CN102686501B - Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof - Google Patents
Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof Download PDFInfo
- Publication number
- CN102686501B CN102686501B CN201080044988.1A CN201080044988A CN102686501B CN 102686501 B CN102686501 B CN 102686501B CN 201080044988 A CN201080044988 A CN 201080044988A CN 102686501 B CN102686501 B CN 102686501B
- Authority
- CN
- China
- Prior art keywords
- standdle carrier
- running state
- carrier
- brake
- standdle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a straddle carrier (1) for use in container terminals and for general transport purposes, comprising a steering wheel (3), a brake pedal (4) and an accelerator pedal (5), the operator of the straddle carrier (1) being able to control said carrier by actuating said components, also comprising a steering drive (6), a brake drive (7) and a fuel dosing drive (8) by means of which the steering wheel actuation, brake pedal actuation or accelerator pedal acceleration is converted into the steering processes, braking processes and/or fuel dosing processes. In order to prevent the straddle carrier (1) from overturning in both extreme and dangerous situations, said straddle carrier (1) is equipped with a calculation unit (2) which is connected on one side to the steering wheel (3), the brake pedal (4) and the accelerator pedal (5), and on the other side to the steering drive (6), the brake drive (7) and the fuel dosing drive (8), in which the actual position of the centre of gravity (SPL), an actual curve radius (KR) and an actual speed (V) of the straddle carrier (1) can be continuously detected, and an actual range of the authorised operational state of the straddle carrier (1) can be continuously determined based on the detected actual value. Said calculation unit controls whether an operational state of the straddle carrier (1) actuated by the driver of the said straddle carrier (1) by correspondingly actuating the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5) is within the actual determined range of the authorised operational state of the straddle carrier, and if said test demonstrates that said straddle carrier (1) is in a momentary non-authorised operational state, then control signals can be changed between the operator of the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5) such that the operational state of the straddle carrier (1) driven by the operator can be attained as fast as possible without abandoning the momentary determined range of the authorised operational state of the straddle carrier (1).
Description
The present invention relates to a kind of for container wharf and the standdle carrier for generally transporting object, this standdle carrier comprises bearing circle, brake pedal and acceleration pedal, the operating personal of standdle carrier can control described standdle carrier by activating these parts, this standdle carrier also comprises steer-drive, brake and quota of fuel actuating device, by means of these devices, the actuating of the actuating of bearing circle, brake pedal or acceleration pedal changes into steering procedure, braking procedure and quota of fuel process.In addition, the present invention relates to a kind of corresponding method for controlling standdle carrier.
Because standdle carrier designs very high and very narrow, this standdle carrier is very easily tumbled.Therefore, in known this standdle carrier, turn the horsepower output of the drive system of standdle carrier down in the mode of computer supported according to the current curve radius of standdle carrier, to avoid tumbling, thus, prevent the operating personal of standdle carrier from such as in the bend that there is risk of tumbling, accelerating standdle carrier.
But, by prior art known tumble protection or by prior art known, for the corresponding method controlling this standdle carrier be not suitable for when in the negotiation of bends process at standdle carrier turning radius change or implement brake time reliably prevent standdle carrier from tumbling.The reason introducing this control signal can be such as the intentional action of operating personal or fear.
From above-mentioned relevant prior art, the object of the invention is based on providing a kind of for container wharf with for the standdle carrier that generally transports object and the method for controlling this standdle carrier, even if also standdle carrier can be avoided to tumble by means of this control method in extreme circumstances.
According to the present invention, this object so solves: standdle carrier---such as its control setup---comprises calculating unit, this calculating unit is connected to bearing circle on the one hand, pedal and acceleration pedal, and be connected to steer-drive on the other hand, brake and quota of fuel actuating device, the sustainable current center-of-gravity position detecting standdle carrier in this calculating unit, current curve radius and present speed, and the present scope of the permission running state of standdle carrier can be determined constantly based on the currency detected, the operating personal this respect of standdle carrier wherein can be checked to pass through direction of operating dish accordingly, whether the running state of brake pedal and/or the standdle carrier required by acceleration pedal is determined in scope the current of permission running state of standdle carrier, and by means of this, illustrate that standdle carrier is by when being transformed into current unallowed running state in this assay, by operating personal by means of bearing circle, the control signal of pedal and/or acceleration pedal input can change, to make the running state of the standdle carrier realized as quickly as possible required by operating personal aspect, and the current of correspondence not leaving the permission running state of standdle carrier determines scope.
In the method according to the invention, current center-of-gravity position can be determined constantly in calculating unit, current curve radius and present speed, the present scope of the permission running state of standdle carrier can be determined based on determined currency, and check that direction of operating dish is accordingly passed through in the operating personal aspect of standdle carrier, whether the running state of pedal and/or the standdle carrier required by acceleration pedal is determined in scope the current of permission running state of standdle carrier, and by operating personal by means of bearing circle, control signal (wherein standdle carrier will be transformed into current unallowed running state by these control signals) change of pedal and/or acceleration pedal input, to make the running state of the standdle carrier realized as quickly as possible required by operating personal, and the current of permission running state under any circumstance not leaving standdle carrier determines scope.
When the scope of the lasting change of the permission running state of calculating standdle carrier, therefore use based on the standdle carrier total weight comprising the load (if any) be present on the load carrying device of standdle carrier, in addition, when determining the center-of-gravity position of standdle carrier, consider the upright position comprising the load carrying device of existence load thereon (if any).Subsequently, check the change of the running state required by operating personal this respect, whether will leave the present scope of the correspondence allowing running state by the change of these running statees.If this check result in calculating unit shows the running state that will do not leave permission, then this change of the running state of the standdle carrier of implementation and operation personnel aspect requirement.But, if this inspection display will leave the running state of permission, then the change of the running state of the standdle carrier of operating personal aspect requirement is implemented with computer supported with the control signal that operating personal aspect produces with having deviation, although to make the change of the running state realizing the standdle carrier that operating personal aspect requires, but so implement the process of change, that is, the present scope of the permission running state of standdle carrier is not under any circumstance left.Therefore, realize turn sign, speed-slackening signal and Acceleration Signal in the mode revised, the power thus acting on standdle carrier can not cause standdle carrier to be tumbled.
At this, the limit of tumbling conveniently by standdle carrier carrys out the scope of the permission running state of predefined standdle carrier, that is, the scope allowing running state is the scope that standdle carrier can not be tumbled.
When determine standdle carrier tumble the limit time, the physical model of standdle carrier can be used aptly to do basis, and any load that wherein this physical model may appear on the load carrying device of standdle carrier is certainly taken into account.
Can advantageously to bearing circle or the steer-drive distribution cutting brake of standdle carrier, this cutting brake can so control by means of calculating unit or be controlled, that is, the present scope of the correspondence of the permission running state of standdle carrier is not left by the deflection angle required by adjustment operation personnel this respect.
According to standdle carrier according to the present invention or another advantageous embodiment for the method that operates this standdle carrier, the first pressure proportioning valve is distributed to the brake pedal of standdle carrier or brake, this first pressure proportioning valve can so control by means of calculating unit or be controlled, that is, the present scope of the correspondence of the permission running state of standdle carrier is not left by the brake-pressure required by operating personal this respect.
Aptly, also can distribute the second apportioning valve to acceleration pedal or quota of fuel actuating device, this second apportioning valve can so control by means of calculating unit or be controlled, that is, the present scope of the correspondence of the permission running state of standdle carrier is not left by the quota of fuel required by operating personal this respect.
According to the present invention, therefore can guarantee to a great extent to avoid because deliberate action or the standdle carrier that causes for the reaction feared are tumbled.
Next, explain the present invention with reference to accompanying drawing in more detail by means of embodiment, the component part important for the present invention of standdle carrier is schematically shown in unique accompanying drawing.
Due to the purposes of standdle carrier, standdle carrier 1 has very high and very narrow design.For this reason, this standdle carrier 1 is very easy to tumble.Also must consider that standdle carrier 1 is for transporting the load with Different Weight at this, therefore the center-of-gravity position of standdle carrier 1 is not constant.
Even if in order to also remedy in the extreme braking of standdle carrier 1, acceleration and/or handling maneuver situation, standdle carrier 1 is equipped with calculating unit 2.Obviously, this calculating unit 2 accessible site is in the control setup do not illustrated in addition of standdle carrier 1.
The current center-of-gravity position (SPL) of standdle carrier 1, current curve radius (KR) and present speed are input in this calculating unit 2 constantly, as by corresponding arrow in the accompanying drawings as shown in.By these values, calculating unit 2 uses the present scope of the correspondence of the permission running state determining standdle carrier 1 based on the physical model of standdle carrier 1.Determine by the current limit of tumbling of correspondence the present scope of correspondence allowing running state, and the current limit of toppling is determined by the current center-of-gravity position (SPL) of the correspondence of standdle carrier 1, current curve radius (KR) and present speed (V).Thus, can pre-determine standdle carrier 1 turn to, brake and/or accelerate handle, these handle for standdle carrier 1 each current operating conditions be allow.
In the operating personal of standdle carrier 1, carry out the change be defined of the running state of requirement standdle carrier 1 by means of bearing circle 3 and/or brake pedal 4 and/or acceleration pedal 5.The corresponding requirement of operating personal can be realized by means of steer-drive 6, brake 7 or quota of fuel actuating device 8.
Bearing circle 3, brake pedal 4 and acceleration pedal 5 are additionally connected to calculating unit 2, and the control signal thus applied by means of bearing circle 3, brake pedal 4 and/or acceleration pedal 5 by operating personal this respect is present in calculating unit 2.
Check in calculating unit, whether these control signals of operating personal will cause standdle carrier 1 to leave the scope of the continuous updating of permission running state.If standdle carrier 1 remains in the scope of permission running state, in steer-drive 6, brake 7 and/or quota of fuel actuating device 8, implement the control signal provided by operating personal.
If the control signal of determination operation personnel will cause the scope leaving the continuous updating allowing running state in calculating unit 2, then calculating unit so intervenes the control signal produced with retouching operation personnel this respect, namely, realize the running state of the standdle carrier 1 required by operating personal this respect as quickly as possible, but guarantee the scope of the continuous updating of the permission running state not leaving standdle carrier 1 simultaneously.
To this, cutting brake 9 is arranged between the bearing circle 3 of side and the steer-drive 6 of opposite side, first pressure proportioning valve 10 is arranged between the brake pedal 4 of side and the brake 7 of opposite side, and the second pressure proportioning valve 11 is arranged between the acceleration pedal 5 of side and the quota of fuel actuating device 8 of opposite side.Cutting brake 9 and two pressure proportioning valves 10,11 are connected to calculating unit 2 equally.In calculating unit 2, produce correction signal, these correction signals are applied to acceleration pedal 5, first pressure proportioning valve 10 and/or the second pressure proportioning valve 11.Guarantee thus only to be realized as follows by the change of the operating personal of standdle carrier by means of the running state of the standdle carrier 1 required by bearing circle 3, brake pedal 4 and/or acceleration pedal 5, namely, in the change procedure of this running state, the scope that the correspondence not leaving the permission running state of standdle carrier 1 upgrades.Therefore, tumbling of standdle carrier 1 can reliably be avoided.According to the present invention, also eliminated tumbling of the standdle carrier 1 caused by the intentional action of operating personal or the reaction feared.
Claims (12)
1. one kind for container wharf and the standdle carrier for generally transporting object, described standdle carrier comprises bearing circle (3), brake pedal (4) and acceleration pedal (5), the operating personal of described standdle carrier (1) is by activating described bearing circle, described brake pedal and described acceleration pedal control the operation of described standdle carrier, described standdle carrier also comprises steer-drive (6), brake (7) and quota of fuel actuating device (8), by means of these devices, described bearing circle, the operation of described brake pedal or described acceleration pedal can change into steering procedure, braking procedure or quota of fuel process, it is characterized in that calculating unit (2), described calculating unit is connected to described bearing circle (3) on the one hand, described brake pedal (4) and described acceleration pedal (5), and be connected to described steer-drive (6) on the other hand, described brake (7) and described quota of fuel actuating device (8), the current center-of-gravity position (SPL) detecting described standdle carrier (1) can be continued in described calculating unit, current curve radius (KR) and present speed (V), and the present scope of the permission running state of described standdle carrier (1) can be determined constantly based on the currency detected, the operating personal this respect of described standdle carrier (1) can be checked in described calculating unit by operating described bearing circle (3) accordingly, whether the running state of described brake pedal (4) and/or the described standdle carrier (1) required by described acceleration pedal (5) is determined in scope the current of permission running state of described standdle carrier, and by means of this, illustrate that described standdle carrier (1) is by when being transformed into current unallowed running state in this assay, by described operating personal by means of described bearing circle (3), the control signal that described brake pedal (4) and/or described acceleration pedal (5) input can change, to make to realize the running state by the described standdle carrier of described operating personal requirement as quickly as possible, and the current of correspondence not leaving the permission running state of described standdle carrier (1) determines scope.
2. standdle carrier as claimed in claim 1, be is characterized in that, carried out the scope of the permission running state of predefined described standdle carrier (1) by the limit of tumbling of described standdle carrier, that is, described standdle carrier (1) scope of not tumbling.
3. standdle carrier as claimed in claim 2, is characterized in that, determine described standdle carrier tumble the limit time, the physical model of described standdle carrier (1) can be used to do basis.
4. standdle carrier as claimed any one in claims 1 to 3, it is characterized in that, cutting brake (9) is distributed to described bearing circle (3) or described steer-drive (6), described cutting brake being controlled by means of described calculating unit (2), making the present scope not leaving the correspondence of the permission running state of described standdle carrier (1) by regulating the deflection angle required by described operating personal this respect.
5. standdle carrier as claimed any one in claims 1 to 3, it is characterized in that, the first pressure proportioning valve (10) is distributed to described brake pedal (4) or described brake (7), described first pressure proportioning valve can be controlled by means of described calculating unit (2), make the present scope not left the correspondence of the permission running state of described standdle carrier (1) by the brake-pressure required by described operating personal this respect.
6. standdle carrier as claimed any one in claims 1 to 3, it is characterized in that, the second pressure proportioning valve (11) is distributed to described acceleration pedal (5) or described quota of fuel actuating device (8), described second pressure proportioning valve can be controlled by means of described calculating unit (2), make the present scope not left the correspondence of the permission running state of described standdle carrier (1) by the quota of fuel required by described operating personal this respect.
7. one kind for controlling the method for standdle carrier (1), wherein, direction of operating dish (3), brake pedal (4) and acceleration pedal (5) are to control the running state of described standdle carrier (1), and wherein, described bearing circle, the operation of described brake pedal or described acceleration pedal is by means of steer-drive (6), brake (7) and quota of fuel actuating device (8) change into steering procedure, braking procedure or quota of fuel process, it is characterized in that, calculating unit (2) is connected to described bearing circle (3) on the one hand, described brake pedal (4) and described acceleration pedal (5), and be connected to described steer-drive (6) on the other hand, described brake (7) and described quota of fuel actuating device (8), the current center-of-gravity position (SPL) detecting described standdle carrier (1) can be continued in described calculating unit (2), current curve radius (KR) and present speed (V), and the present scope of the permission running state of described standdle carrier (1) can be determined based on the currency detected, check the operating personal this respect of described standdle carrier (1) by operating described bearing circle (3) accordingly, whether the running state of described brake pedal (4) and/or the described standdle carrier (1) required by described acceleration pedal (5) is determined in scope the current of permission running state of described standdle carrier (1), and by described operating personal by means of described bearing circle (3), the control signal that described brake pedal (4) and/or described acceleration pedal (5) input---described standdle carrier (1) will be transformed into current unallowed running state by means of these control signals---changes, to make to realize the running state by the described standdle carrier (1) of described operating personal requirement as quickly as possible, and the current of correspondence not leaving the permission running state of described standdle carrier (1) determines scope.
8. as claimed in claim 7 for controlling the method for standdle carrier (1), it is characterized in that, the scope of the described permission running state of described standdle carrier (1) is pre-determined by the current limit of tumbling of described standdle carrier or is limited.
9. as claimed in claim 8 for controlling the method for standdle carrier (1), it is characterized in that, determine described standdle carrier (1) tumble the limit time, use the physical model of described standdle carrier to do basis.
10. the method for controlling standdle carrier (1) according to any one of claim 7 to 9, it is characterized in that, the cutting brake (9) of described bearing circle (3) or described steer-drive (6) is distributed in control, makes the present scope not leaving the correspondence of the permission running state of described standdle carrier (1) by regulating the deflection angle required by described operating personal this respect.
11. methods for controlling standdle carrier (1) according to any one of claim 7 to 9, it is characterized in that, first pressure proportioning valve (10) of described brake pedal (4) or described brake (7) is distributed in control, makes the present scope not left the correspondence of the permission running state of described standdle carrier (1) by the brake-pressure required by described operating personal this respect.
12. methods for controlling standdle carrier (1) according to any one of claim 7 to 9, it is characterized in that, second pressure proportioning valve (11) of described acceleration pedal (5) or described quota of fuel actuating device (8) is distributed in control, makes the present scope not left the correspondence of the permission running state of described standdle carrier (1) by the quota of fuel required by described operating personal this respect.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009048133A DE102009048133A1 (en) | 2009-10-02 | 2009-10-02 | Straddle carrier for use in container terminals and for general transport purposes and method of controlling the same |
| DE102009048133.8 | 2009-10-02 | ||
| PCT/EP2010/005787 WO2011038851A1 (en) | 2009-10-02 | 2010-09-22 | Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102686501A CN102686501A (en) | 2012-09-19 |
| CN102686501B true CN102686501B (en) | 2015-01-21 |
Family
ID=43416483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080044988.1A Active CN102686501B (en) | 2009-10-02 | 2010-09-22 | Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof |
Country Status (8)
| Country | Link |
|---|---|
| EP (1) | EP2483194B1 (en) |
| CN (1) | CN102686501B (en) |
| DE (1) | DE102009048133A1 (en) |
| DK (1) | DK2483194T3 (en) |
| ES (1) | ES2429499T3 (en) |
| PL (1) | PL2483194T3 (en) |
| PT (1) | PT2483194E (en) |
| WO (1) | WO2011038851A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0343839A2 (en) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Lift truck control systems |
| DE102005012004A1 (en) * | 2004-04-07 | 2005-10-27 | Linde Ag | Counterbalanced forklift truck, has control device cooperating with rolling drive, working drive and steering lock drive such that device executes correction intervention maintaining or increasing stability against tilting of truck |
| DE202007016156U1 (en) * | 2007-11-16 | 2008-03-20 | Noell Mobile Systems Gmbh | Portal forklift with automatic steering |
-
2009
- 2009-10-02 DE DE102009048133A patent/DE102009048133A1/en not_active Withdrawn
-
2010
- 2010-09-22 WO PCT/EP2010/005787 patent/WO2011038851A1/en active Application Filing
- 2010-09-22 ES ES10763605T patent/ES2429499T3/en active Active
- 2010-09-22 CN CN201080044988.1A patent/CN102686501B/en active Active
- 2010-09-22 PL PL10763605T patent/PL2483194T3/en unknown
- 2010-09-22 EP EP10763605.2A patent/EP2483194B1/en active Active
- 2010-09-22 DK DK10763605.2T patent/DK2483194T3/en active
- 2010-09-22 PT PT107636052T patent/PT2483194E/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0343839A2 (en) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Lift truck control systems |
| DE102005012004A1 (en) * | 2004-04-07 | 2005-10-27 | Linde Ag | Counterbalanced forklift truck, has control device cooperating with rolling drive, working drive and steering lock drive such that device executes correction intervention maintaining or increasing stability against tilting of truck |
| DE202007016156U1 (en) * | 2007-11-16 | 2008-03-20 | Noell Mobile Systems Gmbh | Portal forklift with automatic steering |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011038851A1 (en) | 2011-04-07 |
| EP2483194A1 (en) | 2012-08-08 |
| ES2429499T3 (en) | 2013-11-15 |
| PL2483194T3 (en) | 2013-12-31 |
| DK2483194T3 (en) | 2013-10-07 |
| PT2483194E (en) | 2013-09-04 |
| EP2483194B1 (en) | 2013-07-10 |
| CN102686501A (en) | 2012-09-19 |
| DE102009048133A1 (en) | 2011-04-07 |
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