WO2016199176A1 - Châssis porteur à géométrie sélectivement variable - Google Patents

Châssis porteur à géométrie sélectivement variable Download PDF

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Publication number
WO2016199176A1
WO2016199176A1 PCT/IT2016/000150 IT2016000150W WO2016199176A1 WO 2016199176 A1 WO2016199176 A1 WO 2016199176A1 IT 2016000150 W IT2016000150 W IT 2016000150W WO 2016199176 A1 WO2016199176 A1 WO 2016199176A1
Authority
WO
WIPO (PCT)
Prior art keywords
carriages
undercarriage
frame
undercarriage according
ground
Prior art date
Application number
PCT/IT2016/000150
Other languages
English (en)
Inventor
Luigi Gallignani
Original Assignee
Delta Engineering S.R.L.
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 Delta Engineering S.R.L. filed Critical Delta Engineering S.R.L.
Publication of WO2016199176A1 publication Critical patent/WO2016199176A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/20—Endless-track steering having pivoted bogie carrying track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/10—Bogies; Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope

Definitions

  • This invention relates to the sector of industrial working machinery, movable from place to place on tracks and, in particular relates to an undercarriage with selectively variable geometry for equipping a generic working machine.
  • the size of the supporting base resting on the ground is essential to allow or increase machine operating performance with non-tipping stability and with suitable supporting undercarriage set-ups that allow operation on steep or uneven ground.
  • the minimum width of the machine is a very important requirement when the machine must be transported from one work site to another.
  • the technical purpose of this invention is to overcome such disadvantages.
  • the main aim of this invention is therefore to significantly improve the relationship between the extended position and the retracted position of the undercarriage and at to same time to significantly increase its efficiency in terms of productivity, possibility of configuration for use, as well as to optimise the features of traction, speed and stability on the ground.
  • Figure 1 is a schematic top plan view of a first embodiment of the invention shown in an extended configuration
  • Figure 2 is a top plan view of the invention of Figure 1 shown in a retracted configuration
  • Figure 3 is a view of the invention shown in a configuration designed to allow it to rotate on itself;
  • Figure 4 illustrates two side views of the invention, respectively showing it resting on flat ground and on sloping ground;
  • Figure 5 is a schematic top plan view of a second embodiment of the invention shown in an extended configuration
  • Figure 6 is a top plan view of the invention of Figure 5 shown in a retracted configuration
  • Figure 7 is a view of the invention shown in a configuration designed to allow it to rotate on itself;
  • Figure 8 illustrates two side views of the invention, respectively showing it resting on flat ground and on sloping ground;
  • Figure 9 is a schematic top plan view of a third embodiment of the invention shown in an extended configuration
  • Figure 10 is a top plan view of the invention of Figure 9 shown in a retracted configuration
  • Figure 11 is a view of the invention shown in a configuration designed to allow it to rotate on itself;
  • Figure 12 illustrates two side views of the invention, respectively showing it resting on flat ground and on sloping ground;
  • Figures 13 and 14 illustrate two set-ups of the invention for locomotion along a line oblique or transversal to the set-up of Figure 9;
  • Figure 15 is a top view of the invention of Figure 10, in which two lateral carriages are steered to begin the gauge extension manoeuvre;
  • Figure 16 shows two side views in which the tracked carriages are equipped with supporting rollers arranged in a rocker arm style
  • Figure 17 illustrates an undercarriage configuration in which tracked carriages having variable geometry are present ;
  • Figures 18 and 19 illustrate undercarriage stabilising actuators ;
  • Figure 20 is a partial view in which the undercarriage is provided with its own configuration that can be vertically articulated;
  • Figure 21 is a schematic view of a possible set-up of the invention for facilitating transportation on a loading vehicle or for providing a further operating mode .
  • the numeral 30 denotes in its entirety an undercarriage with selectively variable configuration and set-up, for equipping industrial working machinery.
  • Said working machinery may be, for example: cranes - drilling machines - demolition machines - diggers - dredgers - off-road lifting machines aerial platforms - wheeled machinery which must increase their working performance - waste or scrap machines, etc.
  • a first embodiment of the undercarriage 30 illustrated in Figure 1 essentially comprises: a basic frame 11 having an essentially three-sided plan which comprises a geometric reference centre labelled 0; and at least three carriages 1, 2, 3 equipped with locomotion tracks 41, which are angularly evenly spaced around the geometric centre 0; a set-up in which said carriages 1, 2, 3, 4 in combination with one another support the basic frame 11.
  • the carriages 1, 2, 3 are constrained to the basic frame 11 by means of joints 13, 14, 15 - substantially cylindrical - that are rotatable about essentially vertical axes of rotation.
  • a third carriage, labelled 3 is, in contrast, connected to the basic frame 11 by interposition of an arm 9 having opposite ends that are connected respectively one to a joint 15 of the frame 11 and the other to a correlative joint 13 with a fork 16 constrained directly to the structure of the carriage 3.
  • the three carriages 1, 2, 3 are steering, being able to rotate about a substantially vertical axis of rotation, thanks to the action of related steering actuator means generically labelled 7.
  • Three of these actuator means 7 are supported directly by the tracked carriages 1, 2, 3.
  • Two of said actuator means 7 are supported at the fixed joints 13 and directly fixed to the frame 11.
  • Third actuator means 7 are in contrast supported by a third carriage 3 which is connected - indirectly to the frame 11 - by an interposed arm 9.
  • the steering actuator means 7 are designed to control angular movements of the carriages 1, 2, 3 so as to vary their distance from said reference centre 0 of the frame 11, increasing or reducing it depending on the configuration required for the machine with which said undercarriage 30 is interlocked.
  • the steering actuator means 7 allow rotation of the carriages 1, 2, 3, 4 during their translation, in such a way as to vary the gauge of the undercarriage 30 depending on the requirements of the working machine equipped with the undercarriage 30.
  • the undercarriage 30 may advantageously be configured - by suitable steering of the carriages 1, 2 and 3 in such a way as to angle the tracks 41 of the carriages 1, 2, 3 tangentially to a circular trajectory. That is to say, in a set-up such that it allows the undercarriage 30 to rotate on itself about a substantially vertical axis preferably passing through the reference centre 0 of the frame 11.
  • Figure 4 shows how, using carriages 1, 2, 3 oscillating about a fulcrum provided with a pin 12 having a horizontal axis 12a, the undercarriage 30 can automatically adapt to operate correctly both on flat ground and on ground that is sloping or uneven.
  • Figures 1 to 3 show how it could be equipped with a slewing bearing 5, if the working machine for which it is intended is equipped with a rotary casing supporting the specialised working equipment for the type of working machine.
  • said slewing bearing 5 could be absent, the frame 11 being a stationary supporting surface for said casing.
  • Figure 5 shows an alternative embodiment of the undercarriage 30 which, in particular, has positioned around the basic frame 11 three steering carriages 1, 2, 3, all equipped with steering actuator means 7 directly supported by the carriage 1, 2, 3 and all affected by interposition of as many articulated arms 6 or 17, which connect the carriages 1, 2, 3 to the frame 11 at respective ends articulated at pivot points labelled 13, 14, 15.
  • Figure 7 shows the set-up of the undercarriage 30 which, starting from the configuration of Figure 5, by operation of the steering actuator means 7, allows the carriages 1, 2, 3 to be angled in such a way as to allow the undercarriage 30 to be able to perform complete 360° rotations about a vertical axis, ideally passing through the geometric centre 0 of the frame 11.
  • the coordination in terms of synchronisation of the steering actuator means 7 may be performed by the action of suitable synchronising means - not illustrated in the drawings - controlled for example by the general control system of the movements of the working machine with which the undercarriage 30 is interlocked, as well as the possible installation of checking and control systems for the desired movements which are computerised and managed by suitable software programs.
  • Figure 8 shows - again for this solution - the possibility of the undercarriage 30 operating on ground that may be flat or sloping, by using carriages 1, 2, 3 of the type that can oscillate about a horizontal axis 12a.
  • Figure 9 shows another embodiment of the invention which, in particular, differs in that it comprises four carriages 1, 2, 3, 4 jointed to the basic frame 11, all by means of arms 6 pivoting at their ends 13, 14. Subsequent details and related figures will make it more apparent how, starting from this configuration, the undercarriage 30 can pass to the configuration illustrated in Figure 10 and vice versa. In fact, it is possible to make the dimensions of the undercarriage 30 more compact [Figure 10] along a line transversal to a longitudinal line of theoretical advancing labelled 18 in Figure 9.
  • Figure 13 shows how the undercarriage 30 may be configured by steering all of the carriages 1, 2, 3, 4 the same way, thereby being configurable with a set-up designed to allow the undercarriage 30 to advance along an oblique line identified with the arrow labelled 20.
  • Figure 14 shows how by suitably steering the carriages 1, 2, 3, 4 the undercarriage 30 can also very easily be configured for translating along a line of motion indicated by the arrow 19, that is to say, along a line of motion orthogonal to that of Figure 9, taken by way of example as the initial line of advancing of the undercarriage 30.
  • Figure 15 shows details of the sequence for obtaining the extended gauge: use of the steering actuator means 7 allows - by way of example reference is made to the carriages labelled 1, 3 - angling of carriages 1, 3 in such a way that, once they are operated for translating in the directions indicated by the arrows 8, they angle the arms 6 of the respective side to the extending movement. That operation leads to the configuration of Figure 9, once it has also been performed on the right- hand side, on the carriages labelled 2, 4. It is clear how the inverse manoeuvre, performed starting from the configuration of Figure 9, leads to the obtainment of the retracted configuration of Figure 10. It must be added that, naturally, in every fixed position of steering or articulation of the arms 6, stops and locks for the position reached may be introduced. Such stops and locks may be manually or automatically controlled, with related local or remote control.
  • Figure 16 shows details of the possible configuration of the tracked carriages 1, 2, 3, 4 with supporting rollers 40 arranged in a rocker arm style.
  • the carriages 1, 2, 3, 4 are therefore adaptable in the best way possible to the ruggedness of the ground, to impassable or steep land, revealing the further advantage of an intrinsic greater speed in manoeuvres and transfers.
  • Figure 17 shows how each individual tracked carriage 1, 2, 3, 4 may also benefit from its own variable geometry for configuration of the track 41.
  • comparative observation of the two views in Figure 17 reveals how the track 41 wound in a three-sided loop 25 around three wheels 21, 29, starting from a first, initial configuration, can vary its own geometry to take on the shape of a loop 26 having a lower height above the ground, but a larger base resting on the ground, and vice versa.
  • Figure 18 shows how the undercarriage 30 may advantageously also be equipped with lifting actuators 22, 23 designed to lift off the ground the entire working machine equipped with it.
  • This operation as is better illustrated in Figure 19, makes it possible to limit the height dimensions of the entire structure, allowing removal of the carriages 1, 2, 3, 4, if that is necessary to reduce the weights and dimensions when transporting the machine.
  • Figure 19 is a side view of the invention with the carriages 1, 2, 3, 4 easily removed.
  • Figure 20 shows a further completion made possible by the invention.
  • the arms 6 may be jointed to the frame 11 in such a way that they can also rotate vertically.
  • each arm 6 and each related carriage 1, 2, 3, 4 therefore becomes adjustable in terms of the respective heights above the ground.
  • the undercarriage 30, or the working machine equipped with it is provided with suspensions that allow both better adaptation to differences in height in the ground covered, and the possibility of varying the set-up of the entire machine: which may become necessary for working, maintenance or transportation .
  • Figure 21 shows a method of lifting the entire undercarriage 30 off the ground, according to which such a result may advantageously be achieved without using the actuators 22 and 23 of Figures 18 and 19.
  • a system is used for check and control of the rotation of the carriage 1, 2, 3, 4 about the fulcrums 12, 12a, it is possible to angle each carriage 1, 2, 3, 4 in such a way as to make it rest on only one end of the respective track 41.
  • the invention achieves the aims indicated above and, in particular, allows several further particularly significant advantages compared with the prior art.
  • a first benefit of the invention is that it allows a relationship between the extended and retracted configurations of the undercarriage 30 that is improved by approximately 2.3 to 2.5 times, and more, relative to the solutions of the prior art that are for similar purposes .
  • a second benefit is that of making available a stability base on the ground that is extremely increased and actually operational on 360 degree angles of rotation.
  • that value of the stability base on the ground may become 50 to 70%, and more, greater than the value achievable using the conventional solutions of the prior art.
  • Yet another advantage is the fact that the use of individual oscillating carriages 1, 2, 3, 4 allows real specific pressure on the ground to be improved, that is to say, reduced, the footprint on the ground being equal.
  • Another advantage of the embodiment with at least three carriages 1, 2, 3 disclosed relates to the fact that the tractive power obtainable is always greater than a comparable conventional solution equipped with two carriages .
  • the manoeuvrability of the undercarriage 30, that is to say, of the complete working machine, is optimised due to the joint effect of: an improved relationship between the gauges and pitch of the tracks, increased and optimised contact with the ground, and a higher tractive power achievable.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

L'invention concerne un châssis porteur (30) à géométrie sélectivement variable qui est destiné à équiper une machine de chantier industrielle, et qui comprend une structure de base (11) comprenant un centre de référence géométrique (0); au moins trois chariots à rails (1, 2, 3, 4), positionnés autour dudit centre géométrique (0) et supportant ladite structure de base (11) au niveau de joints (13, 14, 15) pouvant tourner autour d'axes de rotation sensiblement verticaux; et des moyens actionneurs de direction (7) directement supportés par lesdits chariots (1, 2, 3, 4), qui sont prévus pour faire tourner lesdits chariots (1, 2, 3, 4) au cours d'un déplacement en translation de façon à faire varier le gabarit du châssis porteur (30).
PCT/IT2016/000150 2015-06-10 2016-06-06 Châssis porteur à géométrie sélectivement variable WO2016199176A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITUB20151285 2015-06-10
ITUB2015A001285 2015-06-10

Publications (1)

Publication Number Publication Date
WO2016199176A1 true WO2016199176A1 (fr) 2016-12-15

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
WO (1) WO2016199176A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3243959A1 (fr) * 2016-05-12 2017-11-15 Wirtgen GmbH Procédé de déplacement latéral s'écartant du sens de la marche d'une machine de travail du sol et machine de travail du sol conçue pour exécuter ledit procédé
CN107585219A (zh) * 2017-10-13 2018-01-16 北京中车重工机械有限公司 一种履带底盘
EP3560795A1 (fr) * 2018-04-26 2019-10-30 Gerotto Federico S.r.l. Dispositif autopropulsé pour insertion et déplacement d'équipements spécifiques à l'intérieur d'environnements confinés et sur sols pollués
WO2020020885A1 (fr) 2018-07-25 2020-01-30 Bauhaus-Universität Weimar Appareil de travail automoteur
RU2744872C1 (ru) * 2020-09-10 2021-03-16 Общество с ограниченной ответственностью «МИРРИКО» Транспортное средство на гусеничном ходу для движения в резервуарах с нефтепродуктами
NL2024288B1 (en) * 2019-11-22 2021-08-23 Baars Gerrit A mobile apparatus for lifting an object
FR3126958A1 (fr) * 2021-09-16 2023-03-17 Horus Marie Siddharta 2030 Véhicule terrestre compact à haute mobilité

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29924566U1 (de) * 1999-03-23 2004-01-15 Bitelli S.P.A. Arbeitsfahrzeug für Bodenbearbeitung mit einziehbaren und lenkbaren Hinterrädern
EP1553227A1 (fr) * 2003-11-24 2005-07-13 CMI Belgium, naamloze vennootschap Dispositif de bétonnage
US7357595B1 (en) * 2004-10-12 2008-04-15 Road Processing Resources, Inc. Pavement removal machine
JP2010235020A (ja) * 2009-03-31 2010-10-21 Hitachi Constr Mach Co Ltd 作業機械
US20130000996A1 (en) * 2011-06-30 2013-01-03 Caterpillar Inc. Mobile machine with a support system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29924566U1 (de) * 1999-03-23 2004-01-15 Bitelli S.P.A. Arbeitsfahrzeug für Bodenbearbeitung mit einziehbaren und lenkbaren Hinterrädern
EP1553227A1 (fr) * 2003-11-24 2005-07-13 CMI Belgium, naamloze vennootschap Dispositif de bétonnage
US7357595B1 (en) * 2004-10-12 2008-04-15 Road Processing Resources, Inc. Pavement removal machine
JP2010235020A (ja) * 2009-03-31 2010-10-21 Hitachi Constr Mach Co Ltd 作業機械
US20130000996A1 (en) * 2011-06-30 2013-01-03 Caterpillar Inc. Mobile machine with a support system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3243959A1 (fr) * 2016-05-12 2017-11-15 Wirtgen GmbH Procédé de déplacement latéral s'écartant du sens de la marche d'une machine de travail du sol et machine de travail du sol conçue pour exécuter ledit procédé
US10421489B2 (en) 2016-05-12 2019-09-24 Wirtgen Gmbh Method for running-direction-discrepant sideways movement of an earth working machine, and earth working machine configured to execute said method
CN107585219A (zh) * 2017-10-13 2018-01-16 北京中车重工机械有限公司 一种履带底盘
EP3560795A1 (fr) * 2018-04-26 2019-10-30 Gerotto Federico S.r.l. Dispositif autopropulsé pour insertion et déplacement d'équipements spécifiques à l'intérieur d'environnements confinés et sur sols pollués
WO2020020885A1 (fr) 2018-07-25 2020-01-30 Bauhaus-Universität Weimar Appareil de travail automoteur
DE102018117935A1 (de) * 2018-07-25 2020-01-30 Bauhaus-Universität Weimar Autonomes Trägerfahrzeug
NL2024288B1 (en) * 2019-11-22 2021-08-23 Baars Gerrit A mobile apparatus for lifting an object
RU2744872C1 (ru) * 2020-09-10 2021-03-16 Общество с ограниченной ответственностью «МИРРИКО» Транспортное средство на гусеничном ходу для движения в резервуарах с нефтепродуктами
FR3126958A1 (fr) * 2021-09-16 2023-03-17 Horus Marie Siddharta 2030 Véhicule terrestre compact à haute mobilité

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