WO2018052369A1 - Dispositif et procédé de déplacement d'une charge - Google Patents

Dispositif et procédé de déplacement d'une charge Download PDF

Info

Publication number
WO2018052369A1
WO2018052369A1 PCT/SG2016/050456 SG2016050456W WO2018052369A1 WO 2018052369 A1 WO2018052369 A1 WO 2018052369A1 SG 2016050456 W SG2016050456 W SG 2016050456W WO 2018052369 A1 WO2018052369 A1 WO 2018052369A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
wheel
engagement surface
engaging
frame
Prior art date
Application number
PCT/SG2016/050456
Other languages
English (en)
Inventor
Han Lin Hsi
Original Assignee
Singapore Technologies Aerospace Ltd
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 Singapore Technologies Aerospace Ltd filed Critical Singapore Technologies Aerospace Ltd
Priority to PCT/SG2016/050456 priority Critical patent/WO2018052369A1/fr
Publication of WO2018052369A1 publication Critical patent/WO2018052369A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B1/00—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor
    • B62B1/02—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor in which the wheel axis is disposed between the load and the handles
    • B62B1/06—Hand carts having only one axis carrying one or more transport wheels; Equipment therefor in which the wheel axis is disposed between the load and the handles involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0079—Towing by connecting to another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0083—Wheeled supports connected to the transported object
    • B62B5/0089—Lifting lever on wheels or rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/08—Children's seats ; Seats or supports for other persons
    • B62B5/087—Platforms to stand upon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B62B5/0053—Arrangements of batteries

Definitions

  • Embodiments relate generally to a device and method for moving a load.
  • CLS cargo loading system
  • example embodiments seek to provide a device and method for moving a load that addresses at least some of the issues identified above.
  • a device for moving a load may include a frame, at least one wheel rotatably mounted to the frame, an actuator module mounted to the frame, a push member coupled to the frame and an anchor member coupled to the frame.
  • the actuator module may be configured to drive the at least one wheel.
  • the push member may include a first engagement surface for engaging the load.
  • the anchor member may include a second engagement surface for engaging the load. The first engagement surface and the second engagement surface may be configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • a method of moving a load may include engaging the load with a push member of a device wherein the push member is coupled to a frame of the device, engaging the load with an anchor member of the device wherein the anchor member is coupled to the frame of the device, and driving at least one wheel of the device using an actuator module of the device.
  • the push member may include a first engagement surface.
  • the anchor member may include a second engagement surface. The first engagement surface and the second engagement surface may be configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • a method of manufacturing a device for moving a load may include providing a frame, providing at least one wheel rotatably mounted to the frame, providing an actuator module mounted to the frame, providing a push member coupled to the frame, and providing an anchor member coupled to the frame.
  • the actuator module may be configured to drive the at least one wheel.
  • the push member may include a first engagement surface for engaging the load.
  • the anchor member may include a second engagement surface for engaging the load. The first engagement surface and the second engagement surface may be configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • FIGs. 1A, IB and 1C show a front perspective view, a side perspective view, and a top perspective view of a device for moving a load according to various embodiments;
  • FIG. 2 shows a side view of the device of FIGs. 1A, IB, and 1C pushing a load along an unpowered rail according to various embodiments;
  • FIG. 3 shows a force diagram of the device of FIG. 1A and IB pushing the load according to various embodiments
  • FIG. 4 shows an illustration of a pulling force acting on a handle of a lever arm of the device of FIGs. 1A, IB and 1C according to various embodiments;
  • FIG. 5 shows a device for moving a load according to various embodiments
  • FIGs. 6A and 6B show a device for moving a load according to various embodiments.
  • FIGs. 7A and 7B show a mover for moving a load according to various embodiments.
  • the device for moving a load may fill the gap between a powered and a manual cargo loading system (CLS) as described earlier.
  • CLS cargo loading system
  • the device may be able to assist/aid the loaders in safely loading and unloading the unit load devices (ULDs) even when the cargo deck of the freighter has an inclined angle.
  • An operator may easily control and follow the device as the device pushes the ULD along.
  • the device for moving a load may be configured to work with the unpowered version to replace the human in the task of pushing the cargo (ULD).
  • ULD cargo
  • This may allow aircraft with the unpowered version of the rail system to reduce the need for a lot of manpower during loading and unloading the aircraft.
  • a 3 ton ULD may typically require 3-4 people to move, and the weight of a fully loaded ULD may reach 6 tons. Therefore for a large freighter aircraft, up to 10 people may be required to efficiently perform loading and unloading.
  • the device for moving a load may remove the need for strength as a prerequisite in the movers, anyone with the knowledge to operate the device may perform the moving tasks.
  • the operator may control the device at a distance by either a wired or wireless control panel. This form of control may distance the operators from the dangers associated with working next to large moving loads.
  • the device for moving a load may be small and light enough to be hand carried up and down the aircraft by the aerobridge or access staircases.
  • the device may also be self powered to free itself from any limitations in power source.
  • the device preferably addresses a relevant aspect of the aircraft cargo deck. That is the limited floor loading of the aircraft cargo deck.
  • the aircraft cargo deck is typically configured such that only the rails, on which the ULDs rest on, are mounted on strengthened structures of the aircraft fuselage, and anything in-between these rails are thin floor boards that are configured to take the weight of typical human traffic and the baggage that they carry on them.
  • the device has incorporated load-limiting sensors to ensure that no loads larger than what the floor of the aircraft cargo deck can bare may be exerted by the wheels of the device on the floor. These sensors may detect the reaction force at the wheels and limit the power for driving the wheels when the force reaches a preset value.
  • the device for moving a load may be configured to replace humans in the moving of heavy ULDs onboard a freighter aircraft, and may have the following properties in order to serve that purpose: small footprint about the size of a standing person; light enough to be man-carried on and off the aircraft; self powered to be independent on any external power source; capable of limiting its own down force onto the floor during operation; and sufficient pushing power to replace at least three persons while not exceeding the floor loading.
  • FIGs. 1A, IB and 1C show a front perspective view, a side perspective view, and a top perspective view of a device 100 for moving a load according to various embodiments.
  • the device 100 for moving a load may include a frame 102.
  • the frame 102 may be a structure or a chassis made up of panels, plates, slabs, bars, beams, rods, poles etc.
  • the device 100 may further include at least one wheel 110 rotatably mounted to the frame 102.
  • the at least one wheel 110 may include a tyre 112 on the at least one wheel 110.
  • the tyre 112 may be made of sticky rubber compound.
  • the tyre 112 may be a soft and wide tyre.
  • the device 100 may include two wheels 110 rotatably mounted to the frame 102.
  • the two wheels 110 may be connected by an axle (not shown) such that they may rotate in a synchronized manner.
  • the two wheels 110 may not be connected by an axle, and may be independently rotatable with respect to each other.
  • the device 100 may include an actuator module 120 mounted to the frame 102.
  • the actuator module 120 may be configured to drive the at least one wheel 110.
  • the actuator module 120 may be configured to drive the axle such that the two or more wheels may rotate in a synchronized manner.
  • the actuator module 120 may be configured to drive one of the two or more wheels.
  • the actuator module 120 may be configured to directly drive the only one wheel.
  • the actuator module 120 may include a motor 122 and a gearbox 124 as shown in FIGs. 1A, IB and 1C.
  • the motor 122 may be a DC motor, which may be controlled by a DC motor controller.
  • the gearbox 124 may be configured to transmit a rotation from the motor 122 to the at least one wheel 110.
  • the gearbox 124 may be configured to transmit a rotation from the motor 122 to the axle such that the two or more wheels may be driven in a synchronized manner.
  • the gearbox 124 may be configured to transmit a rotation from the motor 122 to one of the two or more wheels such that only one of the two or more wheels may be driven. Furthermore, when the device 100 include only one wheel, the gearbox 124 may be configured to transmit a rotation from the motor 122 to the only one wheel. [0025] According to various embodiments, the gearbox 124 may be configured to provide gear reduction to convert a high rotational speed of the motor 122 into a large torque for driving the at least one wheel 110.
  • the device 100 may include a power module 130.
  • the power module 130 may be in the form of a battery 132 as shown in FIGs. 1A and IB.
  • the battery 132 may be a high output and light weight battery, such as lithium polymer battery or lithium-ion polymer battery (Li-Po) or its equivalent.
  • the frame 102, the actuator module 120 and the power module 130 may be arranged in a stacked arrangement.
  • the actuator module 120 may be arranged on the frame 102 and the power module 130 may be arranged above the actuator module 120.
  • the device 100 may include a push member 140 coupled to the frame 102.
  • the push member 140 may be configured to contact a side of the load to be moved such that the push member 140 may apply a force on the side of the load for pushing the load.
  • the push member 140 may include a first engagement surface (or a push engagement surface) 144 for engaging the load.
  • the first engagement surface 144 may be configured to engage flatly against the side (or first side) of the load so as to apply a distributed force to the side of the load for moving the load.
  • the first engagement surface 144 of the push member 140 may include resilient materials to cushion the contact between the push member 140 and the side of the load.
  • the push member 140 may be in the form of a rectangular push pad 142.
  • the push member 140 may be detachably coupled to the frame 102.
  • the frame 102 may include a base member 104.
  • the base member 104 may include a base surface 106 on which the actuator module 120 may be mounted.
  • the device 100 may be oriented such that the base surface 106 is substantially parallel to a ground.
  • the push member 140 may be configured such that the first engagement surface 144 of the push member 140 may be perpendicular to the base surface 106 of the base member 104.
  • the device 100 may include a connecting member 150 configured to couple the push member 140 to the base member 104.
  • the connecting member 150 may include two sections 152, 154 arranged at an angle. An end of the connecting members 150 may be connected to the base member 104. Another end of the connecting member 150 may be connected to the push member 140.
  • the device 100 may further include an anchor member 160 coupled to the frame 102, wherein the anchor member 160 may be a separate component distinct and spaced apart from the push member 140.
  • the anchor member 160 may be spaced vertically apart from the push member 140.
  • the anchor member 160 may be configured to contact a bottom side of the load to be moved.
  • the anchor member 160 may include a second engagement surface (or an anchor engagement surface) 164 configured to engage the load.
  • the anchor member 160 may be configured to engage flatly against the bottom side (or second side) of the load so as to apply a distributed force to the bottom side of the load. As shown in FIGs.
  • the anchor member 160 may be an anchor fork or anchor hook 162 with a "L" shaped cross-sectional profile. Accordingly, the anchor member 160 may include a horizontal section (or first section) 166 and a vertical section (or second section) 168. The vertical section 168 may be adjoining the horizontal section 166, and the vertical section 168 may be substantially perpendicular to the horizontal section. The horizontal section 166 may include the second engagement surface 164 for contacting the bottom side of the load.
  • the device 100 may include an annex member 170 for connecting the anchor member 160 to a lever arm 182. The anchor member 160, the annex member 170 and the lever arm 182 may be connected so as to form a linkage system 180.
  • the linkage system 180 may be pivotably coupled to the connecting member 150. Accordingly, the vertical section 168 of the anchor member 160 may be attached to the annex member 170, and the annex member 170 may be attached to the lever arm 182. The annex member 170 may be pivotably coupled to the connecting member 150. In this configuration, the anchor member 160 may be pivoted such that when the second engagement surface 164 of the horizontal section 166 of the anchor member 160 is parallel to the base surface 106 of the base member 104 of the frame 102, the second engagement surface 164 of the horizontal section 166 of the anchor member 160 is perpendicular to the push surface 144 of the push member 140.
  • the first engagement surface 144 of the push member 140 and the second engagement surface 164 of the anchor member 160 may be configured to be substantially perpendicular to each other when the device 100 is in a load engaging state. Further, in the load engaging state, the first engagement surface 144 may engage flatly against the first side of the load and the second engagement surface 164 may engage flatly against the second side of the load. In addition, the first engagement surface 144 and the second engagement surface 164 may be configured to be separated for engaging the load at different structural parts of the load in the load engaging state.
  • the first engagement surface 144 of the push member 140 may be vertically spaced apart from the second engagement surface 164 of the anchor member 160 such that the first engagement surface 144 and the second engagement surface 164 may be engaged with different structural parts of the load.
  • the first side of the load on which the first engagement surface 144 engages and the second side of the load on which the second engagement surface 164 engages may be different structural parts of the load.
  • the first side of the load may be a lateral side of the load and the second side of the load may be a bottom side of the load.
  • the anchor member 160 may be configured to maintain a gap between the load and the vertical section 168 such that only the first engagement surface 144 is in contact with the first side of the load for pushing the load, and the vertical section 168 of the anchor member 160 may not apply any force on the load.
  • FIG. 2 shows a side view of the device 100 pushing a load 101 along an unpowered rail 103 according to various embodiments.
  • arrow 105 illustrates a direction of movement when the device 100 is pushing the load 101.
  • the push member 140 of the device 100 may be arranged to be above the base member 104 of the frame 102, and the anchor member 160 may be arranged to be below the base member 104 of the frame 102. Further, the push member 140 and the base member 104 may be arranged to be ahead of a front edge of the base member 104 of the frame 102 in a direction of movement 105 for pushing the load.
  • the push surface 144 of the push member 140 may be arranged to be ahead of the vertical section 168 of the anchor member 160 in the direction of movement 105 for pushing the load, while the horizontal section 166 of the anchor member 160 may extend further ahead of the push surface 144 of the push member 140 in the direction of movement 105.
  • the device 100 may further include a linkage system 180.
  • the linkage system 180 may include a lever arm 182 and a handle 184.
  • An end of the lever arm 182 may be coupled to the frame 102.
  • the lever arm 182 may be coupled to the base member 104 of the frame 102 via the annex member 170.
  • the handle 184 may be coupled to another end of the lever arm 182.
  • the lever arm 182 may be arranged such that the lever arm 182 is extending upwards from a forward edge (in the direction of movement 105 for pushing the load) of the base surface 106 of the base member 104 of the frame 102.
  • FIG. 3 shows a force diagram of the device 100 pushing the load 101 according to various embodiments.
  • a front anchor member 160 near the bottom of the device 100 may engage the heavy load 101 at the bottom, thus creating a non-movable anchor point 192 which may pivot the wheel 110 downwards into the ground.
  • the frame 102 of the device 100 may rotate in the opposite direction, increasing the lift force 191 at the anchoring point 192.
  • the force 191 may be transferred to the wheels 110 as a down force (or floor loading) 195 by a moment at the anchor point 192, increasing the friction and allowing the torque 197 in the wheels 110 to move the entire device 100 forward, thus achieving the objective of moving the load 101 horizontally along the rails 103 on which it is resting.
  • This setup may allow a very light device 100 to generate enough friction to move a huge load horizontally.
  • all the components may be designed in a vertical stack.
  • the gearbox 124 may be right above the wheels 110, while the motor 122 may be above the gearbox 124.
  • the battery 132 may be mounted yet higher above the motor 122. This vertical stacking uses the weight of every component to generate friction at the wheels 110, increasing traction, and thus the push force 193.
  • the device 100 may be controlled by a typical remote controller (not shown), either tethered or wireless.
  • the controller may allow the operator to move, brake, accelerate and perform other functions like presetting the permitted floor loading or speed.
  • Relevant sensors (not shown) on the device may provide the telemetry data required.
  • the lever arm 182 may be provided for situations where the floor is especially slippery.
  • FIG. 4 shows an illustration of a pulling force 498 acting on the handle 184 of the lever arm 182 of the linkage system 180 of the device 100 according to various embodiments. As shown, by pulling the handle 184 of the lever arm 182, an additional down force 495 may be produced. The lever arm 182 may provide additional leverage by utilizing the crowbar effect. As shown, the lever arm 182 may be pivotable relative to the connecting member 150 via a pivot joint 151. Accordingly, the lever arm 182 may be pivoted about the pivot joint 151 by pulling the handle 184 to tilt the lever arm 182 away from the load 101.
  • the point of contact between the anchor member 160 and the load 101 may not be moved.
  • a force 499 may be transmitted through the pivot joint 151 and the connecting member 150 so as to result in the additional down force 495 acting on the ground through the at least one wheel 110.
  • the additional down force 495 may further deform the tyre 112 such that a contact between the tyre 112 and the ground may be increased.
  • the pivot joint 151 may allow the push member/pad 140 to maintain good contact with the load 101 when the lever arm 182 of the device 100 tilts backwards due to the pulling force 498 as the device 100 is being moved forward
  • the device 100 may be made from common materials and off-the-shelf parts where possible.
  • the components of the device 100 may be made from honeycomb (for example, the base member), aluminium (for example, the push pad, the anchor hook and other machined parts) and steel (for example, the gears, the wheel shaft).
  • the source of power may be a lithium ion polymer (Li-PO) battery or equivalent type of light weight/high output battery.
  • the motor may be a DC type controlled by a motor controller.
  • the weight of the device 100 may not be heavier than 50kg such that the device 100 may be man-portable, while the ULD can weigh up to 6-8 tonnes.
  • the device may not involve lifting the load (vehicle) being moved while pushing the load forward.
  • this reduces the energy available from the motor to push the load forward
  • the device 100 may not lift the load 101 in anyway, but rather the device 100 may use the weight of the load 101 as an anchor to transfer all the energy of the machine to a horizontal pushing force.
  • This configuration may allow an optimized relationship between the wheel contact patch of the at least one wheel 110, the load contact points of the push member 140 and the anchor member 160, and the centre of gravity (C.G) of the device 100 to provide the largest pushing force with the lowest floor loading.
  • C.G centre of gravity
  • the device 100 may not push the load at the same point (or same structural part of the load) where the device 100 anchors to the load. If the device 100 were to push and anchor to the load at the same point, it may cause a very high load to be applied at a single (or two) point, and both the lift force and the push force at the same point may create a possible twisting load at that point which might damage the load item.
  • the device 100 may separate an anchor point and a push point between the device 100 and the load 101 during operation.
  • the anchor point 192 may be positioned at the stiffest part of the structure (below) while the push point 194 may be selected to apply the horizontal push force on a vertical surface (sidewall) for maximum efficiency.
  • a large soft pad such as a pad made of resilient material, may be used at the push point 194 to distribute the push force. This may provide better push stability and also spreads the load over a larger surface to minimize the possibility of damage to the load 101.
  • the device 100 may include the handle 184 within the footprint of the device 100. This configuration may be advantageous over a configuration in which an operator's handle is outside the footprint of the device, which may make the device long and unwieldy and may not be suitable to be used in a confine space like the cargo deck of an aircraft
  • the device 100 may have all components arranged in a vertical stack within a footprint of the device 100, which may be advantageous.
  • the entire weight of the device 100 may be over the wheels 110, thus preferably maximizing friction at the wheels to prevent slippage on wet cargo decks.
  • the small foot print with no parts protruding out may also allow ease of manoeuvre in the crowded cargo deck.
  • the device 100 may also have one or more of the following advantages.
  • the tyre 112 of the at least one wheel 110 may be very soft and wide tyres which may provide maximum grip and also allow the device 100 to ride over the many rails and other protrusions found on the cargo deck floor.
  • the gearbox 124 of the actuator module 120 may be a custom designed vertical reduction gearbox to convert all the speed of the motor 122 to torque.
  • the reduction gear train of the custom designed vertical reduction gearbox may allow sufficient ground clearance between the final drive gear (small compared to the wheel diameter) and the floor. This is in contrast to using a single reduction gear whereby the reduction gear would have a size as large as the size of the at least one wheel 110.
  • the linkage system 180 may be almost vertical and may sit within the footprint of the device 100.
  • the lever arm 182 of the linkage system 180 may convert a horizontal pull-force at the handle 184 to a down force acting on the ground, to increase the friction at the at least one wheel 110 when necessary.
  • a small battery powered, motor driven device 100 that is configured to push heavy loads on the cargo deck of an aircraft.
  • the device 100 may have a small foot print, about the size of a standing human being, with the extremities of the machine extending not far from this foot print.
  • the device 100 may also have a reduction gearbox having a reduction gear train to convert the speed of a small motor to a very large torque sufficient to push heavy loads.
  • the gear train may be housed in a custom designed vertical gearbox to stay within the foot print of the device 100.
  • the device 100 may have a separate anchor point 192 and a push point 194.
  • the anchor point 192 may be produced by the anchor member 160 of the device 100 engaging the bottom of the ULD (load) where the ULD pallet is the strongest.
  • the push point may be situated at the side of the ULD where the sidewall is thinner, and thus the push load may be distributed by a push member 140 in the form of push pad 142 where the device 100 engages the ULD.
  • the device 100 may be actuated by an electric motor 122 powered by a battery 132 through a controller (not shown) incorporating floor-loading sensors (not shown). Accordingly, the device 100 may be electrically powered and running on a DC motor. Force sensors may be incorporated to read continuously the vertical load at the at least one wheel 110. Once these loads reach a present value, the power to the motor 122 may be limited to prevent any further increase in the floor loading.
  • the device 100 may be configured to make use of the weight of the ULD (load) 101 to create a vertically unmovable anchor point 192 to transfer the torque at the driving wheels 110 into a pushing force at the push point 194.
  • the best efficiency may be achieved when the anchor point 192 does not move vertically, and there is no slippage at the wheels 110.
  • the tyres 112 used on the device 100 may be wide, soft and made from a sticky rubber compound.
  • the huge weight of the ULD (load) 101 being moved and the small size of the motor 122 may ensure that no vertical movement may be experienced at the anchor point 192.
  • the device 100 may be controlled by a form of remote controller, either tethered or wireless. If the wheels 110 begin to slip due to wet floors or other reasons, the operator may manually pull on the leverage handle 184 of the linkage system 180 to increase the friction at the wheels 110 to gain traction. [0054] According to various embodiments, instead of wheels 110 with large width tyres 112, continuous tracks may be used to further increase traction and reduce ground pressure.
  • FIG. 5 shows a device 500 for moving a load according to various embodiments.
  • the device 500 may include continuous tracks 512. As shown, the device 500 may include a primary wheel 510 drivable by the actuator module 120.
  • the gearbox 124 of the actuator module 120 may be configured to transmit a rotation from the motor 122 to the primary wheel 510.
  • the device 500 may further include secondary wheels 511, 513.
  • the continuous tracks 512 may be wrapped around the primary wheel 510 and the secondary wheels 511, 513 such that driving the primary wheel 510 may move the continuous tracks 512 to propel the device 500.
  • a fold-away platform may be incorporated at the back of a device for moving a load for the operator to stand on, both to remove the need for the operator to walk with the device and also to allow an increase in the down force acting on the ground without requiring the operator to apply physical force to pull on the handle 184 or an increase in the weight of the device.
  • FIGs. 6A and 6B show a device 600 for moving a load according to various embodiments.
  • the device 600 may include a fold-away platform 608.
  • the device 600 may include an extension piece 607 coupled to the base member 104 of the frame 102.
  • the extension piece 607 may extend vertically downwards from the horizontal base member 104.
  • the fold-away platform 608 may be pivotably coupled to the extension piece 607 via a pivot joint 609.
  • FIG. 6A shows a right side view of the device 600 with the fold-away platform 608 in a deployed or extended position, on which the operator may stand.
  • FIG. 6B shows a left side view of the device 600 with the fold-away platform 608 in a stowed or retracted position.
  • the fold-away platform 608 may include auxiliary wheel 611 such that in the deployed or extended position, the auxiliary wheel 611 may be in contact with the ground.
  • the anchor member 160 of the device 100 may be made changeable to adapt it to a variety of other uses. For example, attaching a small platform or cart with wheels may convert the device 100 into a mover of heavy office cabinets or other furniture.
  • FIGs. 7 A and 7B show a mover 700 for moving a load according to various embodiments.
  • the mover 700 may include a cart 701 attached to a device 703.
  • the cart 701 may be coupled to the device 703 and may be pushed by the device 703.
  • the anchor member of the device 703 may be in the form of a link component 761 having a swivel and a hinge arrangement.
  • the link component 761 having the swivel and the hinge arrangement may be coupled to the device 703 such that it may allow relative movement of the link component 761 with respect to the device 703 about two axes, for example two orthogonal rotational axes. Accordingly, with the cart 701 coupled to the device 703 via the link component 761, the cart 701 may, for example, swivel about a vertical axis and may pivot about a horizontal axis. In this manner, the cart 701 may pivot about the horizontal axis such that a balance between the weight of the cart 701 and the lift from the device 703 may be reached.
  • the device 703 may include a safety limit mechanism 705 in the form of an angled tool to lock the cart 701 and the device 703 at a safe angle when lift from the device 703 exceeds the weight of the cart 701 by a predetermined threshold.
  • a safety limit mechanism 705 in the form of an angled tool to lock the cart 701 and the device 703 at a safe angle when lift from the device 703 exceeds the weight of the cart 701 by a predetermined threshold.
  • the operator may be able to turn the cart 701 when pushing the cart 701 using the device 703.
  • the cart 701 may be attached to the link component 761 via attachment means such as bolt and nuts, or snap-fit attachments.
  • the link component 761 may be integrally formed with the cart 701.
  • the cart 701 may be customized for the device 703 and the coupling component 761 may be configured to effectively provide a pushing force to the cart 701.
  • the device may be adapted to operate in other roles by changing the configuration of the anchor point 192 and the push point 194.
  • the device 100 may be configured into a pulling configuration rather than pushing.
  • Features for the pulling configuration may be incorporated into the device 100.
  • the device 100 may have a separate anchor point 192 and push point 194 allowing very high friction to be generated by a very light machine, while preventing this high anchoring load to damaged the softer parts of the load being moved as the optimum location of these two points are usually different.
  • the vertical architecture of the device 100 may also result in a very small foot print, allowing the device 100 to be used in very confined spaces.
  • the novel vertical layout of the device 100 takes advantage of all the weight of the parts, usually a minus point, to contribute to the generation of friction at the wheels, allowing a light machine to produce a large push force.
  • a device for moving a load may include a frame; at least one wheel rotatably mounted to the frame; an actuator module mounted to the frame and configured to drive the at least one wheel; a push member coupled to the frame, the push member comprising a first engagement surface for engaging the load; and an anchor member coupled to the frame, the anchor member comprising a second engagement surface for engaging the load, wherein the first engagement surface and the second engagement surface are configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • the first engagement surface of the push member may be vertically spaced apart from the second engagement surface of the anchor member.
  • the anchor member may include a first section, and a second section adjoining the first section, the second section being substantially perpendicular to the first section, and wherein the first section may include the second engagement surface, and wherein the anchor member may be configured to maintain a gap between the load and the second section in the load engaging state.
  • the first engagement surface and the second engagement surface may be configured to engage flatly against the load.
  • the first engagement surface may be configured to engage against a side of the load and the second surface may be configured to engage against a bottom of the load.
  • the anchor member may include a link component having a swivel and a hinge coupling another load.
  • the another load may include a cart.
  • the device may include the cart.
  • the device may include a sensor module configured to detect a normal force exerted by the at least one wheel on the ground.
  • the actuator module may be configured to control a turning force for driving the at least one wheel based on the normal force detected by the sensor module.
  • the actuator module may be configured to limit the turning force for driving the at least one wheel if the normal force exerted by the at least one wheel on the ground reaches a predetermined threshold.
  • the actuator module may be configured to reduce the turning force for driving the at least one wheel if the normal force exerted by the at least one wheel on the ground exceeds a predetermined threshold.
  • the first engagement surface of the push member may include resilient materials.
  • the anchor member may be pivotably coupled to the frame.
  • the actuator module may include a motor; and a gearbox configured to transmit a rotation from the motor to the at least one wheel.
  • the gearbox may be configured to provide gear reduction.
  • the at least one wheel may include a tyre made of sticky rubber compound.
  • the device may include a continuous track, wherein the continuous track may be driven by the at least one wheel.
  • the device may include a lever coupled to the frame, wherein the lever may be configured to convert a horizontal pull force to a downward force acting on the at least one wheel.
  • the device may further include a battery, wherein the frame, the actuator module and the battery may be arranged in a stacked arrangement.
  • the sensor module may include at least one force sensor.
  • the device may further include a power controller module coupled to the actuator module, wherein the power controller module may be configured to control a power to the actuator module as means to control the turning force for driving the at least one wheel.
  • the device may further include a remote controller.
  • the device may further include a foldable platform coupled to the frame.
  • a method of moving a load may include engaging the load with a push member of a device coupled to a frame of the device, the push member comprising a first engagement surface; engaging the load with an anchor member coupled to the frame, the anchor member comprising a second engagement surface; and driving at least one wheel of the device using an actuator module of the device, wherein the first engagement surface and the second engagement surface are configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • engaging the load may include engaging the first and second engagement surfaces flatly against the load.
  • engaging the load with the push member may include engaging against a side of the load with the first engagement surface of the push member, and wherein engaging the load with the anchor member comprises engaging against a bottom of the load with the second engagement surface of the anchor member.
  • the method may include detecting, using a sensor module of the device, a normal force exerted by the at least one wheel on the ground.
  • driving the at least one wheel may include controlling a turning force for driving the at least one wheel based on the normal force detected by the sensor module.
  • controlling the turning force may include limiting the turning force for driving the at least one wheel if the normal force exerted by the at least one wheel on the ground reaches a predetermined threshold.
  • controlling the turning force may include reducing the turning force for driving the at least one wheel if the normal force exerted by the at least one wheel on the ground exceeds a predetermined threshold.
  • controlling the turning force may include controlling, using a power controller module coupled to the actuator module, a power to the actuator module as means to control the turning force for driving the at least one wheel.
  • a method of manufacturing a device for moving a load may include providing a frame; providing at least one wheel rotatably mounted to the frame; providing an actuator module mounted to the frame and configured to drive the at least one wheel; providing a push member coupled to the frame, the push member comprising a first engaging surface for engaging the load; and providing an anchor member coupled to the frame, the anchor member comprising a second engagement surface for engaging the load, wherein the first engagement surface and the second engagement surface may be configured to be separated for engaging the load at different respective structural parts of the load in a load engaging state.
  • Various embodiments can provide a device for moving heavy loads suitable for use in the specific area of moving cargo in an aircraft, whereby the options are limited.
  • the device may preferably address the constraints of operating in the cargo deck of an aircraft. These constraints include low floor loading which is due to the fragile nature of aircraft structures, whereby floor loading values inside aircraft are low and in turn limit the weight of equipment that is allowed to operate inside aircraft; small and limited spaces within the aircraft such that, when an aircraft is loaded with cargo, every inch of space is utilized as air cargo space is valuable and only spaces big enough for a person standing upright are available between the cargo containers; and difficult access into the aircraft as aircraft cargo decks are usually above ground level, and any equipment that is needed to operate inside the aircraft often has to be carried onboard manually by people.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un dispositif (100) de déplacement d'une charge (101). Le dispositif comprend un cadre (102), au moins une roue (110) montée rotative sur le cadre, un module actionneur monté sur le cadre, un élément de poussée (140) accouplé au cadre et un élément d'ancrage (160) accouplé au cadre. Le module actionneur est conçu de manière à entraîner ladite roue. L'élément de poussée comprend une première surface de mise en prise (144) pour venir en prise avec la charge. L'élément d'ancrage comprend une seconde surface de mise en prise (164) pour venir en prise avec la charge. La première surface de mise en prise et la seconde surface de mise en prise sont séparées pour venir en prise avec la charge en différentes parties structurales respectives de la charge dans un état de mise en prise de charge. L'invention concerne également un procédé de déplacement d'une charge et un procédé de fabrication d'un dispositif de déplacement d'une charge.
PCT/SG2016/050456 2016-09-19 2016-09-19 Dispositif et procédé de déplacement d'une charge WO2018052369A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SG2016/050456 WO2018052369A1 (fr) 2016-09-19 2016-09-19 Dispositif et procédé de déplacement d'une charge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2016/050456 WO2018052369A1 (fr) 2016-09-19 2016-09-19 Dispositif et procédé de déplacement d'une charge

Publications (1)

Publication Number Publication Date
WO2018052369A1 true WO2018052369A1 (fr) 2018-03-22

Family

ID=57113654

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2016/050456 WO2018052369A1 (fr) 2016-09-19 2016-09-19 Dispositif et procédé de déplacement d'une charge

Country Status (1)

Country Link
WO (1) WO2018052369A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109109939A (zh) * 2017-06-26 2019-01-01 丰田物料处理制造(瑞典)公司 托盘车
CN109205326A (zh) * 2018-07-27 2019-01-15 朱建民 码垛机器人及其工作方法
WO2023233160A1 (fr) * 2022-06-01 2023-12-07 M-Mover Holdings Limited Appareil de déplacement de charge

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2993610A (en) * 1957-04-16 1961-07-25 Kughler Edwin Russell Push-off attachments for lift trucks
EP0341276A1 (fr) * 1987-10-15 1989-11-15 J.C. Bamford Excavators Limited Vehicule
US20030091417A1 (en) * 2001-11-10 2003-05-15 Swann John T. Portable power lifter
US20090038864A1 (en) * 2007-08-07 2009-02-12 Sung Yol Yun Remotely controllable golf cart and method for steering a cart
DE202009000041U1 (de) * 2009-01-21 2009-04-02 Nextra Anlagenbau Deutschland Gmbh Schwerlastgabelstapler mit einem Fahrgestell
US20100078233A1 (en) * 2008-09-29 2010-04-01 Clarence Edgar Fletcher Conveyance apparatus
US20100183412A1 (en) * 2006-08-17 2010-07-22 Steven Borntrager Powered hand truck

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2993610A (en) * 1957-04-16 1961-07-25 Kughler Edwin Russell Push-off attachments for lift trucks
EP0341276A1 (fr) * 1987-10-15 1989-11-15 J.C. Bamford Excavators Limited Vehicule
US20030091417A1 (en) * 2001-11-10 2003-05-15 Swann John T. Portable power lifter
US20100183412A1 (en) * 2006-08-17 2010-07-22 Steven Borntrager Powered hand truck
US20090038864A1 (en) * 2007-08-07 2009-02-12 Sung Yol Yun Remotely controllable golf cart and method for steering a cart
US20100078233A1 (en) * 2008-09-29 2010-04-01 Clarence Edgar Fletcher Conveyance apparatus
DE202009000041U1 (de) * 2009-01-21 2009-04-02 Nextra Anlagenbau Deutschland Gmbh Schwerlastgabelstapler mit einem Fahrgestell

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109109939A (zh) * 2017-06-26 2019-01-01 丰田物料处理制造(瑞典)公司 托盘车
CN109205326A (zh) * 2018-07-27 2019-01-15 朱建民 码垛机器人及其工作方法
CN109205326B (zh) * 2018-07-27 2024-01-16 朱建民 码垛机器人及其工作方法
WO2023233160A1 (fr) * 2022-06-01 2023-12-07 M-Mover Holdings Limited Appareil de déplacement de charge

Similar Documents

Publication Publication Date Title
US10899376B2 (en) Electrically powered transport cart combination for an aircraft cabin
US5595470A (en) Lift for physically-challenged passengers and method of operation
US7101139B1 (en) Automated material handling system with motorized transfer vehicles
CN104709847B (zh) 一种自平衡式多功能搬运车
AU2018288098A1 (en) Transport cycle
WO2018052369A1 (fr) Dispositif et procédé de déplacement d'une charge
CN111605592B (zh) 多功能履带式自动爬楼搬运车
CN105946912A (zh) 便携式的装卸搬运一体化越障小车
US7226264B2 (en) Seat gantry
US3831708A (en) Air film pallet
US20070269300A1 (en) Variable speed motor driven hand truck
US6802391B2 (en) Aircraft non-ambulatory/ambulatory boarding and off-loading system
US9238512B1 (en) Portable passenger boarding ramp assembly
CN203667920U (zh) 一种运输装卸设备
US20200214914A1 (en) A vehicular lift
CN212832264U (zh) 一种多功能装卸推车
CN211847022U (zh) 一种可用于楼层间使用的轻型投料叉车
CN212832614U (zh) 一种便携式的手扶电动叉车
US9718307B2 (en) Tire handler
CN221138119U (zh) 一种型材水平转运车
RU2797075C1 (ru) Грузопассажирский электробус
US10159613B2 (en) Vehicle, device and method for loading a vehicle
CN217091182U (zh) 一种适用于军用运输车的电动担架移动升降车
CN210592075U (zh) 三轮爬楼运输机
AU2022405542A1 (en) Decorative article delivery device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16778478

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16778478

Country of ref document: EP

Kind code of ref document: A1