferably being a multiple of half the frame distance in order to compensate for the unevenness of the surface.
  • the at least two extension elements can be extended via actuating cylinders.
  • the wheel device is steerable. By deflecting the wheel device during the displacement of the chassis along the rails, the second extension element is pulled out of the first extension element or pushed in, depending on the position of the support wheel.
  • the wheel device can be steered, for example, via hydraulic steering cylinders.
  • the wheel device is additionally height-adjustable, which results in an additional stabilization option for the entire system.
  • This height adjustment also allows the distance of the boom of the support device to be changed from the ground, for example in order to guide it over obstacles lying on the ground.
  • the control of the length of the boom by changing the extension and the height adjustment of the wheel device takes place with the inclusion of complete sensory monitoring of the entire system, in particular the maintenance device and the chassis.
  • the travel speed, the extension of the boom, the height and the deflection of the wheel device are monitored and controlled in order to ensure optimal alignment of the maintenance device located on the chassis, in particular its tower element.
  • a maintenance device 2000 is shown with a tower 2010, wherein the maintenance device 2000 has two tool arms 2020 that can be moved along the tower 2010 and are intended, for example, for processing ship walls.
  • This maintenance device 2000 is arranged on a first embodiment of the transport device 1000 according to the invention, which has a chassis 100 via which the transport device 1000 can preferably be moved along a monorail system.
  • two impeller devices 110 are preferably provided, with at least one of the two impeller devices 110 being driven, for example, by means of an electric motor 115.
  • Additional access platforms 1010 are provided on the transport device 1000 for the operation and maintenance of the maintenance device 2000 arranged on the transport device 1000 or the supply units 2030 required for its operation, such as diesel unit, energy unit, compressed air unit, water reservoir, paint reservoir, etc.
  • a support device 200 is arranged on the chassis 100, with its proximal end 201 in this embodiment variant being rigidly connected to the chassis 100 by means of a flange connection 210 ( Figs. 2A to 2C ).
  • the support device 200 here has a length-adjustable arm 220 along its longitudinal axis A, at the distal end 202 of which a wheel device 230 is arranged.
  • the support device 200 in the retracted or extended state.
  • the boom 220 in this embodiment variant consists of a first extension element 221, which is fixed to the chassis 100 via the flange connection 210.
  • This first extension element 221 is essentially designed as a square tube in which a second extension element 222 is displaceably arranged.
  • the wheel device 230 is arranged at the distal end 202 of the second extension element 222. The displacement of the second extension element 222 in relation to the first extension element 221 along the longitudinal axis A of the boom 220 is preferably carried out via heavy-duty linear guides.
  • the wheel device 230 is connected to the second extension element 222 via a vertical guide 240.
  • the support wheel 231 is designed as a twin wheel with solid rubber tires.
  • This vertical guide 240 is shown in detail.
  • the vertical guide 240 is fixed to the second extension element 222 via a rigid bolt connection 241, which allows the connection to be released quickly if necessary.
  • a support wheel 231 is arranged on the vertical guide 240 via an axial bearing 242, the support wheel 231 being able to be steered via a steering cylinder 232.
  • This vertical guide 240 is shown again in detail, in which Fig. 4A the support wheel 231 is shown in a first, raised height position, in which the boom 220 is arranged closer to the ground. In the Fig. 4B the support wheel 231 is shown in a lowered height position, so that the boom 220 runs at a greater distance from the ground.
  • a control device 250 is arranged on the vertical guide, via which the height adjustment and steering of the support wheel 231 takes place.
  • the extension of the boom 220 namely the amount of pulling out of the second extension element 222 from the first extension element 221, takes place via the wheel device 230.
  • the chassis 100 with the heavy load on it namely the maintenance device 2000
  • the support wheel 231 moves essentially along a straight line parallel to the direction of travel. If the support wheel 231 is now deflected, the running direction of the support wheel 231 is no longer parallel, but at an angle to the direction of travel of the chassis 100 and the second extension element 222 is pushed into or pulled out of the first extension element 221 depending on the angular position.
  • the length of the boom 220 can thus be varied by steering the support wheel 231.
  • the support device 230 has a double wheel support 233 with a first support wheel 231A and a second support wheel 231B, which are connected to the axial bearing 242 and the vertical guide 240 via two length-adjustable pendulum arms 234A, 234B.
  • the two support wheels 231A, 231B can in turn be steered separately from one another and thus allow the actual length of the boom 220 to be changed in the manner already described above.
  • the double wheel support 233 is particularly used on floating docks.
  • Floating docks usually have frames that are covered with sheet metal. This sheet metal covering creates uneven floors in the area of the frames, which occur at regular intervals due to the distance between the frames. If a rail system is laid on this floor and a heavy load is moved on it, resonance effects can occur. Such resonance effects are particularly noticeable in tall structures, such as the one in the Figs. 1A and 1B maintenance devices 2000 shown with an example 12 m high tower in 2010 disturbing.
  • this length adjustment takes place according to the double wheel support 233 Fig. 5B by means of fixed fixing points 235.
  • adjusting cylinders can also be provided which continuously adjust the distance between the support wheels 234A, 234B.
  • what is essential for the damping properties of the double wheel support is that the distances between the respective support wheels 234A, 234B and the axis of the axial bearing 241 are the same, so that the double wheel support 233 behaves like a kind of rocker in the area of uneven ground.
  • the support device can have a boom that consists of more than two extension elements.
  • a variant can be provided in which the boom is not rigidly connected to the chassis, but rather, for example, articulated to it, so that, for example, it can be folded parallel to the chassis when the support element is not needed.
  • the wheel device can also be designed in a variety of ways, although a significant advantage can be seen in the steerable and height-adjustable wheel device.
  • the transport device has a crash device which serves to stabilize the heavy load arranged on the transport device.
  • a wide variety of sensors are used to monitor the position of the heavy load, in particular the maintenance device, and, if necessary, to influence the driving behavior by changing the length and/or the height of the support element.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (7)

  1. Installation de transport (1000) pour déplacer des charges lourdes, notamment pour un dispositif d'entretien automatisé (2000) pour de grandes surfaces essentiellement verticales, par exemple, des coques de navire, le long d'une direction de mouvement sur un système monorail installé librement,
    - un châssis de roulement (100) ayant un axe longitudinal pratiquement parallèle à la direction de mouvement, et sur lequel se trouve la charge lourde,
    - le châssis de roulement (100) ayant une installation d'appui (200) dont l'axe longitudinal (A) fait, en position d'utilisation, un angle différent de 180°, de préférence un angle de 90° par rapport à l'axe longitudinal du châssis (100),
    - l'installation d'appui (200) ayant une flèche (220) dont la première extrémité, proximale (201) reçoit rigidement ou de manière articulée, l'installation d'appui (200) sur le châssis de roulement (100),
    caractérisée en ce que
    la deuxième extrémité distale (202) de la flèche (220) comporte une installation de roue (230),
    - la flèche (220) de l'installation d'appui (200) se composant d'au moins deux éléments déployables (221, 222) coulissant de manière télesco-piquement l'un par rapport à l'autre selon l'axe longitudinal (A).
  2. Installation de transport (1000) selon la revendication 1,
    caractérisée en ce que
    l'installation de roue (230) est réalisée comme roue d'appui (231), de préférence avec une paire de bandages jumelés.
  3. Installation de transport (1000) selon la revendication 1,
    caractérisée en ce que
    l'installation de roue (230) est sous la forme d'une double roue,
    - deux roues d'appui (231A, 231B), étant installées sur un système de roues porteuses ayant, de préférence, deux bras pendulaires (234A, 234B).
  4. Installation de transport (1000) selon l'une des revendications 1 à 3,
    caractérisée en ce que
    l'installation de roue (230) est directrice.
  5. Installation de transport (1000) selon la revendication 4,
    caractérisée en ce que
    l'installation de roue (230) est guidée avec au moins un vérin de guidage (232), de préférence hydraulique.
  6. Installation de transport (1000) selon l'une des revendications 1 à 5,
    caractérisée en ce que
    l'installation de roue (230) est réglable en hauteur.
  7. Installation de transport (1000) selon l'une des revendications 1 à 6,
    caractérisée en ce que
    au moins deux éléments déployables (221, 222) sont mobiles l'un par rapport à l'autre par au moins un guidage linéaire de charge lourde.
EP19762292.1A 2018-09-06 2019-08-21 Dispositif de transport pour déplacer des charges lourdes Active EP3847324B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50760/2018A AT521566B1 (de) 2018-09-06 2018-09-06 Transporteinrichtung zum Bewegen von Schwerlasten
PCT/AT2019/060263 WO2020047566A1 (fr) 2018-09-06 2019-08-21 Dispositif de transport pour déplacer des charges lourdes

Publications (3)

Publication Number Publication Date
EP3847324A1 EP3847324A1 (fr) 2021-07-14
EP3847324C0 EP3847324C0 (fr) 2024-01-10
EP3847324B1 true EP3847324B1 (fr) 2024-01-10

Family

ID=67840870

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19762292.1A Active EP3847324B1 (fr) 2018-09-06 2019-08-21 Dispositif de transport pour déplacer des charges lourdes

Country Status (5)

Country Link
EP (1) EP3847324B1 (fr)
KR (1) KR20210053328A (fr)
AT (1) AT521566B1 (fr)
SG (1) SG11202102282WA (fr)
WO (1) WO2020047566A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113086124B (zh) * 2021-05-07 2022-08-09 山东金塘电子科技有限公司 一种用于清理船体附着物的水下机器人

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3112009A (en) * 1963-03-01 1963-11-26 John F Langer Adjustable mobile scaffold
FR2129094A5 (fr) * 1971-03-15 1972-10-27 Sogemat
US3752261A (en) * 1971-06-21 1973-08-14 S Bushnell Multi-stage lift
US3785454A (en) * 1971-10-26 1974-01-15 Masonry Systems Inc Motorized scaffold
US4498556A (en) * 1982-09-11 1985-02-12 Access Engineering Ltd. Vertically movable, road towable work platform
WO2009084889A2 (fr) * 2007-12-31 2009-07-09 Min Ha Kim Plate-forme de travail mobile
JP5556819B2 (ja) * 2008-11-20 2014-07-23 パルフィンガー・システムズ・ゲー・エム・ベー・ハー 保守点検装置
AT510919A1 (de) 2010-12-16 2012-07-15 Palfinger Systems Gmbh Instandhaltungsvorrichtung
AT518744B1 (de) 2016-05-17 2018-07-15 Hubert Palfinger Tech Gmbh Schienengebundene Antriebsvorrichtung

Also Published As

Publication number Publication date
EP3847324C0 (fr) 2024-01-10
AT521566B1 (de) 2020-07-15
KR20210053328A (ko) 2021-05-11
WO2020047566A1 (fr) 2020-03-12
EP3847324A1 (fr) 2021-07-14
SG11202102282WA (en) 2021-04-29
AT521566A1 (de) 2020-02-15

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