Abstract
A material handling system for handling heavy loads on a ship includes at least two air casters arranged to lift a heavy load off a ground surface, at least two drive units releasably connectable to said air casters and/or to said heavy load, wherein each one of said drive units includes at least one drive means for positioning said heavy load, and a drive controller arranged to control said at least one drive means. The material handling system further includes at least one user input unit and an air caster controller arranged to control a lifting force of said air casters, wherein said drive controllers and said air caster controller are arranged in communication with said at least one user input unit such that said drive means of said drive units and said lifting force of said air casters are controllable from said at least one user input unit.
Claims
1. A material handling system for handling heavy loads on a ship, said material handling system comprising: at least two air casters arranged to lift a heavy load off a ground surface, at least two drive units releasably connectable to said air casters and/or to said heavy load, wherein each one of said drive units comprises at least one drive means for positioning said heavy load, and a drive controller arranged to control said at least one drive means, wherein said material handling system further comprises at least one user input unit, an air caster controller arranged to control a lifting force of said air casters, wherein said drive controllers and said air caster controller are arranged in communication with said at least one user input unit such that said drive means of said drive units and said lifting force of said air casters are controllable from said at least one user input unit.
2. A material handling system according to claim 1, wherein said material handling system comprises at least four drive units releasably connectable to said air casters and/or to said heavy load, and wherein said at least one drive means is at least one winch.
3. A material handling system according to claim 1, wherein said at least one drive means is at least one drive wheel, and wherein a vertical position of said at least one drive wheel is adjustable such that a pressure between said at least one drive wheel and said ground surface is adjustable.
4. A material handling system according to claim 3, wherein each one of said drive units comprises a plurality of support wheels.
5. A material handling system according to claim 3, wherein each one of said drive units comprises means for pneumatic connection with a supply of pressurized air and with said air casters, such that pressurized air may be supplied to said air casters through said drive units.
6. A material handling system according to claim 1, wherein said air caster controller comprises a controllable valve.
7. A material handling system according to claim 1, wherein said material handling system comprises one user input unit per drive unit in said material handling system.
8. A material handling system according to claim 7, wherein each one of said at least one user input units are provided on a respective one of said drive units.
9. A material handling system according to claim 7, wherein each one of said user input units have a master state and a slave state, wherein input from a user input unit in said master state overrides and/or disables input from a user input unit in said slave state.
10. A material handling system according to claim 1, wherein each one of said drive units is releasably connectable to each one of said air casters and/or to said heavy load in at least two different positions.
11. A material handling system according to claim 1, wherein said air casters have a substantially rectangular shape, and wherein each one of said drive units are releasably connectable to at least two different sides of each one of said air casters.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0059] The above, as well as additional objects, features and advantages of the present invention, will be better understood through the following illustrative and non-limiting detailed description of exemplary embodiments of the present invention, with reference to the appended drawing, wherein:
[0060] FIG. 1a is a perspective view of a material handling system according to one exemplary embodiment of the present invention,
[0061] FIG. 1b is a top view of the material handling system of FIG. 1a,
[0062] FIG. 2a is a perspective view of a material handling system according to one exemplary embodiment of the present invention,
[0063] FIG. 2b is a top view of the material handling system of FIG. 2a,
[0064] FIG. 3a is a perspective view of a material handling system according to one exemplary embodiment of the present invention,
[0065] FIG. 3b is a top view of the material handling system of FIG. 3a,
[0066] FIGS. 4a and 4b are cross-sectional views of the drive unit of at least two exemplary embodiments of the present invention,
[0067] FIGS. 5a and 5b are perspective views of two air casters joined by an air caster frame.
DETAILED DESCRIPTION OF THE DRAWINGS
[0068] In the present detailed description, embodiments of a material handling system according to the present invention are mainly discussed with reference to drawings showing a material handling system with components and portions being relevant in relation to various embodiments of the invention. It should be noted that this by no means limits the scope of the invention, which is also applicable in other circumstances for instance with other types or variants of material handling systems than the embodiments shown in the appended drawings. Further, that specific features are mentioned in connection to an embodiment of the invention does not mean that those components cannot be used to an advantage together with other embodiments of the invention.
[0069] The invention will now by way of example be described in more detail by means of embodiments and with reference to the accompanying drawings.
[0070] FIG. 1a is a perspective view of a material handling system 1 according to one exemplary embodiment of the present invention. Also shown in FIG. 1a is the outline of a container, which serves to act as an example of a heavy load 91 that is to be handled by the material handling system 1. The material handling system 1 comprises four air casters 3 and two drive units 2, each of which will be described below.
[0071] The drive units 2 of at least this embodiment of the present invention are also shown in FIG. 4a. The two drive units 2 are substantially identical, each comprising four support wheels 201, one drive wheel 202 arranged between the four support wheels 201, an interface 203 for communicating information and/or for receiving inputs from a user, and means 204 for pneumatically connecting the drive unit 2 to any one of the air casters 3, so that air may be supplied to the air casters 3 via the drive units 2. Each one of the drive units 2 also comprises a drive controller 205, which is a control unit arranged to communicate with the user input unit 5 and translate signals therefrom into actuation of the drive wheel 202 of the drive unit 2. Furthermore, each one of said drive units comprises a linear actuator 206 connected to the drive wheel 202, such that the drive wheel 202 may be moved in a vertical direction between an upper position and a lower position. In the upper position, the drive wheel 202 has little or no contact with the ground. In the lower position, the contact pressure between the drive wheel 202 and the ground is larger than when the drive wheel 202 is in the upper position. This allows a user to control the pressure between the drive wheel 202 and the ground. The linear actuator 206 is powered by a supply of pressurized air, which will be explained in greater detail in relation to FIG. 4a.
[0072] As seen in FIG. 1a, the drive units 2 may be connected to the air casters 3 in a number of different positions. Examples of such positions are shown by a dotted outline of a drive unit 2 placed in various positions around the air casters 3 and the heavy load 91 that is to be handled. The drive units 2 may for example be connected to each short end of the heavy load 91 that is to be handled, as is shown in FIG. 1a. Alternatively, one or both of the drive units 2 may be connected to the long end of the heavy load 91, as is illustrated by the dotted outlines.
[0073] The air casters 3 are pneumatic lifting devices used to move the heavy load 91 over flat and substantially non-porous surfaces. The air casters 3 of the material handling system 1 of at least this embodiment are connected to each other two-and-two, so that two pairs of air casters 3 are formed. The connection between the two respective air casters 3 is enabled by an air caster frame 31, or a joining frame, to which each air caster 3 is connected. The air caster frame 31 comprises an air inlet 33, and means for pneumatically connecting one air caster 3 to the other, so that pressurized air supplied to one air caster 3 via said air inlet 33 of the air caster frame 31 may be fed to the other air caster 3 as well. Also shown in FIG. 1a is an air caster controller 4 comprising an inlet 41 for receiving pressurized air from an external supply, and two outlets 43 for feeding the pressurized air to each one of the two drive units 2. The air caster controller 4 has a box-shaped housing 45 and four wheels 47 that allow it to move across the surface over which the heavy load 91 is to be moved. The air caster controller 4 comprises a controllable valve 49 for controlling the amount of pressurized air fed to the drive units 2. The controllable valve 49 is configured to be controlled by means of a user input unit 5, as described below. In this embodiment, the external supply of pressurized air connects to a respective inlet 208 on each one of the two drive units 2, each of which comprises means 204 for pneumatic connection with the air casters 3, thus allowing pressurized air to be supplied to the air casters 3 via the drive units 2.
[0074] FIG. 1b is a top view of the material handling system 1, illustrating the embodiment of FIG. 1a from another perspective.
[0075] FIG. 2a is a perspective view of a material handling system 1 according to one exemplary embodiment of the present invention. Also shown in FIG. 2a is an air caster controller 4 comprising an inlet 41 for receiving pressurized air from an external supply, and two outlets 43 for feeding the pressurized air to each one of said pair of air casters 3. In this embodiment, the external supply of pressurized air connects to the air casters 3 via said air caster controller 4, thereby enabling a user to control a lifting force of the air casters 3 by means of controlling the air caster controller 4 through the user input unit 5.
[0076] The drive units 2 of at least this embodiment of the present invention are also shown in FIG. 4b. The two drive units 2 are substantially identical, each comprising four support wheels 201, one drive wheel 202 arranged between the four support wheels 201, an interface 203 for communicating information and/or for receiving inputs from a user, and means 204 for connecting the drive unit 2 to any one of the air casters 3. Each one of the drive units 2 also comprises a drive controller 205, which is a control unit that is arranged to communicate with the user input unit 5 and translate signals therefrom into actuation of the drive wheel 202 of the drive unit 2. Furthermore, each one of said drive units 2 comprises a linear actuator 206 connected to the drive wheel 202, such that the drive wheel 202 may be moved in a vertical direction between an upper position and a lower position. In the upper position, the drive wheel 202 has little or no contact with the ground. In the lower position, the contact pressure between the drive wheel 202 and the ground is larger than when the drive wheel 202 is in the upper position. This allows a user to control the pressure between the drive wheel 202 and the ground. The linear actuator 206 is powered by a battery 207, which will be described in greater detail in relation to FIG. 4b. The linear actuator 206 may alternatively be powered by an external supply of electricity.
[0077] For the sake of brevity, features that are shared between this embodiment and the one described in relation to FIG. 1a-b have been omitted from the description. The skilled person readily understands how to transfer features and teachings between these two embodiments.
[0078] FIG. 2b is a top view of the material handling system 1, illustrating the embodiment of FIG. 2a from another perspective.
[0079] FIG. 3a is a perspective view of a material handling system 1 according to one exemplary embodiment of the present invention. In this embodiment, there are four drive units 2, each of which comprises a winch 209 connected to a respective corner region 93 of a room in which the heavy load 91 is to be handled. The winches 209 each comprises a rolling body 210, which is connected to a drive controller 205 configured to control the rotation of the rolling bodies 210. Each one of the winches 209 further comprises a respective wire 211, one end of which is rolled up on said rolling body 210 and the other end of which is connected to a top region 95 of the heavy load 91 that is to be handled. The connection between the wire 211 and the heavy load 91 is achieved by means of commonly available connection means, such as a loop provided on the heavy load 91 and a hook connected to the wire 211. Other means for connecting the wire 211 to the heavy load 91 are readily available to the skilled person. The air casters 3 of this embodiment are substantially identical to those described in relation to FIGS. 1a and 1b, and will therefore not be described in any further detail here. FIG. 3b is a top view of the material handling system 1, illustrating the embodiment of FIG. 3a from another perspective.
[0080] FIGS. 4a and 4b are cross-sectional views of drive units 2, 2 of at least two exemplary embodiments of the present invention. The drive unit 2 of FIG. 4a comprises a drive controller 205, a linear actuator 206, an air inlet 211, an air outlet 212, means 204 for pneumatically connecting the drive unit to an air caster 3, and a drive wheel 202 that is connected to both the linear actuator 206 and a motor 213. The linear actuator 206 is a pneumatic actuator driven by a supply of pressurized air provided to the drive unit 2 through the air inlet 211. Between the air inlet 211 and the linear actuator 206, and in fluid connection with both, is a controllable valve 214 configured to control the amount of air supplied to the linear actuator 206, thus controlling the vertical position of the drive wheel 202 and the pressure between the drive wheel 202 and the ground. The drive wheel 202 is shown in an upper position in FIG. 4a, and a lower position is indicated by a dotted line. In some embodiments of the present invention, the controllable valve 214 acts as an air caster controller, and thereby replaces the externally located air caster controller 4 described in relation to FIG. 1 above.
[0081] The controllable valve 214 is controlled by the user input unit 5, through communication with the drive controller 205, so as to allow a user to control the friction between the drive wheel 202 and the ground from the user input unit 5. Furthermore, pneumatically connecting the drive unit 2 to an air caster 3 involves connecting the air outlet 212 of the drive unit 2 to an air inlet 33 on the air caster 3, so that pressurized air may be fed to the air casters 3 through the drive units 2. The amount of pressurized air fed to the air casters 3 through the drive units 2 may be controlled by the controllable valve 214.
[0082] The drive units 2 of FIG. 4b is identical to that described in relation to FIG. 4a, with the exception that this drive unit 2 comprises a battery 207, that it does not comprise an air inlet, and that the linear actuator 206 controlling the vertical position of the drive wheel 202 is driven by the battery 207 and not by a supply of pressurized air. Similarly, the means 204 for connecting the drive unit 2 to the air casters 3 does not comprise means for putting the two in pneumatic connection. Also other embodiments than those shown in FIGS. 4a and 4b are considered, such as a drive unit comprising a battery and a battery-driven linear actuator, an air caster controller, as well as an air inlet and means for pneumatically connecting the drive unit to the air caster.
[0083] Both the drive unit 2 of FIG. 4a and the drive unit 2 of FIG. 4b comprises a motor 213 for driving the drive wheel 202. This motor 213 is connected to and controlled by the drive controller 205, which in turn is in communication with the user input unit 5. The motor may for example be driven by a battery, such as the one described in relation to FIG. 4b above, or by an external source of electricity. The drive units 2, 2 also comprise support wheels 201 located on a lower side of the drive units 2, 2 for balancing them.
[0084] FIGS. 5a and 5b are perspective views of two air casters 3 joined by an air caster frame 31. Each one of the air casters 3 comprises a torus-shaped airbag 34. The torus-shaped airbag 34 is connected to the supply of pressurized air such that when pressurized air is supplied, the torus-shaped airbag 34 is inflated and creates an airtight seal against the ground surface. Each one of the air casters 3 further comprises an air outlet 32 located in the center of the torus-shaped airbag 34. The air outlet 32 is arranged to be connected to a supply of pressurized air.
[0085] The skilled person readily understands how an air caster 3 works, and no further description will therefore be given here.
[0086] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to a/an/the [element, device, component, means, step, etc.] are to be interpreted openly as referring to at least one instance of said element, device, component, means, step, etc., unless explicitly stated otherwise. Furthermore, any reference signs in the claims should not be construed as limiting the scope.
