WO2015185232A1

WO2015185232A1 - Load cart provided with two motor-driven running wheels and a controller

Info

Publication number: WO2015185232A1
Application number: PCT/EP2015/055780
Authority: WO
Inventors: Wolfgang Block; Manfred Milbredt; Georg Hein
Original assignee: Tente Gmbh & Co. Kg
Priority date: 2014-06-05
Filing date: 2015-03-19
Publication date: 2015-12-10
Also published as: DE102014107973A1

Abstract

The invention relates to a load cart (1) provided with two motor-driven running wheels (5) and a controller. The controller converts manual operation of a user for setting a travel speed and/or travel direction into an application of voltage or current to an electric motor that drives the running wheel (5). The running wheels (5) can be driven independently of each other. Within a specified range, different travel speeds of the running wheels (5) set by the user according to the manual operation can be converted by the controller into an equal travel speed of both running wheels (5). Furthermore, alternatively or in combination, in the case of manual operation directed only at the travel driving of one running wheel (5), half or less of the voltage or of the current can also be applied to the other running wheel (5) by the controller in such a way that the travel speed corresponds to half or less, preferably 1/3 to 1/100, of the travel speed of the one running wheel (5).

Description

With two motor-driven wheels and a controller

provided freight cart

The invention relates to a provided with two motor-driven wheels and a control cargo carriage.

Are known sliding load carriage for the transport of objects, such as in the form of so-called plate or magazine car. In order to support at least the applied pushing force by the user, it is known to provide such a load carriage with at least one driven wheel. The impeller is part of a role, in particular a fixed castor, wherein moreover such a freight car is also provided with - preferably non-drivable - castors. The drive of the at least one impeller of the goods vehicle is preferably carried out by an electric motor. Such driven by an electric motor wheels, especially as part of a role have already become known in various respects. Reference is made, for example, to WO 2007/093549 A1 (US 2010/0181122 A1) and WO 2012/110283 A1 (US 2013/0299252 A1).

Based on the cited prior art, the invention is concerned with the task of specifying a cargo carriage of the type in question, which is improved in terms of handling.

According to a first teaching of the invention, this object is achieved in the subject matter of claim 1, wherein it is parked on a provided with two motor-driven wheels and a control cargo carriage, wherein the controller is a manual operation of a user for setting a driving speed and / or direction in a voltage or current loading of an impeller driving electric motor translated, the Impellers are driven independently of each other, wherein within a given range of different user set by the manual operation travel speeds of the wheels by the controller in a same driving speed of both wheels can be implemented.

The method of such a freight car is improved by the proposed solution in a useful advantageous manner. The load carriage has at least two motor-driven wheels, in particular electric motor-driven wheels. The wheels can, as also preferred, each be part of a caster, wherein the wheels are individually controlled by a manual operation. For this purpose, for example, be provided on a mounting bracket of the goods wagon an operating device with operating handles. Each driven impeller is preferably associated with an operating handle. By operating only one operating handle, a cornering of the goods vehicle can be performed. Upon actuation of both operating handles in the same direction, a forward or reverse travel of the goods car is made.

An electronic control is provided, which translates the commands via the or the operating handles in a voltage or current application of an impeller driving electric motor.

About the operating handles and a driving speed of the goods wagon can be adjusted, for example, in the design of the actuation handles as rotary actuation handles in response to a rotational angle position of the operating handles starting from a zero position.

The controller is further designed so that when a corresponding actuation of both actuation handles in the same direction is recognized by the controller that should be driven straight forward or straight ahead backwards.

Accordingly, both driven wheels are to be driven at the same rotational speed. number and / or performance. However, it may happen that the two operating handles are slightly differently operated in the same direction and implemented in different speeds of the two individually driven wheels. This can be used for cornering when the difference between the control signals detected by the control of the operating handles or the resulting travel speeds of the two individually driven wheels is outside a predetermined bandwidth. However, it is also quite common that the user does not uniformly act on the two operating handles for triggering a forward or a reverse drive. The detection of a signal strength difference of the two operating handles to each other within a predetermined bandwidth is interpreted by the controller as a command for driving straight ahead. The control causes correspondingly in this case, regardless of the different loading of the operating handles a uniform voltage or current application of the two driven wheels, so that they move at the same speed. The bandwidth can be 10% or less of a maximum vehicle speed, up to 0.01% of the maximum vehicle speed. Thus, for example, at a maximum speed of the goods car of 3 km / h, a signal difference between the two actuation attacks, which would be a driving speed difference between the two driven wheels each other, for example, 0.2 km / h, implemented as a command for driving straight ahead, so that both wheels are driven at the same speed. The disclosure also includes all intermediate values of the stated range, in particular in one-hundredth of a percent increments, for example 10% -0.02% or 9.99% -0.01% or 9.99% -0.02 %, etc., whereby every limit thus formed is disclosed as a singular value of the bandwidth or alone by this. A further possible solution of the problem is given according to a further inventive idea in a freight car, which is provided with two motor-driven wheels and a control, the control being a manual operation of a user for setting a driving speed and / or direction in a voltage or current one of the impeller driving electric motor converts, the impellers are independently driven, wherein in a directed only on the drive of an impeller manual operation by the controller and the other impeller with half or less of the voltage or the current is applied so that the driving speed of half or less, preferably one-third to one-hundredth of the driving speed of the one impeller corresponds. With regard to the aforementioned bandwidth of half or less up to one hundredth, the disclosure also includes all intermediate values of the bandwidth thus specified, in particular in one-hundredth increments, for example, that the travel speed is 0.49 or less is equal to one-hundredth of the travel speed of the other wheel, or 0.5-0.02 or 0.49-0.02, etc. Again, each threshold bandwidth thus formed is singular the bandwidth or standalone thereby disclosed.

A cornering of the goods car is thereby improved. The loading preferably only one operating handle of the operating device to initiate a turn leads using the controller at the same time to a voltage or current application of the other, preferably inside the curve, impeller. With preferably only the actuation of an actuating handle, the outer wheel is preferably connected to the control command of the actuating handle. speaking speed. The relevant electric motor is applied accordingly with current or voltage. The curve-internal impeller or its electric motor is at the same time acted upon in such a way that its travel speed corresponds, for example, to one fifth or one twentieth of the travel speed of the outer impeller.

Also, in this regard when cornering a division of the driving speed in the usual straight ahead on the two wheels done so that, for example, the outside wheel with 80% and the inside wheel is moved with 20% of the usual driving speed.

It is also preferred that the control takes place on the basis of the rotational speed, since this ultimately determines the driving behavior. Due to different resistances and terrain conditions, however, the required power may be different again. Thus, the controller monitors the speed of the wheels, with the same or different setting of the wheels is controlled or regulated with respect to the respective speeds.

To implement the control, a control circuit can be accommodated in an impeller. This is preferably in electrical connection with the operating device. The control circuit acts on the drive of the impeller, moreover, can also influence the drive of the other drivable impeller. Also, a control circuit may be included in each of the wheels.

Preferably, the control circuits of both wheels are then set up so that one works as master control circuit and the other as slave control circuit. The master control circuit of one impeller communicates with the HMI device and evaluates its signals. For example, in a manual operation by the user. The master control circuit transmits corresponding signals to the slave control circuit of the other impeller, for example for the same voltage or current loading of both impeller motors in a straight ahead, or for example, the voltage or current reduced application of the slave-side impeller motor when cornering or similar.

The operating device communicates in a preferred embodiment via a

Bus system with the control circuit, in particular with the master control circuit of the one impeller.

Also, in the case of a manual operation exerting a curve, which affects only one impeller in the driving operation, the same impeller can be acted upon independently of the direction of travel. In a forward drive, according to appropriate manual actuation of an actuation handle, for example, a right turn carried out with appropriate action of the outside wheel, while in a reverse drive, in which the user a basically same curve is intended to drive, in this case, a left turn is controlled. Here, the same impeller is applied as well as in the forward drive.

Also, with respect to cornering during a forward movement of the goods car, one impeller may be (substantially) powered, while in a reverse drive, although the user is intended to travel in basically a similar curve, the other impeller should be significantly powered is. The controller is designed accordingly to evaluate the user-side commands via the HMI device accordingly.

Preferably, a hub motor is provided for driving the impeller. The hub motor obviously needs a power supply, usually over a battery provided on the load carriage is ensured. More preferably, two rollers with driven wheels, such as fixed castors, are provided on such a load carriage. Preferably, if, for example, four rollers are provided in total, there are two front or two rear rollers, based on a conventional direction of travel of the goods wagon, which can be driven.

When four rollers are arranged, the non-driven rollers are preferably so-called castors.

The invention will be further explained below with reference to the accompanying drawings, which, however, are merely exemplary embodiments. 1 shows a schematic perspective view of a freight car with two driven electric rollers and two further non-driven rollers;

Fig. 2 shows the load carriage in plan view during a forward drive;

Fig. 3 is a representation corresponding to Figure 2 when passing through a

Right turn in forward drive;

Fig. 4 the load carriage in plan view, a Rangierfahrt regarding.

With reference to FIG. 1, a load carriage 1 is shown and described, which has a loading area 2 and a handling bracket 3 serving for the method. Below the loading area 2, four rollers are arranged in the embodiment, two of which are non-driven conventional traverse wheels with wheels 4 and two rollers via a hub motor electrically driven wheels 5, 5 'have. A, with an electrically driven impeller 5, 5 'driven roller is preferably designed as a castor. The rollers provided with non-driven wheels 4 may be formed in the embodiment as castors.

As can be seen, the driven wheels 5, 5 'in the usual direction of travel r with respect to the goods vehicle 1 arranged front. So you can pull the freight cart 1.

With regard to the goods vehicle 1, an operating device 6 is further provided, which is disposed encompassing the support bracket 3. The HMI device 6 is annular in cross section. Regarding the longitudinal extent in the direction of the support bracket 3 is assigned to both end sides of the control unit 6 each actuation handle 7 is formed. Each operating handle 7 can be moved around the support bracket 3 on a circular arc which extends in a plane perpendicular to the extension of the support bracket 3 in this area. With each of the operating handles 7, one of the driven wheels 5 can be actuated.

The wheels 5, 5 'of the relevant roles can be controlled independently, so that only one impeller can be driven and the other not.

An electrical connection between a driven impeller 5 and a driven roller and the operating device 6 may, as indicated by the dashed reproduced cable 8, extend with respect to the support bracket 3 within the support bracket 3. Preferably, between the control unit 6 and the rollers 5 and 5 ', a non-illustrated connection housing is provided, which further preferably also receives the battery. In the connection housing, the motors of the wheels 5, 5 'and / or the control circuits provided in the running wheels 5, 5' are wired to the operating device 6, as well as to the power supply.

In a conventional direction of travel r straight ahead forward both actuation handles 7 at least approximately evenly in the same direction - preferably forward - relocated (see Figure 2, arrows a). The displacement path of each actuation handle 7 defines the traveling speed of the driven wheels 5, 5 '.

Within a predetermined, monitored by an electronic control bandwidth and a non-uniform displacement of the operating handles 7 for generating a straight-ahead driving is possible. Thus, the user does not necessarily have to move both operating handles 7 exactly the same distance in the direction of arrow a. Rather, a certain tolerance between the movement paths of the operating handles 7 is accepted. The controller detects the movements of the operating handles 7, taking into account the allowable tolerance as a command for driving straight ahead. Both wheels 5 and 5 'are uniformly voltage or current charged via the control, so that they have the same speeds.

Uneven displacements of the operating handles 7 outside the permitted bandwidth lead to cornering of the goods vehicle 1. Here, an impeller (for example impeller 5) driven faster than the other impeller (for example, impeller 5 ').

A cornering is possible according to the illustration in Figure 3 alone by pressing only one operating handle 7. For example, for a turn to the right (see arrow r 'in FIG. Attempted left operating handle 7 actuated. When cornering forward, the operating handle 7 is displaced forward accordingly (as generally in a forward drive). The control uses the operating command via the actuating handle 7 in a voltage or current application of the outside wheel (here impeller 5). Also, the other impeller 5 ', corresponding to the inside wheel, is energized or energized, but this with a relation to the outside wheel 5 lower value. The lower admission value preferably corresponds to about one third to one tenth of the admission value of the outer wheel 5.

Also, the controller can divide a conventional voltage or current loading of an impeller to be driven when cornering on the outside and inside the curve wheel, such as in a ratio of 80% to 20%, the lower value on the inside wheel (here impeller 5 ') drops.

If in a cornering according to the arrow r 'in a forward movement of the goods vehicle 1 the outside wheel 5 energized or energized, so in a preferred embodiment in a reverse drive using the same operating handle 7, the other impeller 5' applied via the controller, so that As a result, a maneuvering of the freight vehicle 1 under the action of only one operating handle 7 can be achieved in a favorable manner (compare FIG. 4).

To implement the control, a master control circuit is provided in one of the wheels 5 or 5 '. This communicates with the HMI device 6. The communication is preferably via a bus system. The command signals of the operating handles 7, which signals are preferably generated according to the interaction of handle-side magnets and device-side Hall sensors, are evaluated in the master control circuit. This causes the corresponding voltage or current application of the associated drive motor. Via an electrical circuit signals for a slave control circuit of the other roller 5 'or 5 are generated by the master control circuit for the corresponding control of the relevant drive motor. The master control circuit determines in response to the grip signals whether both drive motors of the wheels 5 and 5 'are applied equally or whether the, the slave control circuit-containing impeller is acted upon more or less than the master control circuit-containing impeller.

The above explanations serve to explain the inventions as a whole covered by the application, which independently further develop the state of the art, at least by the following combinations of features, namely:

A load carriage with two motor-driven wheels 5, 5 'and a controller, wherein the controller translates a manual operation of a user for setting a driving speed and / or driving direction into a voltage or current loading of an electric motor driving the wheel 5, 5', wherein the wheels 5, 5 'can be driven independently of each other, wherein within a given bandwidth different user set by the manual operation driving speeds of the wheels 5, 5' by the controller in a same driving speed of both wheels 5, 5 'can be implemented. A cargo cart characterized in that the bandwidth is 10% or less of a maximum traveling speed.

A load carriage with two motor-driven wheels 5, 5 'and a controller 1, wherein the controller translates a manual operation of a user for setting a driving speed and / or driving direction into a voltage or current loading of an electric motor driving the wheel 5, 5', wherein the wheels 5, 5 'are independently drivable, wherein in an only on the drive of an impeller 5, 5' directed manual override by the control and the other impeller 5 ', 5 with half or less of the voltage or the current is acted upon so that the driving speed of half or less, preferably 1/3 to 1/100 of the travel speed of the one impeller 5, 5 'corresponds. A cargo cart, which is characterized in that the controller

Speed of the wheels 5, 5 'monitors and that an equal or different setting of the wheels 5, 5' is controlled or regulated with respect to the respective speeds. A load carriage, which is characterized in that a control circuit is incorporated to implement the control in an impeller 5, 5 '.

A cargo cart, which is characterized in that in each of the wheels 5, 5 ', a control circuit is received.

A cargo cart, characterized in that the control circuits are arranged to operate as one master control circuit and the other as a slave control circuit. A load carriage, which is characterized in that in a cornering purporting manual operation, in the traction drive only one Impeller 5, 5 'affects, regardless of the direction of travel, the same impeller 5, 5' is acted upon.

LIST OF REFERENCE NUMBERS

1 freight car arrow

2 cargo bed travel direction

3 Handling bracket Travel direction

4 impeller travel direction

5 impeller

5 'impeller

6 HMI device

7 operating handle

8 cables

Claims

With two motor-driven wheels (5, 5 ') and a control provided cargo carriage (1), wherein the control of a manual operation of a user for setting a driving speed and / or driving direction in a voltage or current loading of the impeller (5, 5') translated, wherein the wheels (5, 5 ') are independently driven, wherein within a predetermined bandwidth set by the user according to the manual operation driving speeds of the wheels (5, 5') by the controller in a same driving speed of both wheels (5 , 5 ') can be implemented.

A freight cart according to claim 1, characterized in that the bandwidth is 10% or less of a maximum traveling speed.

With two motor-driven wheels (5, 5 ') and a control provided cargo carriage (1), wherein the control of a manual operation of a user for setting a driving speed and / or driving direction in a voltage or current loading of the impeller (5, 5') translated, the impellers (5, 5 ') are independently driven, wherein in a directed only on the drive of an impeller (5, 5') manual operation by the controller and the other impeller (5 ', 5) with the Half or less of the voltage or the current is applied so that the driving speed of half or less, preferably 1/3 to 1/100 of the travel speed of the one impeller (5, 5 ') corresponds.

Load cart according to one of the preceding claims, characterized in that the controller monitors the speed of the wheels (5, 5 ') and that an identical or different setting of the running wheels (5, 5 ') is controlled or regulated with respect to the respective rotational speeds.

A freight wagon according to one of the preceding claims, characterized in that a control circuit is incorporated to implement the control in an impeller (5, 5 ').

A freight wagon according to claim 5, characterized in that in each of the wheels (5, 5 ') a control circuit is received.

A freight cart according to any one of the preceding claims, characterized in that the control circuits are arranged so that one operates as master control circuit and the other as slave control circuit.

A freight wagon according to one of the preceding claims, characterized in that, in the case of a manual operation intended for cornering, which effects only one impeller (5, 5 ') in the traction drive, the same impeller (5, 5') is acted upon independently of the direction of travel.