FR2517660A1 - Mobile gantry having three degrees of freedom - uses hydraulic motors to control the orientation of corner mounted wheels with electrical position detectors and solenoid valve regulators - Google Patents

Abstract

The mobile gantry has a frame, open for all its useful height on each of its four faces, to permit it to straddle a long load either by its width or by its length. The gantry is displaced on four wheels, the orientation of which is controlled to permit the rotation of the gantry in either direction. The wheels are oriented in pairs, with a controller linked between the wheels being used to select which pair are to be used. The wheels are oriented by hydraulic motors under control of central steering wheel. The position of the wheels is detected by electrical contacts and the polarity of the current controls double acting solenoid valves in the hydraulic circuit to the wheels.

Description

Machines handling heavy or bulky loads have
always only a preferential direction of movement on the ground. When the craft
is not mounted on rails, the movement is oriented by 2 direct wheels
see par 4. When the loads handled are long, the
sweeping generated in turn at the front and at the rear is important, which is dangerous for the personnel and for the equipment, and moreover requires a very large dead surface in the handling and storage areas.

The present invention overcomes these disadvantages by combining the following two factors
- subjection of the load by the cross or by the longitu direction
portico dinal.

- possibility of moving the assembly according to three different laws
movement annuities.

 FIG. 1 shows a plan of a storage area, the containers being arranged on the cob "and as close as possible.

 Figure 2 shows a mixed rail and road loading area.

 Two examples of the use of the characteristics of the invention are illustrated with FIGS. 1 and 2.

 1) the gantry 1 overlaps the container 2 longitudinally.

Penetration is only possible in this direction through a small portal. The whole cannot turn "like a truck", the containers being parked too tight.

The assembly advances longitudinally to 3, then transversely to 4 where it will change axis, to continue its trajectory up to the semi-trailer 5 on which it will deposit its container.

 2) the same gantry 1 must deposit on the semi-trailer 8 the content 6 loaded on the wagon 7. The gantry 1 spans both the railroad track 12 and the semi-trailer. Only a large gantry can achieve this.

The gantry's trajectory will be transversely from 9 to 10 then longitudinally from 10 to 11. At this time, the container will be located above the semi-trailer.

 The gantry crane according to the present invention can execute the two maneuvers above because of its possibilities of trajectory along two axes, and that its trajectories can succeed at sharp angles as in 3 FIG. 1 and in FIG. 2.

 The description of an application of the present invention relates to a gantry for handling containers, swap bodies or other long loads. The invention could equally apply to all land handling machines having to evolve along several axes with respect to itself.

 Figure 3 is an overall drawing of the gantry. The upper frame 13 ensures the connection of the four legs 14-15-16-17. The four wheels are driven and steerable. The portal frame is open on its four sides, i.e. between the feet 14 and 16, 15 and 17, 14 and 15, 16 and 17.

Without prejudging the orientation of the wheels, the trajectories are as follows: a) Longitudinal trajectories (fig. 4) @ D to B, D to A, C to B,
C to A, and back.

b) Transverse trajectories (fig. 5) + F to H, F to G, E to H,
E to G, and back.

 The above trajectories present curves whose radii can vary between infinity and a minimum which can be estimated at around 10 meters.

c) Trajectories called "flying saucer" (fig.6), avoid sweeping overhangs, inevitable in the previous cases.

These different types of trajectories require for each of them a different wheel orientation law a) Trajectories according to figure 6
- displacement following "x", the center of rotation is rejected on "y" at
more or less infinity.

- displacement following "y", the center of rotation is rejected on "x" a
more or less infinity.

b) Longitudinal paths (fig. 4 and 7)
- movement along "y" left turns; centers of rotation on "x negative".

. right turns: centers of rotation on "positive x".

. the trajectory A of figure 4 corresponds to the orientation A of the
figure 7.

. the trajectory B of FIG. 4 corresponds to the orientation B of the
figure 7.

 And so on.

c) Transverse paths (fig, 5 and 8) - displacements according to "x":
. right turns: centers of rotation on "negative y",
. left turns: centers of rotation on "positive y",
. the trajectory E of FIG. 5 corresponds to the orientation E of the
figure 8.

the trajectory F of FIG. 5 corresponds to the orientation F of the
figure 8.

 And so on.

Examination of FIGS. 7 and 8 shows that the orientation of the wheels obeys two different laws of movement, depending on whether the gantry moves relative to "x" or to "y",
It is therefore necessary to use a "monitoring processor", comprising
- a program motion shaper for 1, x and for "y".

- the steering of each wheel which will transmit information to these bodies
issued by the motion shaper.

- between the control bodies and those of conformation, sensors
test the effective orientation of the wheels in relation to their ideal position determined by the shaping blade. When the test is negative, the sensor acts on a hydraulic circuit until total coincidence.

 - moreover, the wheels must be mechanically linked together, so that a failure of a control member of a wheel can be recovered "by the other three.

 Figures 9 and 10 show in plan the mode of mechanical transmission of information from the motion shaper, in the direction of the wheels.

 A shaft "A" passing inside the foot 15 connects the wheel 19 to a feeler 28. The pinion 22 is integral with the arm 36 on which the feeler 32 is mounted. 22, 36, and 32 are mounted idly on the shaft A, A chain 23 drives a double pinion 24 mounts idly on the shaft B. The chain 25 and the pinion 26 also contribute to angularly retransmitting to the shaft 27 the movements wheel 19.

 A neighboring kinematics retransmits the angular movements of the wheel 18 to the hollow shaft 28 by means of the pins 40, 41 and of the chain 42.

 Same remark for the wheel 21 whose movement is collected by the hollow shaft 44.

 The movement of the wheel 20 is directly collected by D and 43, the movement shaper being located in the cockpit installed in the foot of the gantry rep. 16 fiq. 3.

Figure 10 shows the wheel orientation system: each shaft
A, B, C, D is integral with a crown 45 coupled to a global screw 46, itself driven by a hydraulic motor 47, The direction of rotation of this motor can be reversed by operating the crossing of the supply and the return.

 The probes 28 ... and the sensor arms-36 ... are arranged so that they move on the same axes A ..., and that the sensors 32 ... are trapped in the end 48 of the feelers (fig, 11).

 The sensors consist of electrical contactors, the polarity of which directs double-acting electro-distributors 49 inserted in a hydraulic circuit.

3 cases can occur
- figure 11b: the wheel occupies the ideal position defined by the con
movement trainer. The sensor closes the excitation circuit of the
distributor: this is the equilibrium position.

 - Figure 11 a: the conformer has decided a correction to the right.

The sensor opens an electrical circuit acting on the distributor
to put the motor in positive direction of rotation "until the return
at steady state 11 b.

 - - figure 11 c: the conformer has decided a correction to the left.

The sensor reverses the polarity with respect to 11 a, the hydrau circuit
lique is crossed and the engine turns "negative direction" until the return
at the equilibrium position 11 b.

Figure 12 shows the hydraulic circuit in service in any position:
- 47 A, B, C, D are the hydraulic motors acting on the ori.
tion of trees A, B, C, D,
- The trees A and D need a correction to the right (position
-11 a).

 - - Shaft B needs correction to the left (position 11 c).

 - The shaft C has a correct position and is not powered (position 11b).

The circuit is set in motion and pressurized by the 5Q pump, coupled
to a heat or electric motor.

 The fluid reservoir is shown at 51.

Figure 13 represents for each tree - in position "x" - the excursion
of the sensor arm 36, and the corresponding angular excursion of the shafts of the
motion shaper (shafts 27, 28 and 43, 44).

For example, the excursion al, a2 of A corresponds to an angular movement
a'1 a'2 of the conformator. the same is true for 8, C, D,
The diagram of these movements is represented fixa, 14, La Réala
tion of the principle is developed fig. 15. Are mentioned in this figure
the piloted shafts and the corresponding pinions, as well as the direction of ro
gable ration;
Each shaft 27, 28 and 43, 44 is integral with a tangent screw crown couple: 27 with 55, 28 with 52, 43 with 53, 44 with 54. The steering control is done by the steering wheel 57,
The screws all rotate at the same speed and their direction of rotation determines the law of orientation of the wheels with respect to "x'l. A control box 56 generates this law as well as that with respect to" y ", and operates the selection.

The analysis of relative movements in position "y follows the same logic as that exposed for" x "
- Figure 16 is the counterpart of Figure 13.

 - Figure 17 is the counterpart of Figure 14.

 - Figure 18 is the counterpart of Figure 15.

In FIG. 18, it can be seen that the direction of rotation of the screws 54 and 55 differs from the direction they had in position "x", thus determining the ioi of wheel orientation by ratio to "y",
FIG. 19 represents the detail of the motion shaper thus read the whole of the control box,
In this figure, we can see the 4 tangent screws
- the screw 53 director of "D".

 - the screw 54 director of "C".

 - the screw 55 director of "A".

 - the guide screw 52 of "B".

By comparing Figures 15 and 18 we see that
- screws 52 and 53 have the same direction of rotation in "x as in" y "(direction
negative for 53 and positive for 52).

the screws 54 and 55 have a opposite direction of rotation between them and
opposite between "x" and "y".

 This is the consequence of their laws of movement, and it suffices to reproduce the directions of rotation to generate the kinematics of the movements.

In the example of a motion shaper, claim of the invention, the procedure is as follows
The control box is constituted by an intermediate train (fig.

20) including
- 1 shaft 58 integral with 2 pinions 59 and 60.

- 1 sleeve - fou on the shaft - including outside grooves
62.

- 1 slider bore with grooved bore 63 and 64 at each end
moth,
- 1 reverse gear 65 mounted idler on 61
- 1 double gear 66 integral with 61.

The sliding clutch clutched by 63 on the pigon 59, gives the double pinion 66 the same direction of rotation as the shaft 58,
The sliding gear clutched by 64 on the pinion of the reverser 65 gives the double pinion 66 a direction of rotation opposite to that of the shaft 58.

1) Movements along "x" (Figures 15 and 19)
53-55 @) dogs 64 engaged in the inverter 65
54+ 52+)
53 to 52: 67 # 59 4 60 # 71 # not left
- - - (-) x (-) = +
53 to 54: 67 + 59 # 65 # 66 # 70 # not right
- - + + (+) x (+) = +
53 to 55: 67 + 59 4 65 4 66 # 69 # not left
- - + + (+) x (-) = -
2) movements according to "y" (Figures 18 and 19)
53-55+) dogs 63 engages in the pinion 59
54-52+)
53 to 52: 67 # 59 # 60 # 71 # not left
: - - - (-) x (-) = +
53 to 54: 67 # 59 # 66 # 70 # not right
: - - - (-) x (+) =
53 to 55: 67 # 59 # 66 - * 69 # not left
- - - - (-) x (-) = +
NB 1- switching the player from "x" to "y" automatically activates the reversal of two of the four traction motors,
2- The conformator and the control box produced according to the present invention does not interrupt the kinematic chain from "A to C". This means that a fault in the control of one wheel is canceled by the function of the other three,
The present description relates to an embodiment. All other similar fashion achievements along our creative paths fall under the protection covered by this patent.

Claims (6)

 1 - Gantry characterized in that it includes a frame open over its entire useful height on each of its four faces to allow it to overlap a long load both by its cross or by its length (fig. 1 rep. 3 and fig. 2 rep. I and 8). 2 - Gantry according to claim n "1 characterized by its movement on four wheels (18,19,20,21), whose orientation is monitored which allows its evolution around two perpendicular axes (fig 4,5,6) . 3 - Gantry according to claim n "2 characterized in that the orientation of the wheels is ensured in pairs (either 20 with 21 and 18 with 19, or 19 with 21 and 18 with 20). A motion monitor 56 is inserted in the wheel connection between them and is used to select the choice of wheel coupling. 4 - Gantry according to claim n "3 characterized in that its movement monitor allows the excursion of the center of rotation either on its longitudinal axis, or on its transverse axis, depending on the selection of wheel connection, retained. 5 - Gantry according to claim 4 characterized in that its motion monitor 56 is controlled directly by the steering wheel 57. The monitor mainly comprises a motion reverser 68, put into action by the clutch of the walkman in 64 or put out of service by the clutch of the latter in 63. This selection makes it possible to choose the place of excursion of the center of rotation. 6 - Gantry crane according to claims 1 and 2, characterized in that the hydraulic energy necessary for the orientation of the wheels is controlled by four sensors 32, 33, 34, 35 transmitting the information to four distributors 47 A, 47 B, 47 E, 47 D. These distributors are boosted by the pump 50 and supply the control members 47. Each wheel has a sensor, a distributor and a control member.