EP2480486B1 - Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport - Google Patents

Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport Download PDF

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Publication number
EP2480486B1
EP2480486B1 EP10763604.5A EP10763604A EP2480486B1 EP 2480486 B1 EP2480486 B1 EP 2480486B1 EP 10763604 A EP10763604 A EP 10763604A EP 2480486 B1 EP2480486 B1 EP 2480486B1
Authority
EP
European Patent Office
Prior art keywords
steering
wheel
straddle carrier
steering unit
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.)
Active
Application number
EP10763604.5A
Other languages
German (de)
English (en)
Other versions
EP2480486A1 (fr
Inventor
Torsten Gayer
Wilhelm Pfenning
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.)
Pfenning Elektroanlagen GmbH
Original Assignee
Pfenning Elektroanlagen GmbH
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Publication date
Application filed by Pfenning Elektroanlagen GmbH filed Critical Pfenning Elektroanlagen GmbH
Priority to PL10763604T priority Critical patent/PL2480486T3/pl
Publication of EP2480486A1 publication Critical patent/EP2480486A1/fr
Application granted granted Critical
Publication of EP2480486B1 publication Critical patent/EP2480486B1/fr
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Anticipated expiration legal-status Critical

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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
    • 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 carrier for use in container terminals and for general transport tasks, with a frame, a load-carrying means, preferably a spreader, which is suspended between the frame and with a load, preferably a container, lockable, hoisting winches, by means of which the load-carrying means 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.
  • a load-carrying means preferably a spreader
  • a load preferably a container, lockable, hoisting winches
  • the load-carrying means 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.
  • a steering computer arranged between the steering wheel and the steering drive, nominal values for the steering drive are determined and transmitted to the drive element, which is usually configured as a hydraulic unit the steering drive or to the control of the same forwarded. Accordingly, arranged on the output side of the steering drive wheels of the straddle carrier according to the request on the steering wheel thereof are adjusted.
  • EP150688 discloses a straddle carrier according to the preamble of claim 1.
  • the present invention seeks to provide a straddle carrier for use in container terminals and general transport tasks in which the tire wear, the energy required to operate the gantry and the noise generated during operation of the gantry are considerably 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.
  • a lateral force-free steering of the straddle carrier is made possible, wherein for each wheel of the straddle carrier the physically correct steering radius can be adjusted. Abrasion losses on the tires are thereby significantly reduced.
  • Due to the more precise than in the prior art possible positioning of the individual wheels of the gantry according to the respective requested steering position results in each case a reduction of energy expenditure for the process of the gantry, which in view of the large number of occurring during operation of the gantry truck steering operations to a leads to considerable savings in energy consumption.
  • the noise level of the inventively designed straddle carrier is reduced because of the possible exact positioning of the individual wheels in the individually determined for each wheel steering positions.
  • 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.
  • each steering unit drives a hollow shaft which is connected by means of a rotationally fixed and movable in the vertical or longitudinally form-locking connection with the steering pin of this steering unit associated wheel.
  • the support steering gear each steering unit is integrated into the structure of the steered by the steering unit associated drive carrier, wherein the output member of the support steering gear is rotatably connected to a wheel of the wheel.
  • the wheel carrier of the wheel is then mounted or supported steerable on the carriage.
  • 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 steering safety can be increased, wherein, in addition, plausibility checks with respect to the actual values determined by the two different encoders can be carried out in a steering computer of the gantry pallet truck.
  • the latter 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 detected on the output side of the steering gear arranged rotary encoders, the actual position of the wheels corresponding actual values are entered, and controlled by the steering motor of each steering unit according to the deviation between the actual position and the desired position of the respective steering unit associated wheel is. Due to cross comparisons that can be carried out in the steering computer and - as already mentioned above - plausibility checks, disturbances in steering operation can be detected better than in the prior art.
  • straddle carrier 1 has a frame 2, which arranged in the manner of a portal 2 at the lower end of the frame 2 Fahren 3, of which in FIG. 1 only one is visible, connecting with each other.
  • To the straddle carrier 1 includes a load handling 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 by means of a in the in FIG. 1 shown embodiment on the lifting device 4 arranged lifting hoist 8 between the supports 5 of the frame 2 vertically movable.
  • a driver's cab 10 is provided from which an operator of the straddle carrier 1 can drive or control this and its load-carrying means 4.
  • 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 their associated two wheels 11 and wheel carriers 12.
  • each steering unit 13 By means of each steering unit 13, the rotational position of its associated wheel carrier 12 and the steering position of its associated wheel 11 individually adjustable.
  • each steering unit 13 at the in FIG. 2 shown embodiment of the same 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 pivot pin 17, the wheel 11 is adjusted with respect to its steering position corresponding to 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 direction of rotation and is connected in the longitudinal or vertical direction movable by means of a suitable form-locking 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 arranged 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 connected at its side facing away from the supporting steering gear 15 with a driving carrier-side support 19.
  • 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 steering unit 13 associated wheel 11th
  • the current steering position of the respective steering unit 13 associated wheel 11 is detected and forwarded a corresponding actual value to a not shown in the figures steering computer of the straddle carrier 1.
  • the actual values of the steering positions of all wheels 11 of the straddle carrier 1 are therefore present.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Claims (10)

  1. Chariot cavalier pour utilisation dans un terminal de conteneurs et pour des tâches de transport générales, avec un châssis de cadre (2), un moyen de réception de charge (4), de préférence un cadre de lavage, qui est suspendu entre le châssis de cadre (2) et est verrouillable avec une charge, de préférence un conteneur (7), des treuils de levage (8) au moyen desquels le moyen de réception de charge (4)peut être déplacé verticalement, des roues (11) qui sont disposées dans la zone inférieure du châssis de cadre (2) et un dispositif de direction avec une unité de direction (13) séparée qui comporte un moteur de direction (14) et un mécanisme de direction (15) pour chaque roue (11) du chariot cavalier (1), au moyen de laquelle la position de la direction de la roue (11) du chariot cavalier (1)qui lui est attribuée, peut être individuellement réglée, des supports de déplacement (3)étant disposés dans la zone inférieure du châssis de cadre (2), qui comportent respectivement une pluralité de roues (11) montées en alignement, caractérisé en ce que chaque unité de direction (13) du dispositif de direction comprend un moteur de direction (14) et un mécanisme de direction (15) et en ce que le mécanisme de direction (15) de chaque unité de direction est constitué comme un mécanisme de direction porteur (15) pour lequel son arbre de sortie ou, indirectement, le tourillon (17) de la roue (11) attribuée à l'unité de direction (13) est monté dans un roulement.
  2. Chariot cavalier selon la revendication 1 pour lequel le moteur de direction (14) de chaque unité de direction (13) est constitué comme un moteur électrique (14).
  3. Chariot cavalier selon la revendication 1 ou 2 pour lequel le mécanisme de direction (15) de chaque unité de direction (13) est constitué comme un réducteur (15), de préférence avec un rapport de démultiplication de i= 50 à 1000 et un régime du côté sortie de nsort = 2 à 5 tr/min.
  4. Chariot cavalier selon une quelconque des revendications 1 à 3 pour lequel un organe de sortie (16) du mécanisme de direction (15) de chaque unité de direction (13) est relié résistant à la torsion avec un pivot de direction (17) de la roue (11) attribuée à cette unité de direction (13).
  5. Chariot cavalier selon la revendication 4 pour lequel l'organe de sortie (16) du mécanisme de direction (15) de chaque unité de direction (13) entraîne un arbre creux (18), qui est relié au moyen d'une liaison mécanique de façon résistante à la torsion et mobile dans le sens vertical ou longitudinal au pivot de direction (17) de la roue (11) attribuée à cette unité de direction (13).
  6. Chariot cavalier selon la revendication 1 pour lequel le mécanisme de direction porteur (15) de chaque unité de direction (13) est intégré dans la structure du support de déplacement (3) attribué à la roue (11) dirigée par l'unité de direction (13) et l'organe de sortie (16) du mécanisme de direction porteur (15) est relié de façon résistante à la torsion avec un support de roue (12) de la roue (11).
  7. Chariot cavalier selon une quelconque des revendications 1 à 6 pour lequel un axe de rotation du moteur de direction (14) de chaque unité de direction (13) et un axe de direction de la roue (11) attribuée à cette unité de direction (13) sont disposés perpendiculairement l'un par rapport à l'autre.
  8. Chariot cavalier selon une quelconque des revendications 1 à 7 pour lequel le mécanisme de direction (15) de chaque unité de direction (13) est équipé sur son côté de sortie d'un résolveur ou d'un capteur d'angle d'arbre creux.
  9. Chariot cavalier selon une quelconque des revendications 1 à 8 pour lequel le moteur de direction (14) de chaque unité de direction (13) est équipé d'un système de capteurs de position au moyen duquel la position de la roue (11) attribuée à l'unité de direction (13) peut être saisie par la position du moteur.
  10. Chariot cavalier selon la revendication 9 avec un calculateur de direction dans lequel une valeur théorique pour la position de direction des roues (11) du chariot cavalier (1) peut être entrée par un élément de direction, en particulier une roue directrice, du chariot cavalier (1), dans lequel peuvent être entrées les valeurs réelles correspondant à la position réelle de roues (11) saisies sur les capteurs de moteur et/ou sur les résolveurs disposés côté sortie des mécanismes de direction (15), et au moyen duquel le moteur de direction (14) de chaque unité de direction (13) peut être piloté selon l'écart entre la position réelle et la position théorique de la roue (11) attribuée à l'unité de direction (13) respective.
EP10763604.5A 2009-09-24 2010-09-22 Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport Active EP2480486B1 (fr)

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 (fr) 2009-09-24 2010-09-22 Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport

Publications (2)

Publication Number Publication Date
EP2480486A1 EP2480486A1 (fr) 2012-08-01
EP2480486B1 true EP2480486B1 (fr) 2014-11-05

Family

ID=43416970

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10763604.5A Active EP2480486B1 (fr) 2009-09-24 2010-09-22 Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport

Country Status (6)

Country Link
EP (1) EP2480486B1 (fr)
CN (1) CN102666356B (fr)
DE (1) DE102009042855A1 (fr)
ES (1) ES2527825T3 (fr)
PL (1) PL2480486T3 (fr)
WO (1) WO2011035892A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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
US5609220A (en) * 1992-08-27 1997-03-11 Kabushiki Kaisha Komatsu Seisakusho Operation control system for traveling vehicle
US6206127B1 (en) * 1998-02-27 2001-03-27 Mi-Jack Products Lead wheel steering system for a gantry crane
DK1506888T3 (da) * 2003-08-02 2009-02-09 Noell Mobile Systems Gmbh Portaltruck med elektrisk hjulnavmotor
US7252299B2 (en) * 2005-02-15 2007-08-07 Marine Travelift, Inc. Steering system for crane
WO2009017311A1 (fr) * 2007-07-30 2009-02-05 Seoho Electric Co., Ltd, Système de véhicules de transfert de containers, dispositif à quatre roues et dispositif de manipulation à quatre roues motrices correspondant
DE102008011539B3 (de) * 2008-02-28 2009-06-18 Noell Mobile Systems Gmbh Vollautomatischer Portalhubstapler mit lokaler Funkortung und Laserlenkung

Also Published As

Publication number Publication date
DE102009042855A1 (de) 2011-03-31
PL2480486T3 (pl) 2015-04-30
EP2480486A1 (fr) 2012-08-01
CN102666356B (zh) 2015-01-14
ES2527825T3 (es) 2015-01-30
WO2011035892A1 (fr) 2011-03-31
CN102666356A (zh) 2012-09-12

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