Gantry trolley

Abstract

A gantry trolley (100) comprising a continuous upper gantry frame (1), provided on which is a load-receiving unit (30) for receiving a load (L) below the gantry frame (1); and at least four supports (3.1, 3.2, 3.3, 3.4) which are separate and independent of one another on the gantry frame (1) and each have a lower free end (8) on each of which at least one wheel arrangement (4) is provided. At least two of the wheel arrangements (4) have an electric or electrohydraulic propulsion mechanism (9) for propelling a respective wheel (5).

Description

[0001] Portal trolley

[0002] The invention relates to a portal carriage, sometimes also called a portal vehicle, with a continuous upper portal frame on which a load-carrying means for receiving a load is provided below the portal frame, in particular a lifting device for lifting a load, and with at least four supports arranged separately and independently of one another on the portal frame and extending in particular downwards from the portal frame, each with a lower free end on which at least one wheel arrangement or wheel suspension comprising at least one wheel is provided.

[0003] Such vehicles are well known. They are used primarily for carrying loads that can be driven over, especially long loads such as rails or pipes, on the underside of the portal frame.

[0004] Such a portal trolley is known, for example, from DE 26 28 270 Al.

[0005] Such gantry vehicles are typically used outdoors, particularly for transporting long, heavy loads. The primary requirements here are robustness against environmental influences, load capacity, high operational capability, and maximum speed; other requirements, such as maneuverability, energy efficiency, or emissions regulations, are often considered secondary. However, it is increasingly desired or necessary for such vehicles to be able to be used in relatively confined, particularly enclosed environments, such as buildings or tunnels. Until now, this required separate vehicles that specifically met the increased requirements for operation inside buildings or tunnels. Furthermore, the requirements for energy efficiency and environmental friendliness have increased significantly in recent times.

[0006] The object of the present invention is therefore to provide a portal trolley which improves at least one of the above-mentioned disadvantages and in particular enables operation which is durable, environmentally friendly, in particular low in emissions, and particularly flexible in terms of speed and maneuverability, even under adverse conditions.

[0007] The invention solves the stated problem by a gantry trolley having the features of the main claim. Advantageous embodiments and further developments of the invention are disclosed in the subclaims, the description, and the figures.

[0008] According to the invention, the gantry vehicle has an electric drive or an electro-hydraulic drive on at least two wheel arrangements for driving a respective drive wheel. This enables a particularly low-emission or environmentally friendly, energy-efficient, space-saving, and relatively lightweight drive of the vehicle. Furthermore, both the production and maintenance intensity of the vehicle can be comparatively significantly reduced. Moreover, the arrangement of an electric motor enables particularly high flexibility with regard to the acceleration and maneuverability of the vehicle compared to an internal combustion engine. In particular, when each individual wheel is driven by an electric drive, a particularly high steering angle for steering each wheel can be achieved. This makes the present gantry vehicle particularly advantageous for use inside buildings and / or for general environmental protection.

[0009] The portal frame forms a plane that is aligned essentially parallel to the ground on which the portal carriage is moved. A side wall can extend laterally along the portal frame, in particular downwards in the direction of the wheel arrangement. The side wall can form a lateral closure of the portal carriage. The support extending downwards from the portal frame is preferably cylindrical. The support can be surrounded laterally, in particular circumferentially, by a support receptacle. The support extends axially within the support receptacle having a tubular receptacle. The support receptacle can be firmly connected to the portal frame.

[0010] A control station for operating and driving the gantry vehicle is also located on the gantry frame. The control station is preferably located on a front side of the gantry frame in the main direction of travel. It should be clear that the main direction of travel refers in particular to the longitudinal direction of the vehicle, while a transverse direction of travel means perpendicular to the main direction of travel.

[0011] In this context, it should also be clear that a gantry vehicle does not have a subframe that connects the individual supports at their lower ends or the wheel assemblies, as is common with other vehicle variants. Instead, the gantry vehicle in question has four individual supports. The wheel assembly is located at the lower end of these supports.

[0012] The electric drive can be designed, for example, as an electric motor, in particular as an electric direct drive. The electric motor can be designed as an asynchronous motor or synchronous motor. When designed as an electro-hydraulic drive, the electric drive can serve as the motor for a hydraulic pump, with which hydraulic pressure can be generated, which in turn can be converted into kinetic energy via a hydraulic motor at a wheel, for example. This enables a particularly energy-efficient drive compared to drives with a combustion engine. Furthermore, the gantry trolley can be operated with almost no emissions and can therefore also be used safely within enclosed spaces such as buildings. Advantageously, each electric drive can be controlled separately.For this purpose, the gantry vehicle can have a vehicle control unit configured to individually control each of the electric drives. This makes the gantry vehicle particularly maneuverable and capable of individual cornering, as well as diagonal, transverse, or carousel driving. Furthermore, unwanted slipping or skidding of individual wheels can be effectively prevented, thus enabling particularly safe driving behavior. Furthermore, it is generally possible for the gantry vehicle to be steered solely or additionally by individually controlling individual drive wheels, for example, in a so-called tank steering system.

[0013] The gantry vehicle can also be designed as an AGV (Automated Guided Vehicle), i.e., an automatically self-driving vehicle. For this purpose, the gantry vehicle can be equipped with a vehicle control unit that can transmit computer-based or remote-controlled control signals to the drive motors. In this case, the gantry vehicle is equipped with the detection devices and sensors typically required for autonomous or automatic operation.

[0014] Preferably, the gantry carriage has an electric drive or an electro-hydraulic drive on each of the wheel arrangements for driving a respective drive wheel. This enables particularly safe and precise propulsion of the vehicle. In particular, power can be transmitted to all wheels of the gantry carriage for acceleration. Furthermore, when each individual wheel is driven by an electric drive, a particularly high steering angle for steering each wheel can be achieved, particularly due to the significantly greater flexibility of electric cables compared to hydraulic lines.

[0015] In principle, the electric drive of a drive wheel can be arranged on the portal frame, in particular on an upper side of the portal frame. In this case, power can be transmitted from the drive motor to the wheel of the wheel arrangement via a gear, rods, a chain and / or belt. Preferably, the electric drive is arranged in the region of the wheel arrangement. For example, the drive can be arranged above the drive wheel to be driven, for example on a turntable. In this case, the electric drive can be designed, for example, as a stationary electric motor. Such a drive motor is space-saving and particularly advantageous with regard to the rotatability of the wheel to be driven, in particular because it cannot collide with the wheel when rotating.Furthermore, the arrangement of the electric drive in the area of ​​the drive wheels enables both particularly simplified and particularly reliable control of the drive wheels.

[0016] Alternatively or additionally, the drive can be designed as a direct drive in a wheel hub of a wheel suspension of the respective wheel arrangement. For example, the electric drive can be arranged at least partially radially between the wheel carrier and the drive wheel. Sectionally is to be understood in particular as a partial area in the axial direction of the electric motor, in particular in the axial direction of an output shaft. The electric drive can be at least partially radially surrounded by the drive wheel. In particular, the electric drive can be integrated into the drive wheel. This enables a particularly compact and space-saving arrangement of the electric drive and the entire wheel arrangement. In particular, the wheel arrangement can therefore have a particularly narrow width. Such a wheel arrangement thus enables the design of a particularly narrow driving aisle, as is increasingly in demand in warehouse logistics.Furthermore, the portal trolley can have a particularly low height and is therefore also suitable for relatively low clearance heights.

[0017] Each wheel arrangement of the gantry carriage usually has only a single drive wheel. However, the wheel arrangement can in principle also comprise more than one drive wheel, for example two or four wheels. In this case, the wheels can be arranged next to one another, for example as twin tires, and / or one behind the other in the main direction of travel. If the wheels are arranged one behind the other in the main direction of travel, a wheel carrier can be provided which extends essentially parallel to the plane and has a wheel suspension at each of its distal ends. Advantageously, the wheel carrier is designed as a wheel rocker or wheel carrier rocker to compensate for uneven ground. In this case, the wheel carrier is preferably articulated relative to the support, in particular freely pivotable about a pivot axis which extends parallel and / or perpendicular to the wheel axis of the wheels.This allows for particularly effective compensation of uneven ground between the wheels and / or a wheel assembly. Furthermore, one of several wheels arranged in a wheel assembly can be designed as the drive wheel and the other as the non-driven idler wheel. The idler wheel serves, in particular, to distribute the weight over the largest possible contact surface.

[0018] Particularly preferably, an electrical energy storage device for supplying voltage, in particular a rechargeable battery, is arranged on the portal frame, in particular on an upper side of the portal frame. The energy storage device can be formed by several individual batteries. The individual batteries are advantageously electrically connected to one another. Alternatively or additionally, at least part of the energy storage device can also be arranged in the supports, the portal frame, or the side walls of the portal carriage. This enables, in particular, a space-saving weight distribution that is advantageous in terms of driving characteristics. In particular, a particularly low center of gravity of the portal carriage can be made possible.

[0019] The energy storage unit can be arranged so that it can be replaced, particularly removable from above. This allows a discharged energy storage unit to be exchanged for a fully charged one particularly quickly. The energy storage unit preferably includes rapid charging technology, so that the energy storage unit can alternatively remain on the gantry trolley and be charged using an external power supply.

[0020] The energy storage unit can be designed as a device with rapid charging technology. This allows the energy storage unit to be charged in a particularly short time, ensuring high availability of the gantry vehicle. Particularly preferred is that all drive motors of the gantry vehicle are exclusively electrically operated. This means that all drives, in particular all traction drives and all auxiliary drives, are operated purely electrically. This makes the entire vehicle particularly suitable for special applications, such as inside a building.

[0021] The drive motors are each preferably designed as a device with high-voltage technology, so that they can be operated with a voltage of more than 120 volts, preferably more than 350 volts, particularly preferably more than 450 volts. The energy storage device is preferably also designed as a device with high-voltage technology, so that the energy storage device can be charged with a voltage of more than 120 volts, preferably more than 350 volts, particularly preferably more than 450 volts. This allows the energy storage device to be charged in a particularly short time, thus enabling high availability of the gantry trolley.

[0022] Furthermore, for the power supply, an energy converter, in particular a fuel cell system, can be arranged on the portal frame, in particular on an upper side of the portal frame. This allows the electrical energy storage device to be continuously charged or maintained in a charged state, thus enabling a particularly high availability of the portal carriage.

[0023] According to a special design of the gantry trolley, the load-handling device has at least one support rail for picking up and lifting a load. This allows long loads in particular to be picked up and transported particularly safely and quickly.

[0024] The load-handling device can be provided with an electro-hydraulic load drive for lifting the support rail. This allows the load drive to also offer the advantages of a wheel drive, in particular comparatively space-saving and cost-effective production and virtually emission-free operation.

[0025] Preferably, the load-handling device has at least one arm extending downward from the portal frame, with the support rail arranged at a lower, free end of the arm. This allows long loads, in particular, to be picked up and transported particularly safely and quickly.

[0026] In principle, it can be provided that the support and / or the wheel assembly are mounted so that they can rotate freely relative to the portal frame, in particular without a gear, in particular without a steering drive. In this case, steering is achieved via the different control or speed of the individual drive wheels of the wheel assemblies. This allows the portal carriage to have a particularly low height.

[0027] According to a preferred embodiment of the portal vehicle, each wheel arrangement is designed to be steerable. Steerability can occur either - as is preferred - across the entire support, in that the support together with the wheel arrangement is designed to be steerable relative to the portal frame, or in that the wheel arrangement is steerable relative to the respective support. Preferably, wheel arrangements are each designed to be steerable independently of one another. In this case, it can be provided, in particular, that each wheel arrangement has its own steering drive. This allows the vehicle to perform individual steering operations. In a preferred embodiment, it is provided that the wheel arrangement is rotatably mounted relative to the support and / or the portal frame on a receiving area lying in the plane. This enables a particularly space-saving arrangement of the wheel carrier on the vehicle chassis.

[0028] The steering processes can be predefined as steering programs or individually controlled, for example, using a steering wheel and an additional joystick. This allows the gantry trolley to perform individual cornering, as well as diagonal, carousel, or crosswise movements, making it particularly maneuverable.

[0029] Preferably, the wheel arrangement is designed such that it can be rotated through an angle of at least 90°, in particular by means of a steering drive. This allows the gantry trolley to be used, for example, in a

[0030] Transverse travel. Particularly preferably, a steering drive is provided for steering the wheel assembly. The steering drive can be arranged on the portal frame, in particular on an upper side of the portal frame. Furthermore, a steering linkage can be provided on the portal frame. The linkage can, for example, connect two wheel assemblies to a common steering drive. Alternatively—and preferably—each wheel assembly can have its own steering drive.

[0031] Preferably, a steering control system is provided for steering the wheel assembly, allowing a predefined steering movement of each steering drive or each wheel assembly to be controlled by selecting a suitable steering program. This allows the gantry trolley to be steered and driven particularly easily. In particular, individual, recurring driving situations, such as approaching a load-handling point, can be carried out semi-automatically or fully automatically.

[0032] Particularly preferably, a steering control is provided for steering the wheel arrangement, which is suitable for steer the wheels of the gantry carriage relative to one another in such a way that, during steering, only a single, movable steering center is present, formed by the intersection of all wheel axles. This can prevent inaccurate steering behavior, in particular wheel skidding. It should be clear that, in principle, there is no steering center when driving straight ahead; however, when a steering process is initiated and intensified, the steering center shifts from infinity towards the vehicle. At a certain point in the steering process, namely when two wheels have reached an angle of 90°, the steering center is also arranged so that it can be moved into the space between the four wheels when steering further for an even tighter curve radius. This design makes it possible to achieve particularly safe and precise driving behavior of the gantry carriage.

[0033] An exemplary embodiment of the invention is explained in more detail below with reference to the figures. Like reference numerals denote like components. They show schematically: Figure 1 - a perspective view of an embodiment of a gantry carriage according to the invention;

[0034] Figure 2 - a side view of the portal carriage according to Fig.l;

[0035] Figure 3 - a view of the portal carriage according to Fig.l from above;

[0036] Figure 4 - a front view of the portal carriage according to Fig.l; and

[0037] Figure 5 - a view from above showing the steering pole when the portal carriage is cornering according to Fig.l.

[0038] In Figures 1 to 4, an embodiment of the portal carriage according to the invention is shown, each with the reference numeral 100. The portal carriage 100 has a portal frame 1, which forms the basic or supporting structure of the vehicle. At the corners of the portal frame 1, a support 3.1, 3.2, 3.3, 3.4 extends downwards from the portal frame 1. The supports 3.1, 3.2, 3.3, 3.4 each extend, in particular at least in sections, within a support receptacle 13.1, 13.2, 13.3, 13.4. A wheel arrangement 4 is arranged at the free lower end 8 of each support 3.1, 3.2, 3.3, 3.4. Each wheel arrangement 4 is essentially identical in the present case, so that individual designations are omitted for the sake of clarity.

[0039] The portal frame 1 comprises a platform 14 surrounded laterally by four supports, which, with an upper side 12, spans a plane E extending essentially parallel to the ground on which the portal carriage 100 stands or travels. The platform 14 is designed as a continuous structure and can, in particular, form a walkable surface. An operating station 17 is arranged on a front side of the platform 14 or of the portal frame 1, in the main direction of travel. The operating station 17 contains operating devices for operating the vehicle, in particular for driving and steering, as well as for operating the load-handling device 30. Arranged below the platform 14, i.e., on the side of the platform 14 facing in the direction of the wheel arrangement 4, is a load-handling device 30 for receiving a load (not shown). The load can, in particular, be understood to mean long goods, such as rails, pipes, or wooden beams.In order to optimally grip these loads for lifting or transporting, the load handling device 30 has two receiving rails 31a, 31b. The receiving rails 31a, 31b are each arranged in an articulated manner at a lower free end 34 of at least one arm 33, which extends downwards from the portal frame 1. The arms 33 are essentially identical in design in the present case, so that individual designations are omitted for the sake of clarity. For lifting, transporting, and setting down the loads, the receiving rails 31a, 31b can be raised and lowered, as well as shifted and pivoted relative to one another in the transverse direction of travel, by means of a purely electrically operated or electro-hydraulic load drive 32 (not shown in detail).

[0040] Each wheel arrangement 4 comprises in the present case a wheel suspension 10 (not shown in detail) with a single drive wheel 5 arranged thereon. Alternatively, more than one wheel suspension 10 can be provided, in particular a wheel carrier with two wheel suspensions arranged one behind the other in the main direction of travel HF.

[0041] In this example, the drive 6 of the drive wheel 5 is provided by an electric direct drive 9. This drive 9 is arranged in a wheel hub 11 of the wheel suspension 10. Alternatively, the drive motor can also be arranged above the drive wheel 5 to be driven, in particular on a flat surface between the wheel assembly 4 and the supports 3.1, 3.2, 3.3, 3.4.

[0042] Each wheel 5 or each wheel arrangement 4 is designed to be steerable. In particular, a wheel suspension can be pivoted in a plane E at any angle, particularly relative to the respective support 3.1, 3.2, 3.3, 3.4, so that a wheel 5 arranged thereon can be steered as desired, particularly separately and independently of another wheel 5. Thus, the gantry carriage 100 can, for example, perform diagonal travel, transverse travel QF, and carousel travel.

[0043] A steering drive 7 is provided for steering each wheel assembly 4. In this case, the steering drive 7 is formed by a steering drive 20. The steering drive 20 can be designed, for example, as an electro-hydraulic actuating cylinder, which is shown only in Figure 3 for clarity. In this case, the steering drive 20 is arranged on the portal frame 1, in particular on the upper side 12 of the portal frame 1. Power is transmitted from the steering drive 20 to the respective wheel assembly 4 via a steering gear 22.

[0044] In order to be able to carry out the respective steering movements in a coordinated and controlled manner, a steering control 21 (not shown in detail) is provided. With the steering control 21, a predefined steering movement of each steering drive 20 or each wheel arrangement 4 can be controlled by selecting a suitable steering program. This allows, in particular, simple cornering, but also diagonal, carousel, or transverse movements to be carried out. The steering control 21 can, in particular, be provided to steer the wheels 5 of the gantry carriage 100 relative to one another in such a way that, during steering, only a single, displaceable steering pole LP is present, formed by an intersection point of all wheel axles A5, as shown in Figure 5.

[0045] Figure 5 shows a typical cornering motion of the gantry carriage, where the intersection of all wheel axles A5 forms a common steering pole LP. The gantry carriage rotates around this steering pole LP. When a steering element is turned, the steering pole LP is moved from infinity towards the gantry carriage. The greater the desired steering angle or the tighter the curve is to be taken and the steering element is adjusted accordingly, the closer the steering pole LP approaches the vehicle. The steering pole can also be moved between the front and rear axles of the gantry carriage up to the center of the vehicle, in which case the gantry carriage performs a circular motion, also known as a carousel motion. Alternatively, the steering pole can be moved in such a way that the gantry carriage performs a diagonal or transverse motion. In the latter case, the steering pole is moved to infinity in the direction of the two front or rear wheels.

[0046] In the gantry carriage 100 shown here, all drive motors 9, 20, 32 are exclusively electrically operated. To supply power to the individual electric motors, an electrical energy storage unit 15 is arranged on the gantry frame 1, in particular on the upper side 12. In this case, the energy storage unit 15 is an accumulator comprising several individual batteries removable from the platform 14. This allows the energy storage unit 15, in particular each individual battery, to be replaced particularly easily. The gantry carriage thus meets special environmental requirements and can therefore also be operated safely indoors.

[0047] Reference list:

[0048] 100 portal wagons

[0049] 1 portal frame

[0050] 2.1 Side wall

[0051] 2.2 Side wall

[0052] 3.1 Support

[0053] 3.2 Support

[0054] 3.3 Support

[0055] 3.4 Support

[0056] 4 wheel arrangement

[0057] 5 wheel

[0058] 6 Drive

[0059] 7 Steering drive

[0060] 8 free end

[0061] 9 Drive, drive motor

[0062] 10 Wheel suspension

[0063] 11 Wheel hub

[0064] 12 Top side of portal frame

[0065] 13.1 Support bracket

[0066] 13.2 Support bracket

[0067] 13.3 Support bracket

[0068] 13.4 Support bracket

[0069] 14 Platform

[0070] 15 energy storage

[0071] 16 single battery

[0072] 17 Control station

[0073] 20 Steering drive

[0074] 21 Steering control

[0075] 22 Steering rod, steering gear

[0076] 30 load handling devices

[0077] 31a, 31b mounting rail

[0078] 32 Load drive

[0079] 33 Arm 34 End

[0080] E Level

[0081] HF main direction of travel

[0082] QF Transverse direction of travel LP Steering pole

Claims

Patent claims:

1. Portal carriage (100) with a continuous upper portal frame (1), on which a load-carrying means (30) for receiving a load (L) is provided below the portal frame (1), and with at least four supports (3.1, 3.2, 3.3, 3.4) arranged separately and independently of one another on the portal frame (1), each with a lower free end (8) on which at least one wheel arrangement (4) is provided, characterized in that at least two wheel arrangements (4) have an electric or electro-hydraulic drive (9) for driving a respective wheel (5).

2. Portal carriage (100) according to claim 1, characterized in that each wheel arrangement (4) has an electric or electro-hydraulic drive (9) for driving a respective wheel (5).

3. Portal carriage (100) according to one of claims 1 or 2, characterized in that the drive (9) is arranged above the drive wheel to be driven.

4. Portal carriage (100) according to one of the preceding claims, characterized in that the drive (9) is designed as a direct drive in a wheel hub (11) of a wheel suspension (10) of the respective wheel arrangement (4).

5. Portal carriage (100) according to one of the preceding claims, characterized in that more than one wheel suspension (10), in particular a wheel carrier with two wheel suspensions (10) arranged one behind the other in the main direction of travel (HF), are provided at the lower free end (8) of at least two supports (3.1, 3.2, 3.3, 3.4).

6. Portal carriage (100) according to one of the preceding claims, characterized in that for the voltage supply to the portal frame (1), in particular an upper side (12) of the portal frame (1), an electrical energy store (15) is arranged, in particular an accumulator, in particular which comprises a plurality of individual batteries.

7. Portal carriage (100) according to claim 6, characterized in that the energy storage device (15) is arranged so as to be exchangeable, in particular removable from above.

8. Portal trolley (100) according to one of claims 6 or 7, characterized in that the energy storage device (15) is designed as a device with rapid charging technology.

9. Portal carriage (100) according to one of the preceding claims, characterized in that all drive motors (9, 20, 32) of the portal carriage (1) can be operated exclusively electrically.

10. Portal carriage (100) according to one of the preceding claims, characterized in that the drive motors (9, 20, 32) and / or the energy storage device (15) are designed as a device with high-voltage technology, so that they can each be operated with a voltage of more than 120 volts, preferably more than 350 volts.

11. Portal carriage (100) according to one of the preceding claims, characterized in that an energy converter, in particular a fuel cell system, is arranged on the portal frame (1), in particular an upper side (12) of the portal frame (1), for the purpose of supplying voltage.

12. Portal trolley (100) according to one of the preceding claims, characterized in that the load-carrying means (30) has at least one receiving rail (31a, 31b) for receiving and lifting a load.

13. Portal carriage (100) according to claim 12, characterized in that the load-carrying means (30) has an electro-hydraulic load drive (32) for lifting the receiving rail (31a, 31b).

14. Portal carriage (100) according to one of claims 12 or 13, characterized in that the load-carrying means (30) has at least one arm (33) extending downwards from the portal frame (1), wherein the receiving rail (31a, 31b) is arranged at a lower free end (34) of the arm (33).

15. Portal carriage (100) according to one of the preceding claims, characterized in that each wheel arrangement (4) is steerable, in particular relative to the respective support (3.1, 3.2, 3.3, 3.4), in particular separately and independently of one another.

16. Portal carriage (100) according to one of the preceding claims, characterized in that the wheel arrangement (4) is designed such that it can be rotated through an angle of at least 90°, so that the portal carriage (100) can also be operated in a transverse travel (QF).

17. Portal carriage (100) according to one of the preceding claims, characterized in that a steering drive (20) is provided for steering the wheel arrangement (4), and the steering drive (20) is arranged on the portal frame (1), in particular on an upper side (12) of the portal frame (1).

18. Portal carriage (100) according to one of the preceding claims, characterized in that a steering control (21) is provided for steering the wheel arrangement (4), in which a predefined steering movement of each steering drive (20) or each wheel arrangement (4) can be controlled by selecting a suitable steering program.

19. Portal carriage (100) according to one of the preceding claims, characterized in that a steering control (21) is provided for steering the wheel arrangement (4), which steering control is suitable for steering the wheels (5) of the portal carriage (100) relative to one another in such a way that during steering there is only a single, displaceable steering pole (LP) formed by an intersection point of all wheel axles (A5).

Images