RUBBER-TIRED PORTAL CRANE WITH INDEPENDENT OPERATING AND STEERING SYSTEM

Abstract

The invention relates to a rubber-wheeled gantry crane (1) consisting of a main structure (10), multiple bogie chassis (20) located in different parts of the said main structure (10) and at least one wheel (21) located on each bogie chassis (20), for use in rubber-wheeled gantry cranes. Figure 1

Description

1 TARIFF RUBBER-WHEELED VEHICLE WITH INDEPENDENT DRIVING AND STEERING SYSTEM PORTAL CRANE TECHNICAL FIELD The invention is a main construction for use in rubber-wheeled gantry cranes, as mentioned above. Multiple bogie chassis located in different parts of the main structure, and each a rubber-wheeled portal containing at least one wheel positioned on a bogie chassis 10 It is related to cranes. PREVIOUS TECHNIQUE Rubber-wheeled portal cranes are used in ports, marinas, prefabricated building production sites and similar heavy-duty applications. Lifting, transporting, and stacking large and heavy loads in cargo handling areas. and is used for transporting goods between loading points. In the previous technique, this These types of cranes generally have wheel groups positioned on the main carrier portal structure. It is moved within the work area via this device, and performs execution and directional functions. It is carried out via mechanical or electrically driven mechanisms. Wheel sets 20 They mostly work together according to a specific motion geometry, and have the ability to change direction. the system's mechanical connections, common drive systems or limited steering configurations These systems are determined particularly on flat and properly prepared surfaces, allowing for forward and backward movement. motion, specific rotational movements and the transfer of load from one point to another. It is used. 25 In the systems used in the previous technology, the wheels were connected to each other or had limited independence. Its operation involves the precise maneuvering of large-sized gantry cranes in confined space conditions. This can make it difficult to perform. Wide turns are required when lateral or diagonal movement is needed. It may be necessary to use different lanes for the inner and outer wheels during a turn. inability to adapt to their lengths causes wheel drag, slippage and additional mechanical problems. This can cause difficulties. Different systems with electric motors or common drive arrangements... The individual adaptation of the drive system according to the ground resistance encountered by the wheels is limited. a wheel becoming stuck on loose, gravelly, uneven or sloping surfaces or encountering greater resistance can negatively affect the stability of the movement. 35 Furthermore, in large and heavy cranes, the steering movement must be performed with sufficient torque and precision. This involves bringing the wheel groups to the desired angles in a repeatable manner, and 2 Safe implementation of different movement scenarios requires additional mechanics compared to previous systems. and can create control difficulties. In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. 5 A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It relates to a rubber-wheeled gantry crane, aiming to bring new advantages. 10 One aim of the invention is to make each execution and control function independent of each other, in pairs. It can be controlled in a directional and proportional manner, and the control unit of the aforementioned functions A rubber-wheeled gantry crane emerged that could be managed centrally and coordinately. to put. 15 Another purpose of the invention is to enable the portal crane to move forward and backward, as well as laterally, diagonally, and a drive and steering system that can also perform circular movements in a controlled manner. The goal is to establish the system. Another objective of the invention is to determine the direction of rotation and rotational speed of each wheel relative to the other wheels. a system that can be controlled independently and adapt to different motion geometries The goal is to deploy a rubber-wheeled gantry crane. Another objective of the invention is to adjust the steering angle of each bogie frame to match that of the other bogie frame. They can be adjusted independently of their chassis and for different maneuvering scenarios. The goal is to create a system in which it can be implemented. Another purpose of the invention is to provide hydraulic power according to the ground resistance encountered by different wheels. The drive can be controlled individually, allowing for operation on loose, gravelly or sloping surfaces. 30 The goal is to develop a rubber-wheeled gantry crane with enhanced maneuverability on its surfaces. Another purpose of the invention is to minimize the distance the inner and outer wheels will travel during a turn. wheel speeds can be controlled differently depending on the distances, and thus The aim is to create a system in which the rotational movement can be performed in a more controlled manner. 35 3 Another purpose of the invention is to enable monitoring and prediction of the steering angles of wheel sets. a system that can be repositioned in a repeatable manner according to defined movement scenarios The goal is to establish a control system. Another aim of the invention is to be able to measure the actual rotational speed of each wheel individually, and 5 The other relevant drive mechanism depends on the difference between the target rotational speed and the actual rotational speed. The goal is to create a control system that can be corrected independently of executive actions. Another objective of the invention is to determine the actual steering angle of each bogie frame relative to the target. Execution without being within the specified tolerance range for the orientation angle 10 a system that includes an interlock control that prevents the initiation of the movement to place. Another aim of the invention is to enable the handling of heavy and oversized loads in confined workspaces. A rubber-wheeled gantry crane emerged that allows for transportation with high maneuverability. to place. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention is designed to be used in rubber-wheeled gantry cranes. the main structure, 20 located in different regions of the aforementioned main structure multiple bogie frames and at least one wheel positioned on each bogie frame It is a rubber-wheeled gantry crane that includes a bogie chassis on each side. Its innovation lies in this design. The relevant wheel rotates around a horizontal axis extending parallel to the ground, along with the other bogie. the ability to rotate forwards and backwards independently of the wheels on their chassis to provide at least one drive motor driven by hydraulic power and the aforementioned 25 A drive system that includes at least one gearbox that transmits the drive from the drive motor to the wheel. The inclusion of the group means that each bogie chassis has its respective bogie chassis connected to the main construction. relative to the ground, around a vertical axis extending perpendicular to the ground, from other bogie chassis at least one hydraulically powered device to enable independent steering. The steering motor and the main structure are positioned between the bogie chassis, 30 With the drive it receives from the aforementioned steering motor, it moves the bogie chassis around the vertical axis. It must include a steering drive assembly that contains at least one rotating mechanism. Each drive unit is connected to the drive units and steering drive units. group and each steering drive group other execution and steering drive controlling bidirectionally and proportionally, independently of their groups, the aforementioned 35 execution and management functions centrally and in a coordinated manner The controller controls the orientation angle of each bogie frame around the vertical axis, relative to the other bogies. 4 controlling independently of their chassis and each wheel around the horizontal axis by controlling the direction of rotation and rotational speed independently of the other wheels, the bogie chassis with the same or different steering angles and wheels with the same or different rotation directions and enables the rubber-wheeled gantry crane to move forward and backward, laterally, and diagonally, and to be brought to the required speeds. and controls their circular motion, the 5 bogie chassis during circular motion which control the steering angles differently relative to the center of rotation and the rotational speeds of the wheels differ according to the distances that the inner and outer wheels will travel. The difference is that it contains at least one control unit that controls it. Thus, the rubber-wheeled portal The crane's ability to move and operate in different directions with high maneuverability. Although the routing functions are independent of each other, they are under central control. 10 This ensures that it is carried out in a coordinated manner. A characteristic feature of a possible configuration of the invention is that the gearbox is a planetary gearbox. Thus, the drive from the drive motor provides the torque suitable for moving heavy loads. The transmission to the wheel is ensured at this level. 15 Another possible configuration feature of the invention is that each drive motor and each the steering engine is dual, independent of other execution and steering engines It can be controlled in a directional and proportional manner and has an inclination of up to 4° relative to the horizontal. 20 hydraulic drives transmitted to the wheels to maintain the movement of the crane on the working surfaces Each actuator group is designed to be controlled independently of each other. and at least one proportional hydraulic control element associated with each steering drive group It includes. Thus, the execution and direction functions operate independently of each other. It is carefully controlled and managed in a coordinated manner by the control unit. and hydraulic drive transmitted to the wheels on inclined working surfaces with varying ground resistances 25 They can be adjusted separately. Another characteristic of a possible configuration of the invention is that each bogie chassis is positioned along a vertical axis. determining the orientation angle around it and transmitting this angle information to the control unit. For transmission, each bogie chassis must contain at least one absolute encoder associated with it. Thus, 30 The steering angle of each bogie frame is monitored individually, and the selected bogie frames are... precise and repeatable positioning of the angular positions according to the motion scenario. is provided. Another possible configuration of the invention features a steering drive group, rotating 35 the mechanism that provides the mechanical connection between the bogie chassis and the material coming from the bogie chassis It must include at least one flange that allows the loads to be transferred to the main structure. Thus By transferring the steering torque to the bogie chassis, the mechanical torque from the bogie chassis... The loads are transmitted to the main structure. Another possible configuration of the invention features the drive unit of the drivetrain, the wheel. It must include at least one brake to ensure it is held stationary. Thus, the tire 5 The wheeled gantry crane is securely held in its stationary position. Another possible configuration of the invention features an absolute relationship with the control unit. The actual orientation angles obtained from the encoders are used to determine the target angles for the respective bogie chassis. comparing the steering angles and the actual steering of any bogie chassis 10 the angle being outside the defined tolerance range for the relevant target aiming angle In this case, at least one interlock check prevents the activation of the execution groups. This involves ensuring that the wheels are driven in the intended direction without being directed towards the intended path. By preventing the movement from starting, safe and controlled movement is ensured. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows a representative perspective view of the rubber-wheeled gantry crane, which is the subject of the invention. It has been given. Figure 2 shows the bogie chassis and drive system of the rubber-wheeled gantry crane, which is the subject of the invention. A representative perspective view of the steering drive groups is given. Figure 3 shows a representative model of the drive unit of the rubber-wheeled gantry crane, which is the subject of the invention. An exploded perspective view is provided. 25 Figure 4 shows a representative model of the steering drive assembly of the rubber-wheeled gantry crane, which is the subject of the invention. A front view is provided. Figure 5 shows a representative image of the wheel set of the rubber-wheeled gantry crane, which is the subject of the invention, from a detonated 30mm cylinder. The appearance is given. DETAILED DESCRIPTION OF THE INVENTION This detailed explanation of the invention does not merely aim to provide a better understanding of the subject matter; it does not contain any 35 This is explained with examples that will not create a limiting effect. 6 The invention enables the lifting and transportation of heavy and oversized loads within a work site. used for stacking and transporting to loading or unloading locations It is designed for rubber-wheeled gantry cranes, and specifically for the movement and steering of the crane. to ensure that their movements are carried out independently and in a controlled manner The invention relates to an improved rubber-wheeled portal crane (1). The subject of the invention is a rubber-wheeled portal crane 5 The crane (1) moves around the work site without being tied to a fixed rail line. It is able to do so and allows heavy loads to be transported between different locations. Rubber-wheeled gantry cranes are used especially in ports for stacking containers and Loading, taking yachts out of the water in marinas and transporting them to maintenance or parking areas, Transportation and stacking of concrete and prefabricated building elements at production sites, bridge 10 the transportation of long and heavy structural elements such as beams and the loading of these elements onto transport vehicles It can be used in applications such as uploading. The invention, a rubber-wheeled portal crane (1), can accommodate approximately 28 in a preferred configuration. a portal crane measuring 15 meters and suitable for lifting heavy loads. It is applicable. However, this dimension is not limiting the invention, depending on the size and weight of the load to be transported, the geometry of the work area, and the intended use. Depending on the situation, it is possible to configure the rubber-wheeled portal crane (1) in different sizes. The invention is based on a design that essentially combines the classic advanced capabilities of a large-sized gantry crane. Instead of being moved in the reverse direction, it can be moved laterally, diagonally and rotationally in limited working areas. It is also possible to perform these movements. In this regard, a rubber-wheeled portal crane (1), in narrow work areas where maneuvering in different directions is required, heavy load under and on sloping or loose soil conditions, except for flat concrete surfaces. It is available for use. A rubber-wheeled portal crane (1) must include at least one main structure (10). Main construction (10) forms the carrier body of the rubber-wheeled portal crane (1) and resulting from the loads to be transported, lifting equipment, and the crane's own weight. It is the portal-shaped main structure that mediates the transfer of loads to the ground. Main construction (10), different lengths depending on the crane's area of ​​use and the geometry of the load to be transported, 30 It can be configured in various widths and heights. The preferred configuration includes tires. The wheeled portal crane (1) is approximately 28 meters in size and can lift heavy and long structural elements. It is structured in a way that is suitable for transport. The dimensions of the main structure (10) and The carrying capacity is not dependent on the value in question, whether it is a smaller or larger portal. It can be modified according to crane applications. 35 7 The main structure (10) is the vertical load on the upper part of the crane in the preferred configuration. lifting and transporting in the direction of the work site It can carry its equipment. In the mentioned structure, the main structure (10) Two monorails with a carrying capacity of 25 tons can be used, and these monorails carry the load. It allows for raising and lowering. Underneath the monorails, especially the bridge girder, 5 gripping long and heavy loads such as concrete blocks, prefabricated concrete elements or similar materials. A sleeper can be positioned for the purpose of transporting the goods. The goods are grasped via the sleeper. load, together with the main structure (10), from one part of the work site to another. It can be moved, stacked, or loaded onto a transport vehicle. Lifting The number of pieces of equipment, their load-bearing capacity, and the geometry of the sleepers used determine the application. It can be differentiated depending on the situation. The rubber-wheeled portal crane (1) is one that includes multiple bogie chassis (20). Bogie chassis (20) are located in the areas close to the ground of the main construction (10) and the main It supports the carrying of the construction (10) on the working surface. Preferred 15 The structure includes four bogie chassis (20) and the said bogie chassis (20) It is located in four different corner regions of the main structure (10). The number of bogie chassis (20) together depends on the size, lifting capacity, and load of the portal crane. It can be differentiated depending on its distribution or application area. Each bogie Its chassis (20) has the ability to move and steer independently from other bogie chassis (20). It forms a suitable load-bearing structure. The bogie chassis (20) has a welded construction in the preferred configuration. The aforementioned bogie chassis (20) supports the wheel loads created by the crane and the load being carried. in addition to transportation, forces and changes of direction occurring during execution 25 suitable for transferring the moments generated during the process to the main structure (10) It is structured in such a way that the bogie chassis (20) serves not only as a wheel carrier, the main mechanical loads occurring during running and steering movements It functions as a structural intermediate element that enables the transfer to the construction (10). The plate thicknesses, reinforcement areas, weld geometry and general 30 of the bogie chassis (20) The dimensions are determined taking into account the load to be carried, the capacity of the gantry crane, and the working surface. It can be differentiated. While the resource-based structure constitutes the preferred practice, different manufacturing and joining methods that will provide the necessary mechanical strength It is applicable. 35 Each bogie chassis (20) extends perpendicular to the ground in relation to the main structure (10). It is positioned in such a way that it can change its angular position around the vertical axis (I). This 8 thanks to the angular movement of the bogie chassis (20) and the bogie chassis (20) carried on it The direction of the wheel can be changed without changing the direction of the main construction (10). Preference In the four bogie chassis configuration, the angular position of each bogie chassis (20) is different from the others. They can be changed independently, so that different bogie chassis (20) can be routed in the same direction. It can be adjusted to a certain angle or to different steering angles. The bogie chassis has 5 (20) Which drive elements perform this movement around the vertical axis (I) This will be explained in detail in later sections within the scope of the steering and drive group. Each bogie frame (20) must contain at least one wheel (21). Wheel (21) bogie frame (20) positioned on and in contact with the working surface of the rubber-wheeled portal crane (1) 10 The wheel (21) forms the driving element. It extends in a direction parallel to the ground. It is connected to the bogie chassis (20) so that it can rotate around the horizontal axis (II). The wheel (21) around the horizontal axis (II) in the first direction or in the second direction which is the opposite. The rotation of the rubber-wheeled portal crane (1) forward or backward in the relevant direction of movement. This allows for operation in this direction. In the preferred configuration, four bogie chassis can be 15 (20) each has a wheel (21) and each of the said wheels (21) is the other It can be moved independently of the wheels. A wheel (21) can have a wheel structure consisting of a tire and a rim. Preference The configuration used involves tires with a size of 29.5R25 and rims with a size of 25.00 / 3.5. 20 The aforementioned tire and rim dimensions are not limiting the invention and are related to the total weight of the crane. the nominal load to be carried, the desired contact area to be created on the ground, the work area different depending on surface characteristics and the torque capacity of the drive system to be used. Wheels (21) of the specified dimensions can be used. Only smooth concrete can be used when selecting wheels (21). not the working conditions on the surface, but sloping surfaces, rolling resistance, loose or gravel 25 surfaces containing tires that deform under load, tendencies to sink into the ground, and rotation Additional resistances that occur during the process can also be taken into account. A rubber-wheeled portal crane (1) must have at least one wheel (21) in which the rotational movement of the wheel is performed. The horizontal axis (II) is included. The horizontal axis (II) is essentially parallel to the working surface, 30° It is lying down and the wheel (21) moves forward and backward on the bogie chassis (20). It refers to the geometric axis around which the wheel (21) rotates in order to form the horizontal axis. The rotation of the wheel in the first direction around the axis (II) and its rotation in the opposite direction (21) allows it to be driven in two opposing directions. The aforementioned horizontal Axis (II) is angular 35° together with the bogie chassis (20) during the orientation of the bogie chassis (20). can change position, however the wheel (21) has its own position in each new steering position. It can continue its rotational movement around its horizontal axis (II). Thus, the wheel (21) 9 with the rotational movement that the bogie chassis (20) performs for the purpose of operation The movements related to their orientation are geometrically distinct from each other. The steering movement of the bogie chassis (20) of the rubber-wheeled portal crane (1) It is performed by including at least one vertical axis (I). The vertical axis (I) is 5 meters from the working surface. It essentially lies in a vertical direction and the bogie chassis (20) is relative to the main structure (10). It refers to the geometric axis around which the object rotates in order to change direction. (mentioned) The vertical axis (I) is in a different direction than the horizontal axis (II) in the preferred configuration. It is essentially perpendicular to the horizontal axis (II). The bogie chassis (20) around the vertical axis (I) During its rotation, the wheel (21), together with the horizontal axis (II) of the drive, is new 10 It is moved to a steering angle. Thus, the direction of travel of the wheel (21) is shifted to the main without the need to change the direction of the entire construction (10) bogie by changing the angular position of the chassis (20) around the vertical axis (I) It can be determined. The rubber-wheeled portal crane (1) has the corresponding wheel (21) on each bogie chassis (20) It includes at least one executive drive group (30) to ensure its execution. The drive group (30) rotates the wheel (21) around the horizontal axis (II) in two opposite directions. by enabling the bogie chassis (20) to move forward or backward on the working surface. It is the drive system that enables this. The preferred configuration includes four different bogies. There are four separate drive groups (30) corresponding to the chassis (20) and the said Each of the drive groups (30) has its own wheel (21) independent of the other wheels (21). Thus, the direction of drive or rotational speed of a wheel (21) It is not necessary to drive the other wheels (21) in the same way in order to change them. The execution drive group (30) is under heavy load in the preferred application and only smoothly not on concrete surfaces, but on slopes, rolling resistance, loose soil, tire deformation, The tire sinking into the ground, along with additional resistance that may occur during a turn, and hydraulic fluid... and mechanical losses are taken into consideration when making the selection. The preferred structure is for execution. The system has an approximate working pressure of 315 bar and a total hydraulic flow rate of approximately 162.4 L / min. It is sized taking into account that a flow rate of approximately 40 L / min is used for each wheel (21). and a maximum output torque of approximately 31,600 Nm is obtained per wheel (21). Preference In the implemented setup, the variability of field conditions, the crane's operation under heavy load, taking into account rolling resistance on the working surface and hydraulic or mechanical losses BB7 type drive units (30) 35 with an output torque of approximately 31,600 Nm The mentioned pressure, flow rate, and torque values ​​are used depending on the preferred application. and the weight of the crane to be operated, its carrying capacity, wheel size (21) and working (30) different values ​​of drive groups depending on the ground conditions It is possible to implement it. The drive unit (30) converts hydraulic power into mechanical rotational motion. It must contain at least one execution engine (31) to provide the bogie 5 It is positioned on the chassis (20) in relation to the relevant wheel (21) and powered by hydraulic power. It is driven. In the preferred configuration, a separate drive motor for each wheel (21). (31) is located and thus has four separate drive motors in the four-wheeled configuration (31) It is used. The hydraulic flow to the drive motor (31) is given in one direction to the wheel (21) If driven in the first direction of rotation, and in the opposite direction, it will be driven in the second direction of rotation. 10 Therefore, the drive motor (31) enables two-way drive movement of the wheel (21). It works in such a way as to provide that each drive motor (31) can be fed separately. the direction and speed of movement of the wheels (21) can be controlled independently of each other It forms the basis of mechanics and hydraulics. The drive unit (30) transmits the drive from the drive motor (31) to the wheel (21). It must contain at least one gearbox (32). The gearbox (32) connects the drive motor (31) with the wheel (21) It is located in the mechanical drive chain between them and receives from the drive motor (31) rotational movement at a torque level suitable for moving a heavy-load gantry crane. It transmits to the wheel (21). In the preferred configuration, the gearbox (32) is a planetary gearbox. 20 Thus the drive motor (31) and the gearbox (32) are together on the same bogie frame (20). by working to drive the relevant wheel (21) independently from the other wheels (21). It provides. At least one of the drive groups (30) must drive the wheel (21) and consequently the tire 25 to help keep the wheeled portal crane (1) stationary in the desired position It must include at least one brake (33). The brake (33) is especially important when the driving motion ends, the wheel (21) Limiting the involuntary rotation and maintaining the position of the crane It is used for the purpose of four executive drive groups (30) in the preferred structure. Two of them are braked and two are unbraked, of the BB7 type. In braked drive groups (30) 30 A parking brake with a holding capacity of approximately 40,000 Nm is used. This allows the crane to... execution in situations where it is under heavy load or the working surface is inclined The system is supported in being kept in a secure, stationary position. The arrangement of two braked and two unbraked drive groups (30) represents the preferred configuration. 35 In practice, the crane's lifting capacity, total mass, working inclination, and stopping point are important factors. Number of drive groups (30) with brakes (33) depending on safety requirements 11 Similarly, the holding capacity of the brake (33) can be varied depending on the system requirements. This can be determined according to the load level. Rubber-wheeled portal crane (1), each bogie chassis (20) according to the main structure (10) At least one steering drive group (40) 5 to enable the change of direction It includes the steering drive group (40), perpendicular to the ground of the bogie chassis (20). enabling rotation around the vertical axis (I) extending the bogie chassis (20) a drive that allows the direction of travel of the wheel (21) on it to be changed It is the structure. The mentioned steering drive group (40) is different from the executive drive group (30) It operates independently and the rotation of the wheel (21) around the horizontal axis (II) is 10 Angular of the bogie chassis (20) around the vertical axis (I) independent of its movement It changes its position. Thus, one wheel (21) is on the same bogie chassis (20). two independent systems, one for running the engine and the other for steering the entire bogie chassis. Separate hydraulic movement is generated. In the preferred configuration, the rubber-wheeled portal crane (1) has four different bogie chassis (20) There are four separate steering drive groups (40). Each steering drive group (40) independently of the steering movement of other bogie chassis (20) It can be controlled. Therefore, a bogie chassis (20) around the vertical axis (I) When the angular position is changed, the other bogie chassis (20) can be at the same angle, at a different angle or 20 They can be kept in their positions. The preferred option is using four bogie chassis (20). The structure comprises a total of eight movements: four executive and four directive. There is independent hydraulic movement, and each of these movements is bidirectional. It is controlled proportionally. The eight movements mentioned are the four preferred bogies. The invention is related to the structure and is not limited to this number. Bogie chassis (20) and wheel (21) 25 The number of execution and direction functions can be varied depending on the number of functions. Each function is controlled independently, bidirectionally, and proportionally. It is possible. The steering drive unit (40) is designed to convert hydraulic energy into steering motion. It must contain at least one steering motor (41). The steering motor (41) is located in the relevant bogie chassis. Each bogie is positioned in relation to (20) and is driven by hydraulic power. Thanks to the presence of a separate steering motor (41) for the chassis (20) of the bogie chassis (20) Directional movements around the vertical axis (I) independently of each other It can be done. The steering motor (41) is driven in the first direction by bogie 35 The chassis (20) is driven in the first direction around the vertical axis (I), while the reverse direction is driven in the opposite direction. It allows it to be rotated in any direction. 12 In the preferred configuration, an MR100C type hydraulic motor is used as the steering motor (41). It is used. The mentioned steering motor (41) has an operating pressure of approximately 160 bar. It operates below this level and provides an output torque of approximately 254 Nm. These values... This relates to the preferred configuration and the lifting capacity of the rubber-wheeled portal crane (1), 5 the dimensions of the bogie chassis (20), the wheel (21) loads, the required steering moment and Hydraulic steering with different capacities and specifications depending on the working surface conditions. It is possible to use their engines. The steering drive unit (40) transmits the drive from the steering motor (41) to the bogie chassis. (20) transmit and vertical axis (I) of the bogie chassis (20) relative to the main construction (10) at least one rotating mechanism to enable it to rotate around (42) It includes the turning mechanism (42), the main construction (10) and the bogie chassis (20) positioned between and the rotation produced by the steering motor (41) It transmits its movement to the bogie chassis (20) in a reduced manner. Thus, only the wheel 15 (21) instead of rotating around its own axis, the wheel (21), drive motor (31), reducer (32) and the relevant part of the bogie chassis (20) carrying them together around the vertical axis (I) It can be directed. In the preferred configuration, the turning mechanism (42) is a 20 type WE21-90-25H-L-2890. It is implemented as a slewing drive. The mentioned turning mechanism (42), It receives approximately 254 Nm of torque from the steering motor (41) with an approximate reduction ratio of 1:90. This transmits the current, resulting in a steering torque of approximately 22,860 Nm. In the preferred configuration, the approximate 90° deflection time of a bogie chassis (20) is 6.25 It is at the level of seconds. Thus, despite the high mass and wheel (21) loads, the bogie 25 It is possible to steer the chassis (20) in a controlled manner. The reduction ratio, output torque and changeover time of the turning mechanism (42) These are values ​​related to the preferred application. Different gantry crane capacities, different bogies In chassis (20) geometries or under different operating conditions, the torque required for steering is 30 depending on different reduction ratios, different output torques, or different direction changes Rotating mechanisms with durations (42) can be used. However, the invention The essential point is that the turning mechanism (42) receives from the steering motor (41). transmitting the hydraulic drive to the bogie chassis (20) and the bogie chassis (20) to the main structure (10) It enables the change of its angular position around the vertical axis (I). 35 13 Steering drive unit (40), turning mechanism (42) and bogie chassis (20) It must contain at least one flange (43) to enable mechanical connection. Flange (43) load and drive transfer between the turning mechanism (42) and the bogie chassis (20) It is positioned in such a way as to provide. The mentioned flange (43) is located on the bogie chassis (20) Guidance from the turning mechanism (42) during the guiding movement 5 It helps to transfer the torque to the bogie chassis (20) and also from the wheel (21) and transfer of mechanical loads from the bogie chassis (20) to the main structure (10) It functions as a connecting element. In the preferred configuration, the flange (43) is specially designed, welded and 10 It is a connecting element processed after the welding process. This process is carried out after welding. The connection between the turning mechanism (42) and the bogie chassis (20) is made possible by processing. The surfaces are brought to the required geometric and dimensional conformity. This The connection is important not only in terms of transmitting the steering torque, but also in terms of the wheel (21) and bogie The main 15 of the vertical, horizontal and directional loads coming through the chassis (20) It also serves the purpose of transmitting to the construction (10). The geometry of the flange (43), its thickness, connection surface, number and placement of connection holes and Manufacturing method; bogie chassis (20) dimensions, turning mechanism (42) connection 20 to the geometry, the lifting capacity of the gantry crane and the loads and moments that need to be transferred It can be changed depending on the configuration. In the preferred configuration, the flange (43) is welded. They can be created and then processed; however, the same mechanical connection and load transfer Different flange geometries that fulfill the same function can also be used. Rubber-wheeled portal crane (1), execution drive groups (30) and steering drive 25 the command of the groups (40) independently and in coordination with each other It must include at least one control unit to provide power. The control unit controls each actuator drive. group (30) and each steering drive group (40) other execution and steering It controls both directions and proportionally, independently of the drive groups, and the aforementioned execution and management functions are centrally coordinated with each other. It manages in this way. The control unit also controls the vertical axis (I) of each bogie chassis (20) the steering angle around it and the rotation of each wheel (21) around the horizontal axis (II) It allows the direction and rotational speed to be controlled separately. Thus, a bogie the steering angle of its chassis (20) is independent of other bogie chassis (20) It can be changed and the direction of rotation or speed of rotation of one wheel (21) is 35 35 of the other wheels (21). It can be adjusted independently. In the preferred configuration, the control unit is PLC-based. It can be implemented as a control system. The control unit can be configured in different ways. 14 programmable logic controller, industrial computer, microprocessor or microcontroller It can be implemented in the form of a centralized electronic control unit. The control unit is located in a single central location. Local control associated with different bogie chassis (20) as well as the control unit. a distributed control system where the units operate in data communication with a central control unit. It can also have its own architecture. Control unit and guidance and execution systems 5 Data communication between the control or sensing elements can be wired or wireless. This can be implemented as follows: serial communication lines in wired configurations, field data These can be done via roads or industrial communication networks. The control unit can control the drive groups (30) and the steering drive groups (40) together. by controlling the bogie chassis (20) to the same or different steering angles to bring the steering angles and the wheels (21) to the same or different rotation It allows for propulsion in terms of direction and speed. In this context, the control unit controls the tire. straight forward and backward, lateral, diagonal and circular movements of the wheeled portal crane (1) It can apply different control combinations to achieve this. Flat 15 during movement the wheels (21) work in harmony, and in turning movements the inner and different rotational speeds in accordance with the different distances to be covered by the outer wheels (21) The actuation is taken into account by the control unit. During circular motion The steering angles of the bogie chassis (20) can be differentiated according to the center of rotation and The speeds of the wheels (21) can be determined individually in accordance with the geometry of motion. 20 In the preferred configuration, the control unit corresponds to different types of movement. Pre-defined control scenarios can be defined. The mentioned movement In the scenarios, the target steering angle for each bogie chassis (20) is determined for each wheel (21). The target rotation direction and target rotation speed can be defined separately. Motion scenarios 25 The data can be stored in the control unit's memory as a pre-recorded file, or by the operator. according to the selected movement type or positioning requirements for the work area It can be created by the control unit. In the preferred configuration, there are seven different The movement scenario can be defined and the wheels (21) and bogie chassis (20) Thanks to their independent control, the number and content of motion scenarios are 30. It can be modified according to application requirements. Therefore, the control unit is only... Not limited to a fixed number of movement scenarios, but adapted to different field geometries and load carrying capabilities. new movement combinations according to their needs or maneuvering requirements It can be used as defined. When a linear motion scenario is selected, The bogie chassis (20) which are initially at different angles can be straightened independently of each other. can be brought into the direction of movement and then the wheels (21) can move. It can be synchronized. Rubber-wheeled portal crane (1), each drive motor (31) and each steering its motor (41) bidirectional and independent of other drive and steering motors at least one proportional hydraulic control to enable proportional control It includes elements. Each execution and steering function has a separate hydraulic control. 5 It can be controlled via a mains line or an independent hydraulic control channel, and the word All of the functions in question are coordinated by the control unit. It can be managed. In the preferred configuration, there are four bogie chassis (20). A total of eight independent hydraulic systems, including execution and four steering functions. The movement is obtained. The eight movements mentioned are only the four preferred bogies. 10 It is independent depending on the application, the number of bogie chassis (20) and wheels (21). The number of hydraulic movements can vary. Each hydraulic movement is bidirectional and proportional. It is controlled as follows. Thus, the drive motors (31) or steering By changing the direction of the hydraulic flow transmitted to the motors (41), the direction of rotation of the relevant motor is changed. The speed of the movement can be controlled by changing the amount of hydraulic flow. 15 The preferred configuration includes proportional hydraulic control elements and bidirectional proportional valves. It can be implemented in this way. Proportional hydraulic control elements are attached to drive motors (31) and the direction, flow rate or pressure of the hydraulic flow transmitted to the steering motors (41) Proportional directional control valves, proportional flow control valves, which allow for control, 20 proportional pressure control valves or valve assemblies in which they are used together It is applicable. Each drive group (30) and steering drive group (40) It can be controlled by a single proportional hydraulic control element or by multiple hydraulic elements. also within a common valve block where the function is controlled via independent channels It can be adjusted. The hydraulic flow supplied from the hydraulic power unit is 25 for each wheel (21). to the drive motors via separately controlled proportional valves (31) Thus, the direction of rotation and the speed of rotation of each wheel (21) are transferred from the other wheels. (21) can be adjusted independently. Similarly, the steering motors (41) can also be adjusted independently. Thanks to the separate and proportional control of each bogie chassis (20) The steering angle and steering speed can be controlled independently. 30 Proportional hydraulic control elements move the wheels (21) in different areas of the working surface. If the resistances encountered are different from each other, the actuators are different from each other. It also allows for independent modification. Rubber-wheeled portal crane (1) When moving on gravel, loose or sloping ground, one wheel (21) is more than the other wheels (21) 35 encountering high resistance of motion or a wheel (21) temporarily losing load In this case, the hydraulic drive applied to the relevant wheels (21) can be differentiated from each other. 16 A wheel (21) becoming loose or the balance of movement being disrupted due to the ground In this case, the hydraulic drive transmitted to the other wheels (21) differs from each other depending on the working conditions. being modified independently, thus enabling the continuation of the movement. A differential-like effect is obtained. The control unit determines the actual rotational speed of each wheel (21) independently of the other wheels (21). This allows for the identification and control of each wheel. For this purpose, each wheel... (21), at least one speed sensing element associated with the drive motor (31) or gearbox (32). It can be used. The mentioned speed sensing element detects the actual rotation of the relevant wheel (21). It generates the speed information representing the speed and the resulting actual rotational speed information is 10 It transmits to the control unit. Depending on the application, the speed sensing element transmits the speed to the wheel (21), wheel hub, drive motor (31), gearbox (32) or associated with their rotational movement It can be located in a suitable area. The control unit takes the actual rotational speed information it receives from the speed sensing element and uses it to set the selected motion 15. According to the scenario, it compares the target rotational speed determined for the relevant wheel (21). If there is a difference between the target rotational speed and the actual rotational speed, the control unit... the proportional hydraulic control element associated with the relevant drive group (30) other drive It controls independently of the drive groups (30). The mentioned control As a result, the flow rate, pressure or 20 of the hydraulic flow transmitted to the relevant drive motor (31) By changing a combination, the actual rotational speed of the wheel (21) is changed to the target rotational speed. It is being brought closer. In this way, the difference between the target rotational speed and the actual rotational speed for each wheel (21) is calculated. A closed-loop speed control based on the following can be implemented. The actual 25 of a wheel (21) Correction of the deviation in rotational speed of the other wheels (21) independent speed It does not affect the control and each execution drive group (30) has its own target speed value. It can be controlled separately. Thus, during straight movement, the wheels (21) the wheels work at compatible speeds, and during turns and various maneuvers... (21) independently driven at target speeds suitable for the different road lengths they will travel 30 This is ensured. As part of this control, one of the wheels (21) has higher hydraulics and the other has lower hydraulics. It is possible to apply a drive and modify the hydraulic flow depending on the ground conditions. In the preferred configuration, the control, software, automation and execution engines in question are 35. This can be done automatically through associated control and sensing elements. In a possible configuration, the movement of the wheels (21) on the working surface 17 In determining the resistance, hydraulic pressure, hydraulic flow rate of the drive motors (31) motor rotational speed, wheel (21) rotational speed or one of these obtained Information can be used. For this purpose, pressure related to the drive groups (30) can be used. sensing elements, flow sensing elements, rotational speed sensing elements or Position sensing elements can be used. The control unit selects one of the aforementioned pieces of information. 5 or by evaluating more than one of the wheels the difference in movement between the wheels (21) It can determine and execute the operation by controlling the relevant proportional hydraulic control elements. They can change the hydraulic drive transmitted to their motors (31) independently of each other. 10 rubber-wheeled portal crane (1), drive motors (31) and steering motors (41) at least one hydraulic power unit to provide the hydraulic energy required for its operation It includes the hydraulic power unit, the drive groups (30) and the steering drive It provides hydraulic flow at the required pressure and flow rate to the groups (40). Preferred In this configuration, the execution and steering systems use the same hydraulic power source instead of separate power sources. It is powered by the power unit. The preferred 15 has four bogie chassis (20). In this configuration, the hydraulic energy requirements of the four executive and four steering functions are shared. It can be supplied via a hydraulic source. Bogie chassis (20), wheel (21), drive the number of drive groups (30) or steering drive groups (40) is differentiated in the configurations, the capacity of the hydraulic power unit and the independent hydraulic functions it supplies The number can be changed accordingly. 20 In the preferred configuration, the hydraulic power unit is an electric motor with a power of approximately 55 kW. and includes an oil tank with a capacity of approximately 600 liters. It features an electric motor and a hydraulic system. to drive the pumping system that creates the necessary flow within it It can be used and the oil tank provides storage for hydraulic fluid. The aforementioned 25 55 kW power and 600 liter tank capacity are the values ​​for the preferred configuration of the crane. to the carrying capacity, the number of drive motors (31) and steering motors (41), Hydraulic power at different values ​​depending on the required working pressures and total flow rate. The hydraulic power unit can be used. Depending on the application requirements, the hydraulic power unit can be fixed. or at least one hydraulic pump with variable displacement to filter the hydraulic fluid 30 at least one filtering element that enables control of hydraulic fluid temperature. at least one cooling element that assists and pressure changes in the hydraulic system It may include at least one hydraulic accumulator that helps to balance it. The rubber-wheeled portal crane (1) has 35° around the vertical axis (I) of each bogie chassis (20). It must contain at least one absolute encoder for determining its angular position. Absolute encoder, position information representing the orientation angle of the relevant bogie chassis (20) 18 It creates the angle and transmits this angle information to the control unit. The control unit, Using the position information received from the absolute encoder, the angular position of the bogie chassis (20) The target angular position that the vehicle must reach within the scope of the selected movement scenario and its location. can compare and steer the engine (41) until the target location is reached. It can control. Thus, the bogie chassis (20) can control not only approximately, but also 5 It is possible to bring the object to the angular positions determined by the control system. Instead of or together with an absolute encoder, the angular aspect of the bogie chassis (20) using different position sensing elements that can enable the determination of its location This is also possible. The aforementioned position sensing element can be magnetic or optical. 10 a rotary encoder, resolver, angular position sensor with a working principle, The vertical axis (I) of the potentiometric position sensing element or bogie chassis (20) a different electrical signal that can generate an electrical signal representing its angular position around it It can be a position sensing element. In configurations using absolute encoders. The encoder can be in single-turn or multi-turn configuration, the steering motor (41), turning 15 in a region associated with the mechanism (42) or angular movement of the bogie chassis (20) can be positioned. In the preferred configuration, a separate one for each bogie chassis (20) Thanks to the use of an absolute encoder, the angular positions of the four bogie chassis (20) are distinct. They can be monitored separately and controlled independently by the control unit. It is possible. 20 The control unit uses an absolute encoder or different position sensing for each bogie chassis (20). the actual orientation angle determined by the element within the selected motion scenario It can be compared with the target steering angle determined for the relevant bogie chassis (20). Each An allowed angle tolerance for a target aiming angle can be defined and controlled. 25 The unit is able to perform an interlock check using the aforementioned comparison. The actual steering angle of any bogie chassis (20) is the relevant target steering angle. If the angle is outside the tolerance range, the drive groups (30) It is not permitted to be driven or the execution command is given by the control unit. is prevented. The actual steering angle of each bogie chassis (20) is the relevant target 30 The execution movement is permitted when the angle of direction reaches within the tolerance range. This angle tolerance can be given. The mentioned angle tolerance depends on the movement scenario, the size of the portal crane, different values ​​depending on working speed and directional accuracy It can be determined. Thus, the wheels (21) are positioned in accordance with the intended direction of execution. The initiation of an execution movement without guidance is prevented. 35 19 The control unit also measures the actual rotational speed of each wheel (21) separately on the execution side. It can be used in a way that allows it to be monitored and controlled. The wheel (21) Drive motor in possible configurations for determining the actual rotational speed. (31), reducer (32), wheel (21) hub or a different related to the rotational movement of the wheel (21). At least one speed or rotation sensing element can be positioned in the area. The aforementioned 5 sensing element is an encoder, magnetic sensing element, Hall effect sensor, inductive sensing element or rotational motion that allows speed information to be obtained It can be a different sensor. The actual rotational speed information obtained from each wheel (21) The selected motion scenario for the relevant wheel (21) is transmitted separately to the control unit. It can be compared with the target rotation speed determined within the scope. The control unit, target 10 with the relevant drive unit (30) according to the difference between the rotational speed and the actual rotational speed the control value of the associated proportional hydraulic control element other drive execution can increase or decrease independently of groups (30) and thus the actual of the relevant wheel (21) It can bring the rotational speed closer to the target rotational speed. This is a feedback speed correction. It can be performed separately for each wheel (21) and 15 at the speed of one wheel (21). The correction does not eliminate the independent speed control of the other wheels (21). During movement, the wheels (21) move in harmony with each other, during turning and different target speeds depending on the difference in distance that the inner and outer wheels (21) will travel. It is ensured that it is operational. The control unit sets the actual rotational speed of each wheel (21) to the target set for the respective wheel (21). It can compare the rotational speeds separately. Target rotational speed and actual rotational speed If there is a difference between them, the control unit is associated with the relevant executive drive group (30). proportional hydraulic control element independently of other drive groups (30) By controlling it, it can change the hydraulic flow transmitted to the relevant drive motor (31). 25 Thus, the actual rotational speed of each wheel (21) can be brought closer to the target rotational speed and The speed differences between the wheels are independent of the chosen motion scenario. It can be corrected as follows. In a possible configuration, the speed control in question is the target. the difference between rotational speed and actual rotational speed within a defined tolerance range This can be achieved through a closed-loop control system for containment purposes. 30 Rubber-wheeled portal crane (1), in a preferred configuration, the operator's control unit at least one remote control unit to enable the transmission of remote movement commands It includes. Through the remote control unit, the operator can select the type of movement or motion. can choose the direction, and the control unit sends the selected movement command to the bogie chassis (20) 35 by converting the target angles and the required direction and speed of rotation of the wheels (21) to the direction of movement and It is capable of controlling steering drive groups. Drive motors (31), steering motors (41), proportional hydraulic control elements and hydraulic lines for transmitting hydraulic flow between hydraulic power units can be used. The aforementioned hydraulic lines are powered by pressurized water supplied from the hydraulic power unit. the fluid to the relevant control elements and from there to the drive or steering motors. 5 transmitting and transferring hydraulic fluid returning from the motors back to the hydraulic system. This allows for the connection geometry, diameter, pressure class, and layout of hydraulic lines. These can be determined according to the flow rate and pressure requirements of the system. In light of all that has been said, the subject of the invention, the rubber-wheeled portal crane (1), is as follows: 10 It is working: preferred with the operation of the rubber-wheeled portal crane (1). The electrical energy supplied by the generator powers the electrical and hydraulic system. is transmitted to its components. In the preferred configuration of the hydraulic power unit, approximately 55 The kW electric motor is started and in the oil tank with a capacity of approximately 600 liters The hydraulic fluid is sent to the drive and direction systems. Drive 15 Drive groups (30) and steering drive groups (40) from the same hydraulic power unit It is fed and in the preferred configuration, there are four bogie chassis (20) A total of eight independent hydraulic movements, including one running motion and four steering movements. is being created. The mentioned number refers to the preferred four-bogie configuration, and the bogie Independent drive and steering depending on the chassis (20) and the number of wheels (21) 20 The number of functions can be varied. Each execution and routing function It is controlled independently, bidirectionally and proportionally, and the control unit It is managed in a coordinated manner by. Each bogie chassis (20) has The drive group (30) and the steering drive group (40) move independently of each other. 25 The steering motor (41) drives the turning mechanism (42) and the bogie chassis (20) It directs the wheel (21) around the vertical axis (I). Thus, the wheel (21) rotates and the crane with the drive motion that enables it to move forward, in which direction the wheel (21) will move The steering movement is determined by two separate hydraulic drives on the same bogie chassis (20). It is carried out by means of. In the preferred configuration, four wheels (21) drive 30 Instead of a common mechanical axle or common transmission connecting their movements, each wheel (21) is driven via its own drive motor (31) and gearbox (32). Preferred In the application made, 29.5R25 tires and 25.00 / 3.5 rims are used, reducer (32) planetary It is implemented as a reducer (32) and with a working pressure of approximately 315 bar, the total is approximately A hydraulic flow rate of 162.4 L / min is taken into account. Approximately 40 L / min flow rate for each wheel (21) 35 used and preferred in BB7 type drive groups (30) per wheel (21) A maximum output torque of approximately 31,600 Nm is obtained. Four drive groups (30) 21 In the preferred configuration, two are used with brakes and two without brakes; braked drive. to help keep the wheel (21) and the winch in the position where they are stopped in the drive groups There are brakes (33) with a holding capacity of approximately 40,000 Nm. In the preferred configuration, the operator controls the 5-wheeled vehicle via a remote control unit. The control unit selects the movement that the portal crane (1) wants to perform. the orientation that each bogie chassis (20) must reach in response to the movement scenario It determines the angle and the required direction of rotation and the speed of rotation of each wheel (21). Preference In the configuration made, the orientation angle of each bogie chassis (20) is an absolute encoder It is monitored via [link], the obtained angle information is transmitted to the control unit, and the direction is 10. The motors (41) are controlled individually according to the angle information in question. For example, the bogie While the chassis (20) are initially located in different angular positions, the operator executes straight. When the scenario is selected, the control unit controls the four bogie chassis (20) independently of each other. It directs the vehicle in the straight-line direction. The steering motor (41) is the preferred The system operates at approximately 160 bar working pressure and has an output of approximately 254 Nm. It is implemented as an MR100C type hydraulic motor with a certain torque, the motor in question is WE21- It drives the 90-25H-L-2890 type rotating mechanism (42). Rotating thanks to the reduction ratio of approximately 1:90 of its mechanism (42) approximately 22.860 Nm steering torque is obtained and in the preferred configuration the relevant bogie chassis (20) A 90° change in direction can be accomplished in approximately 6.25 seconds. Rotation 20 The mechanical connection between the mechanism (42) and the bogie chassis (20) is preferred through the flange (43) which is formed as a result of the structure and then processed In addition to ensuring that the flange (43) steering torque is transferred to the bogie chassis (20), loads from the wheel (21) and bogie chassis (20) to the main structure (10) It also contributes to the transfer. The control unit ensures that each bogie chassis (20) has an absolute 25 the actual orientation angle determined via the encoder with the relevant target orientation angle compares the actual steering angle of any of the bogie chassis (20). when the target aiming angle is not within the specified tolerance range The interlock control prevents the actuation of the actuation drive groups (30). Each When the actual steering angle of the bogie chassis (20) reaches within the relevant target angle tolerance, 30 The execution movement is permitted and the execution motors (31) are bidirectional with each associated with it. The wheels (21) are controlled via proportional hydraulic control elements along the horizontal axis. (II) is rotated around in the desired direction. In a straight forward or reverse movement scenario, the four bogie chassis (20) essentially perform the same execution 35 The wheels (21) are brought into alignment and the direction of rotation of the wheels is selected as forward or backward movement. It is determined according to the direction. The control unit determines the direction of the wheels (21) during straight driving. 22 to ensure they move in harmony with each other, their execution speeds are controlled separately. It is able to do so. The actual rotational speed of each wheel (21) is detected via the relevant speed sensing element. The difference between the target rotational speed and the actual rotational speed is determined separately and controlled. is evaluated by the unit and is proportional to the relevant executive drive group (30). The hydraulic control element is controlled independently of other drive groups (30) 5 Thus, the speed deviation occurring in one wheel (21) is corrected as follows. This can be resolved without disrupting the independent control of the wheels (21). Lateral movement is desired. In this case, steering drive groups (40) are engaged and bogie chassis (20) In the preferred scenario, the entire line is approximately 90° relative to the straight-line traverse direction. In this case, the direction of travel of the wheels (21) is the main 10 of the crane. its construction (10) is turned sideways according to the longitudinal movement direction and Driven by the drive motors (31), the rubber-wheeled portal crane (1), main (10) of the construction moves in the lateral direction without changing its direction. This can be achieved. For example, a long concrete or bridge girder can be stretched between two bearing points. Instead of rotating the crane body within a wide turning arc during transport, the bogie chassis are 15 (20) The crane is turned directly to the side while maintaining the direction of the load by being oriented approximately 90°. It can be purchased. If cross movement is desired, four bogie chassis (20) 0° and 90° It can be brought to a suitable intermediate steering angle between them and the wheels (21) are at the same cross It is driven according to the direction of movement. This allows it to be approximately 28 meters in size. The heavy-duty portal crane is not limited to classic forward-backward movement, but can operate in the work area up to 20 It can change position in the diagonal direction. The diagonal movement is the same as the bogie chassis (20). by bringing them to an intermediate orientation angle, in two opposing diagonal directions. This can be achieved by changing the direction of rotation of the wheels (21) in the same bogie. Movement in a diagonal direction, forward or backward, while maintaining steering angles. It can be realized that the steering angles of the bogie chassis (20) are reversed to the diagonal direction 25 By properly modifying it, the crane can move in the other diagonal direction. This is possible. The preferred control application uses predefined movements. The following scenarios can be used. Seven different action scenarios are preferred in the chosen configuration. It can be defined and, if necessary, additional motion scenarios can be sent to the control unit. can be added. 30 In another possible movement scenario, the rubber-wheeled portal crane (1) pivot steering. It can perform the movement. During pivot steering, the bogie chassis (20) The steering angles are determined by the geometric center of the rubber-wheeled portal crane (1) or Suitable for rotation around a rotation center determined near its geometric center. 35 They are determined differently from each other in this way. In this structure, the wheels (21) drive their directions conform to the circular motion trajectories around the aforementioned center of rotation. 23 They are directed in such a way that the wheels (21) turn in the direction of rotation that is appropriate to the direction of rotation. It is driven. The control unit controls the steering angle of each bogie chassis (20) and each by controlling the direction of rotation and the speed of rotation of a wheel (21) together with the main structure (10) without performing any significant forward, backward or lateral translational movement from its center 5. Rotating around or near a center of rotation It can provide. Thus, the rubber-wheeled portal crane (1) can provide wide working areas in narrow working areas. Changing direction within its own region without needing a turning radius It is possible. In the case of circular or pivot-center dependent movement scenario, the control unit is bogie 10. Instead of aligning all of the bogie chassis (20) to the same angle, each bogie chassis (20) The steering angle is determined separately according to the desired center of rotation that the crane should follow. It determines. Accordingly, the wheels (21) on the inside of the turn and the outer wheels. Since the lengths of the paths that the wheels (21) on the side will travel are different, the execution The rotational speeds of their motors (31) are also controlled differently. On the outside 15 In a turn where the wheels (21) have to travel a longer distance, these wheels (21) At a high suitable running speed, the inner wheels (21) have a shorter track length. They can be driven at the corresponding appropriate speed. Thus, the bogie chassis (20) steering angles and the rotational speeds of the wheels (21) within the same motion geometry They are evaluated together and despite the crane's heavy and long structure, it rotates 20 the wheels (21) dragging each other or being forced into a single common rotation geometry is being reduced. The movement associated with the aforementioned center of gravity is possible in a structured way. This can be implemented according to the Ackermann routing principle. In this configuration, the turn Steering angles of the bogie chassis (20) located on the inside and outside of the center The rotational speeds of the wheels (21) are determined differently and the different trajectories they will follow. They are checked separately according to their lengths. The turning center's rubber-wheeled portal Ackermann steering motion is two opposing to the selection of the first or second side of the crane (1). It can be performed in the direction of rotation. The control unit controls each bogie chassis (20) and each thanks to its ability to control the wheel (21) independently on the same basic mechanical system In addition to straight, backward, lateral, diagonal and circular movements, different wheel (21) angles and wheel (21) 30 Additional maneuvering scenarios consisting of speed combinations can also be performed. The working principle of the rubber-wheeled portal crane (1) which is the subject of the invention is only on smooth concrete. It is not related to maneuverability on the ground. In the selection of the execution drive groups (30) slope, rolling resistance, characteristics of the working surface, tire deformation under load 35 and its burial in the ground, along with the additional resistances created during rotation, affect hydraulics and mechanics. Losses are taken into account. Therefore, in the preferred execution groups, approximately 24 A high output torque of 31,600 Nm was selected, especially for materials containing crushed stone or gravel. On loose ground and inclined working surfaces, all four wheels (21) have the same resistance of movement. It is not necessary for them to meet. For example, the wheel (21) on one side of the crane has a firmer surface. As it moves along, the wheel on the other side (21) encounters loose gravel, potholes or higher ground. It can enter an area with rolling resistance. In this case, hydraulic drive 5 the systems are independent of each other and each execution engine (31) has a separate proportional Transmitted to the wheels (21) by means of control via hydraulic control element Hydraulic drives can be customized. For a wheel that encounters higher resistance to movement. (21) drive of the other wheel with lower resistance when higher drive is applied (21) It can be modified accordingly. Thus, the system becomes a differential-like 10 It can exhibit adaptive behavior. A wheel (21) due to a pothole or loose ground the movement chosen as a result of temporary loss of load or failure If the scenario shows a tendency to deteriorate, the control and automation system will switch to another mode. by controlling the crane's drive mechanisms to adapt to the current movement This ensures that the selected movement continues. This process requires the operator to individually select which wheel to move. (21) automation without having to manually determine how much power should be given and This can be done via a hydraulic control system. Within the scope of this ground adaptation capability, the rubber-wheeled portal crane (1) is preferred. Movement of the structure on working surfaces with an incline of up to 4° relative to the horizontal 20 This is provided. For example, a crane can flatten concrete at a construction site or precast concrete production area. each wheel when it moves from the surface to an open field section covered with gravel and having a certain slope (21) The resistance it encounters can vary. Control unit and proportional hydraulic control The elements drive the motors (31) independently by controlling each other and the selected movement It ensures the preservation of its direction. 25 In the case of load handling, the rubber-wheeled portal crane (1) is the main one in the preferred configuration. two monorails with a capacity of approximately 25 tons located in the upper part of the construction (10) and These approach a long concrete structural element via sleepers located underneath them. The operator selects the appropriate movement scenario via remote control, allowing the crane to move the load up to 30 It ensures precise positioning on the concrete block sleeper, prefabricated. Once connected to a concrete element or bridge girder, monorails can support the load. and the load is carried by the main structure (10). After the load is lifted, the crane is taken to the field. using the appropriate straight, lateral or diagonal movement scenario depending on the conditions It can transport the load, for example, from the demolding area to the open field stacking area. 35 After stacking, or if needed, the same load can be lifted again on site. It can be moved to another location or loaded onto a truck. During this process, the bogie... chassis (20), wheel (21), drivetrain (30) and steering drivetrain (40) together It is working, but the driving motion of each wheel (21) and the steering motion of each bogie It is carried out independently according to its own control needs. The crane's movement ends. When this happens, the drive given to the drive motors (31) is cut off and the preferred two brakes are applied. Using the brakes (33) located in the drive group, the crane's position is changed to 5 This contributes to its protection. Thanks to the rubber-wheeled portal crane (1), the steering angle of each bogie chassis (20) The direction of rotation and the speed of rotation of each wheel (21) are controlled independently. This allows heavy and large loads to be moved not only forward and backward, but also in 10 directions. It is also possible to transport the material in a controlled manner in lateral, diagonal and circular directions. The driving and steering movements are driven independently by two separate hydraulic drives. carried out through and under central control of these functions Coordinated management allows the crane to have greater maneuverability in confined work areas. This allows it to demonstrate its capabilities. Thanks to proportional hydraulic control, it can display 15 different... The amount of drive is adjusted separately to compensate for the differences in the movement resistance in the wheels (21). It is adjustable, which ensures stability on gravel, loose or sloping surfaces. is increased. The actual rotational speed of each wheel (21) is measured separately and the target The independent drive of the relevant drive depends on the difference between the rotational speed and the actual rotational speed. This allows for more precise adjustment of wheel speeds to the selected motion geometry. It contributes to the compatibility of the directions of the bogie chassis and the wheel (21) speeds separately. Checking that the inner and outer wheels (21) are suitable for different road lengths during the turn By enabling it to move at higher speeds, it helps reduce drag and strain. It also offers the ability to track steering angles with an absolute encoder and bogie. Before the actual steering angles of their chassis (20) reach within the target angle tolerance 25 The prohibition of execution movements, the fragility of predefined movement scenarios, It supports repeatable and controlled implementation. Braked execution groups This structure helps to keep the crane securely in its stationary position. Thanks to this, the rubber-wheeled portal crane (1) is more flexible in heavy load handling applications, a precise and adaptable execution and guidance system for varying field conditions 30 It offers. The scope of protection of the invention is specified in the claims attached hereto, and these details are strictly adhered to. The explanation cannot be limited to those given for illustrative purposes. Because a technically skilled person... 35 similar ideas in light of what has been described above, without deviating from the main theme of the invention. It is clear that these structures can emerge. 26 REFERENCE NUMBERS GIVEN IN THE FIGURE 1 Rubber-Tireed Portal Crane Main Structure Bogie Chassis 21 Wheels Executive Drive Group 31 Drive Motors 32 Gearbox 33 Brakes 40 Steering Drive Group 41 Steering Engines 42. Turning Mechanism 43 Flanges Vertical Axis II Horizontal Axis

Claims

27 REQUESTS 1. The invention is a main construction (10) for use in rubber-wheeled portal cranes. 5 located in different regions of the main construction mentioned (10) excess bogie chassis (20) and the most located on each bogie chassis (20) The feature of a rubber-wheeled portal crane (1) which includes at least one wheel (21) is that each bogie On the chassis (20), the relevant wheel (21) extends in a horizontal direction parallel to the ground. independent of the wheels (21) located on other bogie chassis (20) around the axis (II).

10. Driven by hydraulic power to enable it to rotate forward and backward. at least one execution engine (31) and from the said execution engine (31) an actuator containing at least one gearbox (32) which transmits the received drive to the wheel (21). The group (30) includes, on each bogie chassis (20), the relevant bogie chassis (20) a vertical axis (I) extending perpendicular to the ground according to the main structure (10) to enable it to be steered independently from other bogie chassis (20) around it 15 at least one steering motor (41) and main which are driven by hydraulic power. positioned between the construction (10) and the bogie chassis (20), mentioned With the drive it receives from the steering motor (41), the bogie chassis (20) is driven on the vertical axis (I) a routing that includes at least one rotating mechanism (42) that rotates around it Includes drive group (40), executive drive groups (30) and steering drive 20 connected with groups (40), each executive drive group (30) and each direction drive group (40) independent of other drive and steering drive groups controlling in a bidirectional and proportional manner, the aforementioned execution and centrally and coordinately manages the routing functions. the steering angle of each bogie chassis (20) around the vertical axis (I) of the other 25 Controlled independently of the bogie chassis (20) and each wheel (21) horizontally The direction of rotation around the axis (II) and the speed of rotation are independent of the other wheels (21). by checking the bogie chassis (20) at the same or different steering angles and enables the wheels (21) to be brought to the same or different directions and speeds of rotation, The forward and backward, lateral, diagonal and circular movements of the rubber-wheeled portal crane (1) 30 controlling the steering angles of the bogie chassis (20) during circular motion Controlled differently from each other according to the center of rotation and the wheels (21) their rotational speeds differ according to the distances the inner and outer wheels will travel. It must contain at least one control unit that controls it. 35 2. According to claim 1, a rubber-wheeled portal crane (1) has the characteristic of having a reducer (32). It has a planetary gearbox. 28 3. According to claim 1, a rubber-wheeled portal crane (1) has the characteristic of each execution other execution and of each motor (31) and each steering motor (41) Bidirectional and proportional control, independent of steering motors. and on working surfaces with an incline of up to 4° relative to the horizontal, the crane's 5 The hydraulic drive transmitted to the wheels (21) to maintain the movement is separated from each other. each executive drive group (30) to ensure that it is controlled independently and at least one proportional hydraulic control associated with each steering drive group (40) It contains the element.

4. According to claim 1, a rubber-wheeled portal crane (1) has the following characteristics; each bogie Determining the orientation angle of the chassis (20) around the vertical axis (I) and Each bogie chassis (20) is used to transmit the mentioned angle information to the control unit. It must contain at least one associated absolute encoder.

5. According to claim 1, a rubber-wheeled portal crane (1) has the following characteristics: steering drive. mechanical of the group (40), turning mechanism (42) and bogie chassis (20) providing the connection and the loads coming from the bogie chassis (20) to the main structure (10) It must contain at least one flange (43) which allows transfer.

6. According to claim 1, a rubber-wheeled portal crane (1) has the following characteristics: drive The group (30) must be at least enough to ensure that the wheel (21) is kept in a stationary position. It contains a brake (33).

7. According to claim 4, a rubber-wheeled portal crane (1) has the following characteristics; associated with the control unit, 25 The actual orientation angles obtained from absolute encoders are used with the relevant bogie chassis (20) comparing it with the target aiming angles determined for any bogie the actual steering angle of the chassis (20) relative to the relevant target steering angle If the drive groups (30) are outside the specified tolerance range It must include at least one interlock control function that prevents it from being activated. 30 8. According to claim 1, a rubber-wheeled portal crane (1) has the following characteristics; the control unit, the actual rotational speed information compared with the target rotational speed determined for the relevant wheel (21). by comparing the difference between the target rotational speed and the actual rotational speed. the proportional hydraulic control element associated with the drive group (30) other drive 35 To enable each of the drive groups (30) to be controlled independently. determining the actual rotational speed of the wheel (21) separately and the aforementioned actual rotation 29 The relevant wheel (21), drive motor (31) or transmits the speed information to the control unit. It contains at least one speed sensing element associated with the gearbox (32).

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