EP2480486A1 - Portalhubwagen zum einsatz in containerterminals und für allgemeine transportaufgaben - Google Patents
Portalhubwagen zum einsatz in containerterminals und für allgemeine transportaufgabenInfo
- Publication number
- EP2480486A1 EP2480486A1 EP10763604A EP10763604A EP2480486A1 EP 2480486 A1 EP2480486 A1 EP 2480486A1 EP 10763604 A EP10763604 A EP 10763604A EP 10763604 A EP10763604 A EP 10763604A EP 2480486 A1 EP2480486 A1 EP 2480486A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering
- wheel
- straddle carrier
- unit
- steering unit
- 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.)
- Granted
Links
- 238000005096 rolling process Methods 0.000 claims description 4
- 101100275990 Drosophila melanogaster Naus gene Proteins 0.000 claims 1
- 239000000969 carrier Substances 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
Classifications
-
- 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
Definitions
- the invention relates to a straddle for Ein ⁇ set in container terminals and for general transport tasks, with a frame, a load handling device, preferably a spreader, which hangs between the frame and with a load, preferably a container, lockable, hoisting winches, by means of which the load receiving means is vertically movable, driving beams, which are arranged at the lower portion of the frame and each having a plurality of arranged in a row of wheels, and a steering device by means of which the wheels are steerable.
- straddle carriers arranged on a driving carrier wheels by means of a steering drive, which belongs to a plurality of arranged on a driving carrier wheels associated steering gear, spent in the particular desired steering position.
- the respectively desired steering position is by means of a steering member, which is usually a steering wheel or the like. acts, given. ⁇ in a cylinder disposed between the steering wheel and the steering drive steering computer the target values for the steering drive is determined and to the übli ⁇ chgue designed as a hydraulic unit driving member
- the present invention seeks to provide a straddle carrier for use in container terminals and for general transport tasks, in which the tire wear, the energy required to operate the straddle carrier and the noise level generated during operation of the straddle carrier he ⁇ considerably are reduced.
- the steering device for each wheel of the straddle carrier has a separate steering unit by means of which the steering position of each wheel of the straddle carrier is individually adjustable. This allows a lateral force-free steering of the straddle carrier, wherein for each wheel of the straddle carrier the physically correct steering radius can be adjusted. Wear losses to the tires have a material re **d ⁇ . Due to the more precise as in the prior art mög ⁇ union positioning of the individual wheels of the gantry according to the respective requested steering position also results in each steering a reduction of energy expenditure for the process of the gantry, which, given the large number of operation of the Portalhubwa ⁇ gene occurring steering operations to a considerable Einspa ⁇ tion in energy consumption leads.
- each steering unit of the portal lifting carriage according to the invention has a steering motor and a steering gear.
- the steering motor of each steering unit is preferably designed as an electric motor, so that the steering device is operated in total exclusively by electrical energy.
- a compensation of uneven terrain ud. like. is made possible when the output member of the steering gear of each steering unit drives a hollow shaft, which is connected by means of a mosfeststen and vertically movable or longitudinally positive connection with the steering pin of this steering unit associated wheel.
- the steering gear of each steering unit as Support steering gear is formed, in which its output shaft or - indirectly - the steering pin of the steering unit associated wheel is mounted in a rolling bearing.
- the support steering gear each steering unit is integrated into the structure of the steered by the steering wheel associated drive carrier, wherein the output member of the support steering gear rotatably connected to a wheel of the wheel verbun ⁇ is.
- the integration of the steering unit to the driving carrier is facilitated if an axis of rotation of the steering motor of each steering unit and a steering axis of the steering unit associated with this wheel are arranged perpendicular to each other.
- the steering gear of each steering unit is equipped on its output side with a rotary encoder or a hollow shaft angle sensor.
- the steering motor of each steering unit is equipped with a position sensor, by means of which the position of the steering unit assigned to the wheel can be detected via the motor position.
- the redundancy existing per steering unit rotary encoder the steering safety can thus be increased, and moreover, in a steering computer of the straddle carrier plausibility checks with respect to the differing from the two encoders ⁇ chen determined actual values can be performed.
- the straddle carrier has the above-mentioned steering computer into which a desired value for the steering position of the wheels of the straddle carrier can be entered via a steering element, in particular a steering wheel, of the straddle carrier. or on the output side of the steering gear arranged rotary encoders detected, the actual position of the wheels corresponding actual values are entered, and by means of which the steering motor of each steering unit according to the deviation between the actual position and the
- Target position of the respective steering unit associated wheel is controllable. Because of the cross comparisons that can be carried out in the steering computer and, as already mentioned above, plausibility checks, disturbances in the steering operation can be detected better than in the prior art.
- Figure 1 is a schematic diagram of an inventive
- Figure 2 is an enlarged view of two in one
- (Straddle Carrier) 1 has a frame 2, which in the manner of a portal 2 at the lower end of the frame 2 an ordered driver 3, of which only one is visible in Figure 1, connects to each other.
- To the straddle carrier 1 includes a load receiving means (spreader, Toppspreader) 4, which is arranged between the two driving supports (3) associated with supports 5 of the frame 2.
- the load-receiving means 4 is connected by suitable connecting means 6 with a container 7 or locked.
- the load-receiving means 4 is vertically movable between the supports 5 of the frame 2 by means of a lifting winch 8 arranged on the load-receiving means 4 in the embodiment shown in FIG.
- a driver's cab 10 is provided, out of which an operator of the gantry truck 1 can drive or control this and its load-carrying means 4.
- the two driving supports 3 of the straddle carrier 1, of which only one is visible in FIG. 1, have in the illustrated embodiment of the straddle carrier 1 four wheels 11, to each of which a wheel carrier 12 supported on the chassis 3 is assigned.
- a steering device of the straddle carrier 1 include steering units 13, one of which is associated with a wheel 11 and a wheel carrier 12, respectively.
- FIG. 2 two of these steering units 13 are shown with that part of the driving carrier 3 on which they are arranged, and the two wheels 11 and wheel carriers 12 assigned to them.
- each steering unit 13 in the embodiment of the same shown in Figure 2 a steering motor 14 and a steering gear 15.
- the steering motor 14 is preferably designed as an electric motor and drives by means of its output shaft to an input part of the steering gear 15.
- An output member 16 of the steering gear 15 is rotatably connected in a manner to be described with a steering pin 17, which in turn rotatably connected to the wheel carrier 12 of this steering unit 13 associated wheel 11. By rotation of the steering pin 17, the wheel 11 is adjusted with respect to its steering position in accordance with the operation of the electric motor 14.
- the steering gear 15 is further configured as a support steering gear. Its output member 16 drives a hollow shaft 18, which in turn rotatably in the rotational direction and in
- Longitudinal or vertical direction is movably connected by means of a suitable positive connection with the steering pin 17.
- the output member 16 of the support steering gear 15 and thus indirectly the hollow shaft 18 and the steering pin 17 are in one Rolling bearings stored.
- This rolling bearing is designed so that it can transmit the high payloads, the high lateral forces and the high tilting moments that arise on the wheel 11 during braking and cornering.
- the axis of rotation of the output member 16 of the support steering gear 15 and thus the steering axis of the wheel 11 is perpendicular to the axis of rotation of the electric motor 14 of the steering unit 13.
- the electric motor 14 of the steering unit 13 is at its the
- the support steering gear 15 is equipped with a hollow shaft angle sensor.
- the electric motor 14 of the steering unit 13 has a position sensor for detecting the steering position of the wheel 11 associated with the steering unit 11.
- a steering wheel of the straddle carrier 1 arranged in the driver's cab 10 is connected to the steering computer, by means of which an operator can input a desired value for the steering positions of the wheels 11 of the straddle carrier.
- the steering computer calculates from the setpoint value entered by the steering wheel. Value for each wheel 11 of the straddle carrier 1 an individual steering position and thus calculates an individual target value. This target value is compared for each wheel 11 with the actual value present in the steering computer.
- Steering calculator calculated deviation between the actual position and the desired position of the respective wheel 11, the electric motor 14 of the respective wheel 11 associated steering unit 13 is controlled so that each wheel 11 assumes its desired position as quickly as possible.
- a lateral force-free steering is realized with physically correct steering radius for each wheel 11 of the straddle carrier.
- the operation of the portal lift ⁇ trolley 1 can be realized with less wear, less energy and reduced noise level.
- the steering safety is ensured by the redundancy of the different sensors or encoders and by the cross comparisons that can be carried out in the steering computer.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL10763604T PL2480486T3 (pl) | 2009-09-24 | 2010-09-22 | Kontenerowy wóz bramowy do stosowania w terminalach kontenerowych i do ogólnych zadań transportowych |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009042855A DE102009042855A1 (de) | 2009-09-24 | 2009-09-24 | Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transportaufgaben |
PCT/EP2010/005784 WO2011035892A1 (de) | 2009-09-24 | 2010-09-22 | Portalhubwagen zum einsatz in containerterminals und für allgemeine transportaufgaben |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2480486A1 true EP2480486A1 (de) | 2012-08-01 |
EP2480486B1 EP2480486B1 (de) | 2014-11-05 |
Family
ID=43416970
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10763604.5A Active EP2480486B1 (de) | 2009-09-24 | 2010-09-22 | Portalhubwagen zum einsatz in containerterminals und für allgemeine transportaufgaben |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP2480486B1 (de) |
CN (1) | CN102666356B (de) |
DE (1) | DE102009042855A1 (de) |
ES (1) | ES2527825T3 (de) |
PL (1) | PL2480486T3 (de) |
WO (1) | WO2011035892A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103660975A (zh) * | 2012-09-13 | 2014-03-26 | 微宏动力系统(湖州)有限公司 | 电动跨运车 |
CN111071936B (zh) * | 2020-01-16 | 2021-06-01 | 中交机电工程局有限公司 | 易操控集装箱跨运车 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4219094A (en) * | 1978-11-09 | 1980-08-26 | Rpc Corporation | Straddle crane apparatus |
US4263979A (en) * | 1978-11-09 | 1981-04-28 | Rpc Corporation | Hydraulic master-slave steering system for a wide track vehicle |
US4327725A (en) * | 1980-11-25 | 1982-05-04 | Alza Corporation | Osmotic device with hydrogel driving member |
US4372725A (en) * | 1982-03-05 | 1983-02-08 | Good Earth Growers, Inc. | Multi-wheeled transporter and conveying vehicle |
DE4394316T1 (de) * | 1992-08-27 | 1995-07-20 | Komatsu Mfg Co Ltd | Betriebssteuerungssystem für ein ortsbewegliches Fahrzeug |
US6206127B1 (en) * | 1998-02-27 | 2001-03-27 | Mi-Jack Products | Lead wheel steering system for a gantry crane |
DE50310577D1 (de) * | 2003-08-02 | 2008-11-13 | Noell Mobile Systems Gmbh | Portalhubwagen mit elektrischem Radnabenantrieb |
US7252299B2 (en) * | 2005-02-15 | 2007-08-07 | Marine Travelift, Inc. | Steering system for crane |
WO2009017311A1 (en) * | 2007-07-30 | 2009-02-05 | Seoho Electric Co., Ltd, | Container transfer vehicles system, 4 wheel driving device and 4 wheel handling device thereof |
DE102008011539B3 (de) * | 2008-02-28 | 2009-06-18 | Noell Mobile Systems Gmbh | Vollautomatischer Portalhubstapler mit lokaler Funkortung und Laserlenkung |
-
2009
- 2009-09-24 DE DE102009042855A patent/DE102009042855A1/de not_active Withdrawn
-
2010
- 2010-09-22 CN CN201080044119.9A patent/CN102666356B/zh active Active
- 2010-09-22 PL PL10763604T patent/PL2480486T3/pl unknown
- 2010-09-22 EP EP10763604.5A patent/EP2480486B1/de active Active
- 2010-09-22 ES ES10763604.5T patent/ES2527825T3/es active Active
- 2010-09-22 WO PCT/EP2010/005784 patent/WO2011035892A1/de active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2011035892A1 * |
Also Published As
Publication number | Publication date |
---|---|
ES2527825T3 (es) | 2015-01-30 |
CN102666356A (zh) | 2012-09-12 |
CN102666356B (zh) | 2015-01-14 |
DE102009042855A1 (de) | 2011-03-31 |
EP2480486B1 (de) | 2014-11-05 |
PL2480486T3 (pl) | 2015-04-30 |
WO2011035892A1 (de) | 2011-03-31 |
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