EP2017218A1 - Verfahren und Vorrichtung zur Bewegung von Frachtcontainern - Google Patents

Verfahren und Vorrichtung zur Bewegung von Frachtcontainern Download PDF

Info

Publication number
EP2017218A1
EP2017218A1 EP07075618A EP07075618A EP2017218A1 EP 2017218 A1 EP2017218 A1 EP 2017218A1 EP 07075618 A EP07075618 A EP 07075618A EP 07075618 A EP07075618 A EP 07075618A EP 2017218 A1 EP2017218 A1 EP 2017218A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
vehicles
freight container
assembly
drive
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.)
Withdrawn
Application number
EP07075618A
Other languages
English (en)
French (fr)
Inventor
Aart-Jan De Graaf
Bart Stouten
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.)
De Vos Burchart Rm
Van Helsdingen CC
Original Assignee
De Vos Burchart Rm
Van Helsdingen CC
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 De Vos Burchart Rm, Van Helsdingen CC filed Critical De Vos Burchart Rm
Priority to EP07075618A priority Critical patent/EP2017218A1/de
Priority to PCT/EP2008/006080 priority patent/WO2009012993A2/en
Publication of EP2017218A1 publication Critical patent/EP2017218A1/de
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present invention relates to a method for moving a freight container.
  • the invention also relates to an assembly comprising a freight container and at least two vehicles.
  • the invention relates to a vehicle for use in the above method.
  • freight containers are transferred between container ships and other means of transport. Using a harbour crane the containers are hoisted from quayside into the container ship or vice versa. In most cases the freight containers are however not immediately placed onto the final transport means from quayside or removedfrom the final transport means and placed on quayside, but are first placed temporarily in a storage area.
  • AGVs automatically guided vehicles
  • the harbour crane places freight containers from the ship onto the AGVs, or lifts the freight containers from the AGVs and places them aboard ship.
  • the AGVs shuttle between the harbour cranes and the storage areas.
  • a drawback of the above described system with AGVs is that a crane must wait until an AGV is available to present a container or to receive a container. If congestion occurs in the supply to or discharge from the AGVs, the harbour crane must then wait and this results in delays in loading or unloading of the ship, this being undesirable in view of the speed required.
  • the invention achieves this objective by providing a method for moving a freight container, comprising the following steps of: bringing at least two vehicles into engagement on at least two sides of the freight container; lifting the freight container from the ground; displacing the freight container by displacing the two vehicles; lowering the freight container onto the ground; and disengaging the two vehicles from the freight container.
  • a harbour crane can suffice with placing a freight container directly onto the quayside instead of placing it onto a waiting AGV. While the harbour crane is beginning to lift a subsequent freight container from the ship, two vehicles according to the invention arrive and engage on two sides of the freight container. The twist-locks already present on the freight container are preferred for the purpose of engagement.
  • the freight container is then lifted from the ground, after which the two vehicles, which now form together with the freight container a rigid whole, begin to travel and carry the freight container to a destination. Once arrived at the destination, the freight container is once again placed on the ground, after which the vehicles disengage in order to move a following freight container.
  • this method advantageously removes the dependency of the harbour crane on the placing of the freight container on an AGV. This results in a greater loading/unloading speed and flexibility and the harbour crane can continue with unloading even if a vehicle has not arrived to take away the freight container. It is even possible to place a plurality of freight containers adjacently of each other or in the vicinity of each other within reach of the harbour crane. As soon as two vehicles arrive to take away a freight container, these vehicles can take away the freight container without depending on the harbour crane, while this latter continues with unloading of the ship.
  • the invention is applicable not only to unloading of a ship but also to the loading of a ship. As long as the vehicles place the containers within reach of the harbour crane, they need not wait until the harbour crane has picked up the freight container but they can immediately go and fetch a subsequent freight container.
  • the present invention also provides a preferred method, wherein the displacement of the vehicles takes place in both longitudinal direction and width direction of the freight container by rotating the wheels of the vehicle substantially in longitudinal direction or transversely of the longitudinal direction of the freight container.
  • the vehicles hereby acquire a exceptionally good manoeuvrability and they can work their way into narrow spaces between freight containers and also remove a freight container sideways from a row of freight containers. This has a positive effect on the amount of space available for the placing of freight containers in a terminal.
  • the present method further provides a preferred method, comprising the step of synchronizing lifting by the two vehicles. In this way the freight container is lifted horizontally from the ground. This prevents, among other things, deformations and/or damage to and/or close to the engaging members due to the freight container being lifted in askew position.
  • the present invention also provides a preferred method, comprising the step of synchronizing the movement by the two vehicles.
  • a first vehicle to actively move the freight container during displacement while the second vehicle follows the first vehicle passively (is pulled or travels behind the first vehicle)
  • this method provides the assembly of freight container and the two vehicles with a great manoeuvrability. It enables the assembly to perform manoeuvres such as sideways travel (for instance out of a row of freight containers), to rotate on its axis and to negotiate tight bends.
  • the present invention further provides a preferred method wherein the synchronization comprises communication between the vehicles.
  • the synchronization comprises communication between the vehicles.
  • communication takes place wirelessly, for instance by means of radio communication.
  • one of the two vehicles takes the lead and gives instructions to the other vehicle, whereby the two vehicles act together as a coordinated whole.
  • the second vehicle which is being led by the first vehicle, not to receive instructions by direct communication, but that the second vehicle senses the movements of the first vehicle using sensors (through the freight container which forms a connection between the two vehicles), after which the second vehicle attempts to follow this movement. It is however much more difficult in this way to give the assembly of freight container and vehicles the manoeuvrability which is obtained by having the vehicles communicate directly with each other.
  • the invention provides a preferred method wherein the vehicles are automatically controlled. This method is very advantageous since no operators are needed to control the vehicles.
  • the vehicles receive movement instructions from a central coordinating device via a communication channel. The two vehicles then carry out the movement instructions autonomously.
  • the present invention provides an alternative method, wherein the vehicles are controlled manually. This is advantageous for instance if there are problems with the communication between vehicles or with the communication between vehicles and the central coordinating device.
  • both the first and the second vehicle are each controlled in fully manual manner by an operator.
  • the present invention further provides a method wherein a first vehicle is controlled manually and a second vehicle is controlled automatically, and wherein the control of the second vehicle is synchronized with the first vehicle.
  • a first vehicle is controlled manually and a second vehicle is controlled automatically, and wherein the control of the second vehicle is synchronized with the first vehicle.
  • the invention also provides a preferred method for manual remote control of a vehicle, wherein an operator gives a control instruction which is transmitted to the vehicle via communication means, after which the vehicle carries out the control instruction.
  • the invention provides a preferred method wherein the vehicles are brought into engagement on the end surfaces of the freight container. This is preferred to coupling on the long sides, since a relatively small vehicle then suffices, while the container is still carried in stable manner by the vehicles.
  • Yet another method provided by the present invention comprises the further step of: mutually coupling two vehicles; travelling to the freight container to be moved, wherein the two vehicles form a coupled unit; and uncoupling the two vehicles from each other once they have arrived at the freight container to be moved.
  • Having the vehicles travel coupled directly to each other when they are not transporting a freight container results in a relatively small, single assembly of two vehicles.
  • This single assembly requires less space at the terminal during travel than two separate vehicles, since only a single safety margin now has to be maintained around the travelling assembly instead of a separate safety margin around each of the two vehicles. At busy terminals this will result in additional space-saving when a large number of vehicles are being driven around.
  • the vehicles As soon as the vehicles have arrived at a starting location for the purpose of picking up a freight container, they are once again uncoupled from each other in order to each engage on a side of the freight container. In a specific embodiment of the invention the vehicles are also uncoupled from each other in order to travel sideways through a narrow passage.
  • the present invention further provides an assembly, comprising: a freight container comprising means for receiving engaging means; and at least two vehicles comprising: engaging means for engaging the freight container; and a lifting device for lifting the freight container, wherein at least one vehicle comprises a drive for displacing the vehicle.
  • the engaging means of the vehicle are adapted to engage the means for receiving engaging means on the freight container. Using the engaging means the vehicle is able to enter into a firm connection with the freight container.
  • two vehicles each engage with their engaging means on the means for receiving engaging means of the freight container.
  • a rigid unit (the assembly) is thus created consisting of the freight container and the two vehicles. This assembly now operates during the displacement as if it were a single vehicle.
  • the lifting device makes it possible to raise the freight container from the ground so that the freight container can actually also be moved.
  • This latter is realized by driving at least one of the vehicles.
  • both vehicles are driven. This has the advantage of a great manoeuvrability being obtained.
  • both vehicles can move independently of each other.
  • the driven vehicle must assist the second vehicle during for instance engaging on and disengaging from the freight container.
  • the second vehicle can moreover not be displaced without the assistance of the first vehicle.
  • an assembly wherein the vehicles comprise a communication means for the purpose of mutual communication.
  • the communication means makes it possible for the vehicles to adjust their operations to each other. In this way the vehicles lift the freight container from the ground simultaneously, both vehicles produce a similar amount of power during travel and the assembly can perform complex manoeuvres, such as for instance rotating on its axis and travelling in transverse direction and so on.
  • the invention further provides an embodiment comprising an assembly wherein the vehicles further comprise communication means in order to synchronize the displacement with another vehicle.
  • an assembly wherein the vehicles are identical to each other.
  • This has the advantage that vehicles are mutually interchangeable.
  • two vehicles are paired to each other in fully dynamic manner for each separate task.
  • the vehicles form pairs which carry out multiple movement instructions in pairs.
  • the present invention provides an assembly wherein the vehicles further comprise control means for automatic control of the vehicle.
  • the control means perform a series of movement instructions.
  • the movement instructions are obtained from a central coordinating device via a communication channel, such as for instance a radio connection.
  • An advantageous embodiment comprises an assembly wherein a vehicle further comprises a steering device adapted to steer the wheels through at least ⁇ 90'. This enables the vehicle to place its wheels transversely of the lengthwise direction of the freight container.
  • the vehicle is hereby able to travel in the transverse direction in the narrow space between two freight containers oriented in lengthwise direction, to then couple to the freight container and drive the freight container transversely out of a row of freight containers. It is hereby possible to place the freight containers relatively close to each other without preventing the vehicles from lifting a freight container out of a row.
  • an assembly wherein the engaging means are adapted to engage means for receiving engaging means arranged close to the bottom side of the freight container.
  • an assembly is provided wherein the engaging means are adapted to engage means for receiving engaging means arranged close to the top side of the freight container.
  • Standard ISO containers are provided with so-called twist-locks on both the top and bottom sides. The invention provides an embodiment for coupling to the twist-locks on the top side as well as an embodiment for coupling to the twist-locks on the bottom side.
  • the invention provides an assembly wherein the vehicles further comprise coupling means for coupling the vehicle to a second vehicle. As described above, this makes it possible to drive the vehicles in compact manner to a freight container to be moved.
  • the present invention also provides an embodiment comprising an assembly wherein at least one of the vehicles further comprises position-determining means for determining the position and the orientation of the vehicle. Owing to the position-determining means the vehicle is able to determine its position at the terminal and to determine the direction in which the destination location is to be found. The vehicle finds its way to the destination location on the basis of predetermined or dynamic routes.
  • an assembly wherein the drive is a diesel-hydraulic drive.
  • an assembly wherein the drive is a diesel-electrical drive.
  • an assembly wherein the drive is an electrical drive.
  • the present invention further provides a vehicle, comprising: a drive for displacing the vehicle; engaging means for engaging the freight container; and a lifting device for lifting the freight container.
  • a freight container is moved by two vehicles which each engage on one side of the freight container and lift the freight container from the ground. The two vehicles together then move the freight container to its destination location, where the vehicles lower the freight container onto the ground again, after which the vehicles disengage again from the freight container.
  • a vehicle which further comprises communication means for the purpose of synchronizing lifting with another vehicle. Owing to the communication means the vehicles are able to lift the freight container simultaneously and at almost the same speed from the ground and to also set the container down on the ground again simultaneously and at almost the same speed.
  • a further preferred embodiment comprises a vehicle which further comprises communication means for the purpose of synchronizing displacement with another vehicle.
  • the communication means enable two vehicles to coordinate their movements, whereby the vehicles can for instance together drive a freight container in transverse direction out of a row of disposed freight containers.
  • the vehicle comprises control means for automatic control of the vehicle.
  • the invention also provides an embodiment comprising a vehicle which further comprises a steering device adapted to steer the wheels through at least ⁇ 90'.
  • This steering device enables the vehicle to place its wheels transversely of the lengthwise direction of a freight container. This in turn enables the vehicle to drive transversely in the narrow space between a row of freight containers oriented in the lengthwise direction and, after coupling to the freight container, to drive this container in transverse direction out of the row of freight containers.
  • the invention further provides a vehicle wherein the engaging means are adapted to engage means for receiving engaging means arranged close to the bottom side of the freight container.
  • the invention further provides a vehicle wherein the engaging means are adapted to engage the means for receiving engaging means arranged close to the top side of the freight container.
  • a vehicle which further comprises coupling means for coupling the vehicle to a second vehicle.
  • a vehicle which further comprises position-determining means for determining the position and orientation of the vehicle.
  • a vehicle wherein the drive is a diesel-hydraulic drive.
  • a vehicle wherein the drive is a diesel-electrical drive.
  • a vehicle wherein the drive is an electrical drive.
  • the invention provides a system comprising at least two vehicles and further comprising a coordinating device for coordinating the vehicles in the system.
  • the coordinating device comprises a central computer which communicates with the vehicles.
  • the central computer evaluates the need for movements of freight containers and prepares instructions for a movement.
  • the central computer then sends the instruction to a vehicle or a pair of vehicles with a starting location and a destination location.
  • the central computer also sends a route to be followed together with the instruction.
  • the movement instruction is performed by two vehicles, after which these report completion of the movement to the central computer and await a subsequent instruction.
  • the central computer sends an instruction to a first vehicle.
  • the first vehicle performs the instruction while communicating with a second vehicle, which in turn receives instructions from the first vehicle.
  • Freight containers 14 are situated in a container terminal ( figure 1 ). Freight containers 14 are picked up and moved by two vehicles 12. For this purpose two vehicles 12 each approach freight container 14 at an end surface as according to arrows 16. Vehicles 12 can then couple to freight container 14 and lift it from the ground. Once clear of the ground, freight container 14 can be moved by the two vehicles 12 which, together with freight container 14, form a rigid entity during the movement. So that they actually also move as one entity, the two vehicles 12 act in a synchronized manner by for instance communicating with each other.
  • the control is preferably located here in the first vehicle 12, wherein the other vehicle 12 performs instructions from first vehicle 12. First vehicle 12 is herein controlled manually by an operator.
  • a central coordinating computer sending instructions to a central coordinating computer sending instructions to a control device in vehicles 12 for the purpose of moving a container from a starting location to a destination location, wherein a route to be followed is possibly even assigned, whereby an operator is not needed to control vehicle 12.
  • vehicles 12 herein make their way autonomously to the starting location, although in another embodiment two vehicles 12 which are not moving a freight container 14 couple to each other and move in this way as a single entity to the starting location. Once arrived, vehicles 12 uncouple from each other. Once arrived at the starting location, both vehicles 12 each make their way to an end surface of freight container 14 and there couple to freight container 14.
  • this coupling is done using the twist-locks already available on freight container 14.
  • Vehicles 12 now form together with freight container 14 a rigid entity which can displace as such.
  • vehicles 12 lift freight container 14 from the ground.
  • Vehicles 12 then move to the destination location, thereby co-displacing freight container 14.
  • vehicles 12 Having arrived at the destination location, vehicles 12 once again lower freight container 14 onto the ground and disengage from freight container 14 by uncoupling the twist-locks. They then move away from freight container 14 and make their way, optionally coupled to each other, to a subsequent starting location for the purpose of moving a following freight container 14.
  • a vehicle 12 comprises two arms 22 ( figure 2 ) which can enclose the end surface of a freight container 14.
  • a swivel wheel 24 is arranged in the vicinity of each of the arms 22.
  • Vehicle 12 further comprises two drivable and steerable wheels 26. Wheels 26 are provided with a steering drive 25 to enable steering of wheels 26. Wheels 26 are preferably rotatable through a large angle, for directions, both forwards and backwards as well as sideways. Vehicle 12 is hereby also able to still manoeuvre in small limited spaces between freight containers 14. Wheels 26 are driven by a drive (not shown).
  • the drive is a diesel-hydraulic drive. In another embodiment the drive is a diesel-electrical drive, and in yet another embodiment the drive is an electrical drive.
  • the embodiment shown in figure 2 comprises an exhaust 27 for the diesel drive.
  • Vehicle 12 is further provided with communication means.
  • the shown embodiment comprises an antenna 23 for radio communication.
  • the communication means enable vehicle 12 to communicate with another vehicle 12 for joint lifting and moving of a freight container 14.
  • the communication means also make it possible to communicate with a central coordinating computer for the purpose of receiving instructions for moving freight containers 14.
  • vehicle 12 shown in figure 2 also makes it possible however to allow the vehicle to be operated directly by an operator located in cab 21. Second vehicle 12 is then controlled by first vehicle 12 by means of the communication means. In an extreme case it is also possible to revert to fully manual operation. At that moment each vehicle 12 is controlled individually by an operator.
  • coupling/lifting members 28 Using the coupling/lifting members 28 the vehicle 12 connects to the twist-locks of freight container 14. Once the coupling has been effected, freight container 14 is raised from the ground using coupling/lifting members 28. After freight container 14 has been moved, coupling/lifting members 28 are lowered once again, whereby freight container 14 once again comes to rest on the ground. Coupling/lifting members 28 then disengage again from freight container 14.
  • Figure 3 shows a top view of a vehicle 12 in which are visible the arms 22 which enclose freight container 14. Swivel wheels 24 are arranged on the outer ends of arms 22. Vehicle 12 is further supported by the steerable and drivable wheels 26. Coupling/lifting members 28 can also be seen. Vehicle 12 is also provided with two measuring means 32 for detecting magnets in the surface over which the vehicle is driven. The position of vehicle 12 is determined on the basis of the location of the magnets detected by measuring means 32.
  • the arms 22 take a retractable form ( figure 4 ). Arms 22 can be retracted as according to arrow 42 so that vehicle 12 can enter very narrow spaces in order to pick up or drop a freight container 14. As soon as a freight container 14 is picked up, arms 22 are extended for more stability. Arms 22 are also extensible so that travel at higher speed in larger spaces takes place in stable manner.
  • the arms 22 are rotatable ( figure 5 ). Arms 22 rotate about a vertical shaft 52 as according to arrow 54. Because its arms 22 are rotatable, this embodiment can also be reduced in length, whereby this embodiment of vehicle 12 can enter a very narrow space between two freight containers 14 in order to pick up one of the two freight containers 14.
  • Figure 6 shows a vehicle 12 which has just disengaged from a freight container 14.
  • the broken line periphery 62 of vehicle 12 shows vehicle 12 at the moment it was still coupled to the end surface of freight container 14. After disengaging from freight container 14, vehicle 12 is then driven backward, after which it can manoeuvre itself sideways out of the space between freight containers 14 as according to arrow 64.
  • vehicle 12 was not essential for vehicle 12 to retract its arms 22 because there is still sufficient space available between the two freight containers 14. If however freight containers 14 had been closer to each other, vehicle 12 could then only have driven out between freight containers 14 as according to arrow 64 by retracting arms 22.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
EP07075618A 2007-07-20 2007-07-20 Verfahren und Vorrichtung zur Bewegung von Frachtcontainern Withdrawn EP2017218A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07075618A EP2017218A1 (de) 2007-07-20 2007-07-20 Verfahren und Vorrichtung zur Bewegung von Frachtcontainern
PCT/EP2008/006080 WO2009012993A2 (en) 2007-07-20 2008-07-18 Method and apparatus for moving freight containers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07075618A EP2017218A1 (de) 2007-07-20 2007-07-20 Verfahren und Vorrichtung zur Bewegung von Frachtcontainern

Publications (1)

Publication Number Publication Date
EP2017218A1 true EP2017218A1 (de) 2009-01-21

Family

ID=38827425

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07075618A Withdrawn EP2017218A1 (de) 2007-07-20 2007-07-20 Verfahren und Vorrichtung zur Bewegung von Frachtcontainern

Country Status (2)

Country Link
EP (1) EP2017218A1 (de)
WO (1) WO2009012993A2 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010142687A1 (de) * 2009-06-10 2010-12-16 Gottwald Port Technology Gmbh Flurgebundenes schwerlast-transportfahrzeug, insbesondere fahrerloses schwerlast-transportfahrzeug für iso-container
WO2015026246A3 (en) * 2013-08-21 2015-06-11 Bison Group Limited Container lift and/or weighing system
AT520628A3 (de) * 2017-11-27 2019-08-15 Amx Automation Tech Gmbh Transportanordnung für den transport von containern
CN110466962A (zh) * 2019-08-21 2019-11-19 上海飞为智能系统股份有限公司 一种agv小车托运载具自动上下料的装置和方法
EP3608488A1 (de) * 2018-08-10 2020-02-12 Drehtainer GmbH Spezial Container- Und Fahrzeugbau Vorrichtung, anordnung und verfahren zum positionieren von containern
WO2021190865A1 (de) * 2020-03-23 2021-09-30 Hubtex Maschinenbau Gmbh & Co. Kg Transportsystem zum kommissionieren

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2558518B (en) * 2016-05-31 2021-09-29 Arrival Ltd Autonomous container transportation
WO2019100097A1 (de) * 2017-11-27 2019-05-31 Amx Automation Technologies Gmbh Transportanordnung für den transport von containern

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3115936A1 (de) * 1981-04-22 1982-11-18 Ernst Dipl.-Kfm. Dr.jur. 2000 Hamburg Miebach Foerder-ladevorrichtung fuer mehrere paletten zur automatischen be- und entladung von transportfahrzeugen
EP1285878A1 (de) * 2001-08-22 2003-02-26 Gerhard Finkbeiner Hebebühne, insbesondere mobile Hebebühne
DE202005002668U1 (de) 2005-02-19 2005-04-21 Hülshorst, Johannes Hub- und Transportvorrichtung
EP1732027A1 (de) * 2005-05-31 2006-12-13 Still Gmbh Flurförderzeug

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3115936A1 (de) * 1981-04-22 1982-11-18 Ernst Dipl.-Kfm. Dr.jur. 2000 Hamburg Miebach Foerder-ladevorrichtung fuer mehrere paletten zur automatischen be- und entladung von transportfahrzeugen
EP1285878A1 (de) * 2001-08-22 2003-02-26 Gerhard Finkbeiner Hebebühne, insbesondere mobile Hebebühne
DE202005002668U1 (de) 2005-02-19 2005-04-21 Hülshorst, Johannes Hub- und Transportvorrichtung
EP1732027A1 (de) * 2005-05-31 2006-12-13 Still Gmbh Flurförderzeug

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010142687A1 (de) * 2009-06-10 2010-12-16 Gottwald Port Technology Gmbh Flurgebundenes schwerlast-transportfahrzeug, insbesondere fahrerloses schwerlast-transportfahrzeug für iso-container
US8789635B2 (en) 2009-06-10 2014-07-29 Gottwald Port Technology Gmbh Heavy-duty ground transportation vehicle, in particular an unmanned heavy-duty transportation vehicle for ISO containers
WO2015026246A3 (en) * 2013-08-21 2015-06-11 Bison Group Limited Container lift and/or weighing system
AT520628A3 (de) * 2017-11-27 2019-08-15 Amx Automation Tech Gmbh Transportanordnung für den transport von containern
AT520628B1 (de) * 2017-11-27 2020-08-15 Amx Automation Tech Gmbh Transportanordnung für den transport von containern
EP3608488A1 (de) * 2018-08-10 2020-02-12 Drehtainer GmbH Spezial Container- Und Fahrzeugbau Vorrichtung, anordnung und verfahren zum positionieren von containern
EP3608259A1 (de) * 2018-08-10 2020-02-12 Drehtainer GmbH Spezial Container- Und Fahrzeugbau Vorrichtung zur positionierung und ausrichtung eines containers und anordnung zur positionierung und ausrichtung von miteinander zu koppelnden containern mit solchen vorrichtungen
CN110466962A (zh) * 2019-08-21 2019-11-19 上海飞为智能系统股份有限公司 一种agv小车托运载具自动上下料的装置和方法
CN110466962B (zh) * 2019-08-21 2020-04-21 上海飞为智能系统股份有限公司 一种agv小车托运载具自动上下料的装置和方法
WO2021190865A1 (de) * 2020-03-23 2021-09-30 Hubtex Maschinenbau Gmbh & Co. Kg Transportsystem zum kommissionieren

Also Published As

Publication number Publication date
WO2009012993A2 (en) 2009-01-29
WO2009012993A3 (en) 2009-08-27

Similar Documents

Publication Publication Date Title
EP2017218A1 (de) Verfahren und Vorrichtung zur Bewegung von Frachtcontainern
KR101765038B1 (ko) 무인항공기의 배터리 자동교환시스템
US10059450B2 (en) Cargo handling system, method and apparatus
CN107445067B (zh) 集装箱轮胎吊自动装卸系统
US11904934B2 (en) Running gear
KR102525283B1 (ko) 컨테이너 자동 안내 운송 차량을 작동시키기 위한 방법 및 시스템
EP3000772B1 (de) Gabelstapler und Verfahren zum Betrieb eines Gabelstaplers
CN112272620A (zh) 用于自动卡车及牵引拖车的自动操作和处理的系统和方法
US10933795B2 (en) Intermodal container mobilization
CN103118934A (zh) 用于将管供应至水下管线铺设船的运输船、以及用于将管从运输船传送至水下管线铺设船的方法和成套工具
US11702323B2 (en) Automatically guided lifting gantry device for containers and method for operating such a lifting gantry device
CN113443585A (zh) 码垛机器人
US20230271657A1 (en) An Autonomous Mobile System, For Use In An Industrial Plant As A Reconfigurable Operating System
CN110944926A (zh) 用于无线电定位用于集装箱的运输车辆的系统
JP2008168952A (ja) 位置ずれ量算出方法およびクレーン並びに搬送台車
CN213474692U (zh) 一种移动式搬运机器人系统
CN110271994B (zh) 一种可分离式货叉装置的货物搬运方法
EP1927569A1 (de) Schiff-zu-Land-Containerkran und Verfahren zum Bedienen eines derartigen Krans
JP4352360B2 (ja) スタッカ・リクレーマ
KR20240010492A (ko) 객체를 운반하는 모듈형 로봇 시스템 및 방법
JP2662581B2 (ja) シールド工法における自動資材搬送方法
CN220448839U (zh) 一种智能搬运系统
CN209259515U (zh) 用于在吊运物体的过程中实现转动的装置
JPH02282197A (ja) 搬送台車
EP4282254A1 (de) Vorrichtung zum anordnen und abnehmen eines streifens abdeckmaterials, wie folie oder stoff, auf einem grabensilo

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

17P Request for examination filed

Effective date: 20090721

17Q First examination report despatched

Effective date: 20090814

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

D18D Application deemed to be withdrawn (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20121128