EP1101725B1 - Dispositif pour le transbordement automatisé de charges - Google Patents

Dispositif pour le transbordement automatisé de charges Download PDF

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Publication number
EP1101725B1
EP1101725B1 EP00250370A EP00250370A EP1101725B1 EP 1101725 B1 EP1101725 B1 EP 1101725B1 EP 00250370 A EP00250370 A EP 00250370A EP 00250370 A EP00250370 A EP 00250370A EP 1101725 B1 EP1101725 B1 EP 1101725B1
Authority
EP
European Patent Office
Prior art keywords
spreader
lifting
guide
automatic transfer
transfer according
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.)
Expired - Lifetime
Application number
EP00250370A
Other languages
German (de)
English (en)
Other versions
EP1101725A1 (fr
Inventor
Joachim Kröll
Jürgen Breitfeld
Hermann Franzen
Jannis Moutsokapas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Demag Cranes and Components GmbH
Original Assignee
Gottwald Port Technology GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gottwald Port Technology GmbH filed Critical Gottwald Port Technology GmbH
Priority to DK00250370T priority Critical patent/DK1101725T3/da
Publication of EP1101725A1 publication Critical patent/EP1101725A1/fr
Application granted granted Critical
Publication of EP1101725B1 publication Critical patent/EP1101725B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers

Definitions

  • the invention relates to a device for automated handling of Load handling devices of a handling device, in particular loads of ISO containers, using a spreader, the corners of which are over four axial sliding pendulum supports with the substantially horizontally extending Support frame of a lifting beam are connected, which in turn in the area of their Corner points are suspended on four ropes of a hoist.
  • Automated container terminals are known per se, there are different ones Load suspension devices are used for the given at these terminals special conditions and not on other terminals are transferable.
  • the spreaders which are also equipped with lifting beams either the disadvantage of the high weight or the large height. at normal container terminals with stack heights of three or four high every additional meter height of a crane runway support disproportionate costs for the Terminal. Added to this are complex design and manufacturing costs for well-known lifting beams that need to be reduced.
  • the object of the present invention is therefore to provide a device for to create automated handling of in particular ISO containers that are under Use of a lifting traverse of the generic type assigned to the spreader Art guaranteed a safe automatic use of the spreader and thereby is simple and reliable and can therefore be used cost-effectively can.
  • the generic device is improved by that the hoist is part of a rigid load management, being between the load management and the lifting traverse as both a torque support and the displacement and Swiveling of the lifting crossbar relative to the pair of cylinders used for load control is articulated and that sensors are provided with which the relative orientation the lifting traverse to the spreader and / or to the load control can be detected in any position.
  • a handling device provided with rigid load control as load control, which the horizontal forces that can arise when handling loads.
  • Rigid load guides are coming for example in the form of rope fields of a crane trolley, quadruple frame guides by Straddle Carriers or as vertical guidance of a beam in one Container stacking crane in front.
  • Cylinder pairs Arranged between the load guide and the lifting beam Cylinder pairs enable a longitudinal and angular adjustment of the lifting traverse relative for load control and allow a horizontal movement and a tilting movement of the Lifting crossbar in the transverse and longitudinal direction. All movements of the lifting beam are detected by a sensor system and displayed or processed.
  • the pair of cylinders is advantageously arranged in such a way that the two piston-cylinder units the sides of one at least when retracted describe isosceles triangle, in the area of its tip both cylinders the lifting beam is articulated while the opposite ends of the piston-cylinder units on both sides of the load control in a common horizontal Are hinged level.
  • the cylinder pairs can also act as a moment support, the fixed points of two articulated bearings on the Load management and a pair of spherical bearings on the lifting crossbar.
  • the Cylinder pairs are preferably operated via a central hydraulic system, whereby the Correction of the rotary and longitudinal axes for the fine positioning of the spreader for Container or the container to the destination (e.g. truck loading frame) is possible.
  • the Fine positioning of the lifting crossmember in the transverse direction is preferably carried out with the Crane cat ride of the handling device.
  • the pair of cylinders consists of double-acting Single cylinders that are firmly connected to each other at their base flanges. This makes it easy to control the individual cylinders.
  • a corresponding handling device on which the lifting crossbar in Transverse direction is supported by a guide extending in its longitudinal direction.
  • the guide can also be used as a guide rail for one end of the guide roller arranged, rotatable about a horizontal axis roller to be formed on Rollable side support rollers are assigned to the flanks of the guide rail, wherein the treads of the roller and the support rollers are spherical.
  • the cylinder pairs are attached to the load guide on both sides and allow the lifting of the spreader to bring the device into a defined zero position.
  • the spreader is attached to the with four pendulum supports Hub traverse connected.
  • These piston-cylinder units act as fixing and damper elements, which is one end of the respective cylinder pairs Spherical bearing connected to the lifting beam while the other end is connected to the spreader is stored.
  • the complete hydraulic system is electrical Control as well as the data communication of the spreader and the lifting crossbar arranged the spreader. All hydraulic cylinders are powered by the Power Pack of the Spreaders supplied. Quick release couplings for the hydraulic hoses and Plugs for the cable connections form a clear interface and ensure a quick and easy exchange of the spreader, even with different ones Makes.
  • All orientations of the spreader in relation to the lifting crossbeam are electronic detectable and evaluable.
  • the spreader with all for the automatic Operation necessary sensors equipped, all positions of the spreader electronically record, report and perform the evaluation, including inclination and Tilting of the spreader in the direction of bridge and trolley travel during delivery and Picking up the container.
  • the spreader is preferably aligned in the direction of the bridge and trolley about the electronically determined relative movement of the pendulum supports compared to the Suspension of the lifting crossbar detected.
  • Pendulum support mounting provided an elastic stop, so that the pendulum rod cannot slip through when unloaded. This creates between the upper end of the pendulum support and the lifting crosshead a relative movement when the spreader moves relative to the lifting beam. This vertical relative movement is called Signal recorded and evaluated.
  • the novel device can complement conventional spreaders such that it are automatable.
  • the manufacturing costs of the novel device are relatively low, the design effort for the device and the bearing points on Spreader is low.
  • FIG. 1 shows a front view of the novel device 1 with the spreader 2 shown.
  • Four lifting ropes 3 are attached to the top of the lifting traverse 5, while for rigid load guidance in the middle of the lifting beam 5, a load guidance 4 acts.
  • the actual device 1 according to the invention consists of the lifting crossbeam 5, the pendulum supports 6, the upper thrust and swivel plane 7, the lower lengthways acting thrust plane 8 with the cylinder pair 8.1 and the lower, transverse acting Thrust plane 9 with the cylinder pairs 9.1 and 9.2.
  • the two brackets 2.2 on the top of the Spreaders 2 are intended as an end stop for the lifting traverse.
  • FIG 2 the same parts are the same in the side view of the novel device 1 designated.
  • the tubular corner points 5.1 open on the longitudinal side of the lifting beam take the lifting ropes 3 and the pendulum supports 6 each in special positions.
  • the Fixed rope points 10 at the upper end of the corner points 5.1 form the receptacle for the Lifting ropes 3.
  • the ball heads 6.1 of the tie rods 6 at the lower end of the corner points 5.1 and on the base steel structure of the spreader 2.3 are stored in divided calottes 11.
  • the Stop 12 below the pendulum support 6 prevents the same from slipping.
  • the fixed rope point 10 consists of a cuboid molded rope connection 13 with funnel-shaped split cable sleeve 14, the slotted shims 15 and the divided end plate 16.
  • the cuboid rope connection lies with a Side surface on an anti-rotation device 5.2.
  • In the center of the lifting beam 5 forms a track rail 5.3 and a support roller unit, consisting of a roller 17 and two support rollers 18 the bearing point of the load guide 4.
  • the lifting of the load guide 4 the safety bracket 19 prevents the lifting crossbeam 5.
  • the novel device 1 is in its starting position, i.e. in the Represented zero position.
  • the spreader 2, the load guide 4, can be seen Lifting traverse 5 and the upper thrust and swivel plane 7.
  • the cylinder pairs 7.1 and 7.2 of the thrust and swivel plane are at the cylinder fixed point 4.1 of the load guide and stored at the cylinder fixed point 5.4 of the lifting traverse.
  • the side of the lifting beam open tubular corner points 5.1 take the lifting ropes 3 and the pendulum supports 6 on.
  • the sensor system (not shown) for the vertical position detection of the pendulum supports 6 is also located in the tubular corner point of the lifting beam 5.
  • the center of the lifting crossmember 5 forms the running rail 5.3 and the support roller unit Bearing point of the load guide 4.
  • FIG. 5 shows in the starting position A the zero position of the Contraption. Of the pairs of cylinders 7.1 and 7.2, those are in the middle Cylinder extended to the block. Position B with the relative horizontal offset between load guide 4 and lifting beam 5 of + x is achieved when all cylinders are up to are extended on a block. Position C with the relative horizontal offset between load guide 4 and lifting beam 5 of -x is achieved when all cylinders are up to entered on block. During the horizontal displacement process, the roller 17 rolls, held laterally by the two support rollers 18 on the running rail 5.3.
  • the novel device 1 is also in its zero position, i.e. in your Starting position A shown.
  • the cylinder pairs 7.1 and 7.2 are each the cylinder lying in the middle is extended to the block.
  • the position D with the relative Pivotal movement between the load guide 4 and the lifting beam 5 of + y reached when the upper cylinder lying to the center except for the block and the lower one to the The cylinder in the middle is extended to a limited extent.
  • the position E with the relative Swiveling movement between load guide 4 and lifting beam 5 from -y is achieved, if the lower cylinder lying to the center except for the block and the upper cylinder to the middle horizontal cylinder is extended to a limited extent.
  • FIG. 7 shows the handling process in a front view.
  • the sketch shows the novel device 1 in its zero position, i.e. in the starting position A.
  • Von the pair of cylinders 8.1 and the lower longitudinal thrust plane 8 is the middle horizontal cylinders extended to the block.
  • the position F with the relative Horizontal offset between spreader 2 and lifting beam 5 is reached if both Cylinders are extended to the block.
  • the position G with the relative Horizontal offset between the spreader 2 and the lifting traverse 5 is reached if both Cylinders are retracted to the block.
  • the possible relative horizontal offset between zero position and positions F and G can be done by targeted hydraulic Pressure in the cylinder pairs can be damped, depending on the wind force on the Device 1 acts the spreader 2 and the container 20.
  • FIG. 8 shows the handling process in a side view.
  • transversely acting thrust plane 9 are each one Cylinder extended to the block.
  • the position H with the relative horizontal offset between spreader 2 and lifting beam 5 is reached when both cylinders except for block are retracted.
  • the position J with the relative horizontal offset between Spreader 2 and lifting traverse 5 is reached when both cylinders except for block are extended.
  • the possible relative horizontal offset between zero and positions H and J can be adjusted by hydraulic pressure in the Cylinder pairs are damped depending on the wind force on the device acts.
  • the movements from FIGS. 7 and 8 can be superimposed.
  • a The movements from FIGS. 5/6 and 7/8 can also be superimposed (Tilting movement of the lifting crossmember in the transverse and longitudinal directions).
  • FIG. 9 shows a top view of the device according to the invention, specifically in FIG Position K with a relative pivoting movement between spreader 2 and Lifting beam 5 from + z. It arises when all cylinders of cylinder pairs 9.1 and 9.2 the lower, transverse thrust plane 9 are extended to the block.
  • the sketch shows the position L with a relative pivoting movement between spreader 2 and Lifting beam 5 from -z. It arises when all the cylinders of the cylinder pairs 9.1 and 9.2 the lower, transversely acting thrust plane 9 are retracted to the block.
  • Figure 10 shows the front and side view of a handling process, in particular the function of sensory monitoring of the handling process.
  • Attempt to pick up an incorrectly placed container 20 reported Sensor, activated by the vertically shifted pendulum support 6 in the tube-like Point 5.1 a malfunction.
  • the corner guides 2.1 of the spreader 2 were not in able to compensate for the large offset.
  • the handling process was canceled.
  • the relieved pendulum support 6 is based on this process Stop 12 of the spreader 2.
  • FIG. 11 shows the novel device 1 and the spreader 2 in a service position.
  • the spreader 2 stands on its corner guide 2.1.
  • Load control 4 and Hubtraverse 5 of the device are based on a total of 4 brackets 2.2, which are are on the top of the spreader.
  • the hydraulics of the cylinder pairs 8.1, 9.1 and 9.2 is switched to the floating position in this situation.
  • the exonerated Pendulum supports 6 rest on the stops 12 of the spreader. In this position if necessary, the device 1 detached from the load guide 4 and the lifting cables 3 become.
  • the device and spreader then form an easily manageable Transport unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Preparation Of Compounds By Using Micro-Organisms (AREA)
  • External Artificial Organs (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Control And Safety Of Cranes (AREA)
  • Vending Machines For Individual Products (AREA)

Claims (11)

  1. Dispositif pour le transbordement automatique de charges, en particulier des conteneurs ISO, accrochées à des moyens de reprise de charge d'un appareil de transbordement, au moyen d'un palonnier (2) dont les coins sont reliés, par l'intermédiaire de quatre appuis pendulaires (6) aptes à coulisser axialement, au bâti porteur s'étendant essentiellement à l'horizontale, d'une traverse de levage (5) qui, pour sa part, est suspendue dans la zone de ses coins à quatre câbles d'un mécanisme de levage,
    caractérisé en ce que
    le mécanisme de levage fait partie d'un guide rigide (4) de la charge, dans lequel une paire de cylindres (7.1; 7.2), qui servent à la fois à reprendre les couples et à déplacer et à faire pivoter la traverse de levage par rapport au guide de charge, est articulée entre le guide de charge et la traverse de levage (5), et en ce que des détecteurs sont prévus pour détecter l'orientation relative de la traverse de levage (5) par rapport au palonnier (2) et/ou par rapport au guide de charge (4), dans chaque position.
  2. Dispositif pour le transbordement automatique selon la revendication 1, caractérisé en ce que la paire de cylindres (7.1; 7.2) est disposée de telle sorte que les deux unités à piston et cylindre forment, au moins à l'état rétracté, les côtés d'un triangle équilatéral, les deux cylindres (7.1; 7.2) étant articulés sur la traverse de levage (5) dans la zone de la pointe (5.4) de ce triangle, tandis que les extrémités opposées des unités (7.1; 7.2) à cylindre et piston sont accrochées de manière articulée de part et d'autre du guide de charge (4), dans un plan horizontal (7) commun.
  3. Dispositif de transbordement automatique selon la revendication 2, caractérisé en ce que la paire des cylindres (7.1; 7.2) est constituée de cylindres simples à double action, qui sont reliés fixement l'un à l'autre par leur bride de pied.
  4. Dispositif pour le transbordement automatique selon les revendications 1 à 3, caractérisé en ce que le guide de charge (4) est constitué du guide de charge (poutre) orienté à la verticale, d'un appareil de transbordement correspondant, sur lequel la traverse de levage (5) s'appuie dans sa direction transversale, au moyen d'un guide qui s'étend dans sa direction longitudinale.
  5. Dispositif pour le transbordement automatique selon la revendication 4, caractérisé en ce que le guide est configuré comme rail de guidage (5.3) pour un galet de déplacement (17), apte à tourner autour d'un axe horizontal, disposé sur le côté frontal du guide de charge (4), auquel sont associés des galets latéraux de soutien (18) qui peuvent rouler sur les flancs des rails de guidage (5.3), les surfaces de déplacement du galet de déplacement (17) et des galets de soutien (18) étant configurées en forme convexe.
  6. Dispositif pour le transbordement automatique selon les revendications 1 à 5, caractérisé en ce que des unités (9.1; 9.2) à cylindre et piston orientées transversalement et longitudinalement par rapport au palonnier (2), et qui peuvent être utilisées comme amortisseurs, sont disposées essentiellement à l'horizontale, entre la traverse de levage (5) et le palonnier (2), les chambres de leurs cylindres pouvant être délestées de leur pression lors de la pose du palonnier (2) sur le conteneur (20).
  7. Dispositif pour le transbordement automatique selon les revendications 1 à 6, caractérisé en ce qu'une butée mécanique (2.2), qui permet de limiter l'espace vertical libre entre les composants, est prévue entre la traverse de levage (5) et le palonnier (3).
  8. Dispositif pour le transbordement automatique selon les revendications 1 à 7, caractérisé en ce que l'installation hydraulique complète ("Powerpack" 2.4), la commande électrique, ainsi que la communication des données du palonnier (2) et de la traverse de levage (5), sont disposés sur le palonnier (2).
  9. Dispositif pour le transbordement automatique selon les revendications 1 à 8, caractérisé en ce que toutes les orientations du palonnier (2) par rapport à la traverse de levage (5) peuvent être détectées et évaluées électroniquement.
  10. Dispositif pour le transbordement automatique selon les revendications 1 à 9, caractérisé en ce que l'orientation du palonnier (2) dans la direction de déplacement du pont et du chariot peut être détectée par le déplacement relatif, saisi par des moyens électroniques, des appuis pendulaires (6) par rapport à la suspension dans la traverse de levage (5).
  11. Dispositif pour le transbordement automatique selon les revendications 1 à 10, caractérisé en ce que, pour empêcher la torsion des câbles reliés à la traverse de levage dans la zone de ses coins, les extrémités des câbles sont reprises dans des liaisons de câbles de forme parallélépipédique, et en ce qu'un dispositif d'ajustement, qui présente la forme de disques auxiliaires intermédiaires de compensation de la longueur des câbles de levage, est prévu sur chaque câble.
EP00250370A 1999-11-19 2000-11-08 Dispositif pour le transbordement automatisé de charges Expired - Lifetime EP1101725B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DK00250370T DK1101725T3 (da) 1999-11-19 2000-11-08 Indretning til automatiseret håndtering af last

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19957823A DE19957823C2 (de) 1999-11-19 1999-11-19 Vorrichtung zum automatisierten Umschlag von Lasten
DE19957823 1999-11-19

Publications (2)

Publication Number Publication Date
EP1101725A1 EP1101725A1 (fr) 2001-05-23
EP1101725B1 true EP1101725B1 (fr) 2004-07-14

Family

ID=7930996

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00250370A Expired - Lifetime EP1101725B1 (fr) 1999-11-19 2000-11-08 Dispositif pour le transbordement automatisé de charges

Country Status (7)

Country Link
US (1) US6431379B1 (fr)
EP (1) EP1101725B1 (fr)
AT (1) ATE271015T1 (fr)
DE (2) DE19957823C2 (fr)
DK (1) DK1101725T3 (fr)
ES (1) ES2223396T3 (fr)
PT (1) PT1101725E (fr)

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Publication number Priority date Publication date Assignee Title
EP1289873B1 (fr) * 2000-05-24 2004-04-21 Stinis Beheer B.V. Dispositif de prise de conteneur muni d'éléments de contact destinés à son freinage
DE10243844A1 (de) * 2002-09-13 2004-03-25 Gottwald Port Technology Gmbh Hubeinrichtung für Container
DE10355946B4 (de) * 2003-11-29 2008-01-03 Noell Mobile Systems & Cranes Gmbh Spreader an einem Portalhubwagen zum Erfassen und Transportieren von Containern
DE102007024664B3 (de) * 2007-05-25 2008-07-17 Noell Mobile Systems Gmbh Vorrichtung zum Längsverstellen eines Spreaders
SE534186C2 (sv) * 2009-09-04 2011-05-24 Elme Spreader Ab Containerok för lyftning och centrering av containrar
KR101125039B1 (ko) * 2009-12-24 2012-03-22 한국과학기술원 크레인용 스프레더와 이를 구비한 크레인, 크레인을 탑재한 선박 및 크레인용 스프레더의 자동 랜딩 방법
FI123784B (fi) * 2011-03-25 2013-10-31 Konecranes Oyj Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa
KR101874320B1 (ko) * 2011-11-29 2018-07-05 삼성전자주식회사 호이스트 장치 및 이를 포함하는 호이스트 반송시스템
US11193287B2 (en) * 2016-09-23 2021-12-07 Sh Technologies Pte Ltd Construction system and method
DE102018205933A1 (de) * 2018-04-18 2019-10-24 Amova Gmbh Teleskopaufnahme zum Verlagern von Containern in Hochregallagern
RU208440U1 (ru) * 2020-11-27 2021-12-17 Борис Николаевич Вдовин Траверса для перемещения корзины с автомобильным полуприцепом
DE102021113826A1 (de) 2021-05-28 2022-12-01 Liebherr Container Cranes Ltd. Hebevorrichtung zum Heben und Umschlagen eines Containers
DE102021122748A1 (de) * 2021-09-02 2023-03-02 Amova Gmbh Regalbediengerät mit Winkelausgleich für ein Hochregallager
CN114836610B (zh) * 2022-04-29 2023-11-28 重庆长征重工有限责任公司 一种用于钩尾框的装炉及出料方法

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US3513999A (en) * 1968-03-27 1970-05-26 William H Schwartz Lifting and carrying vehicle
US4016992A (en) * 1974-05-30 1977-04-12 Raygo Wagner, Inc. Lift truck with rotatable load-handling apparatus
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DE4342522A1 (de) * 1993-09-01 1995-06-22 Krupp Foerdertechnik Gmbh Umschlaggerät für Großbehälter

Also Published As

Publication number Publication date
PT1101725E (pt) 2004-10-29
EP1101725A1 (fr) 2001-05-23
DE19957823A1 (de) 2001-05-31
DE19957823C2 (de) 2001-10-25
ATE271015T1 (de) 2004-07-15
ES2223396T3 (es) 2005-03-01
US6431379B1 (en) 2002-08-13
DK1101725T3 (da) 2004-11-22
DE50007060D1 (de) 2004-08-19

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