EP2483194A1 - Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof - Google Patents

Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof

Info

Publication number
EP2483194A1
EP2483194A1 EP10763605A EP10763605A EP2483194A1 EP 2483194 A1 EP2483194 A1 EP 2483194A1 EP 10763605 A EP10763605 A EP 10763605A EP 10763605 A EP10763605 A EP 10763605A EP 2483194 A1 EP2483194 A1 EP 2483194A1
Authority
EP
European Patent Office
Prior art keywords
straddle carrier
drive
brake
operator
steering
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
Application number
EP10763605A
Other languages
German (de)
French (fr)
Other versions
EP2483194B1 (en
Inventor
Peter Giese
Torsten Gayer
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
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 Pfenning Elektroanlagen GmbH filed Critical Pfenning Elektroanlagen GmbH
Priority to PL10763605T priority Critical patent/PL2483194T3/en
Publication of EP2483194A1 publication Critical patent/EP2483194A1/en
Application granted granted Critical
Publication of EP2483194B1 publication Critical patent/EP2483194B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers

Definitions

  • the invention relates to a straddle carrier for use in container terminals and for general transport purposes keke, with a steering wheel, a brake pedal and an accelerator pedal by the operation of an operator of the straddle carrier can control the operation thereof, and a steering drive, a brake drive and akulturstoffdosierantrieb, by means of which steering wheel, brake pedal or accelerator pedal operations in steering operations, braking or fuel metering operations can be implemented.
  • the invention relates to a corresponding method for controlling a straddle carrier.
  • Such straddle carriers also called straddle carriers, are very susceptible to tipping due to their very high and very narrow design.
  • the output power of the drive system of the straddle carrier is throttled as a function of the current curve radius of the straddle carrier in order to prevent tipping; As a result, it is an operator of the portal lift
  • CONFIRMATION COPY carts for example, in a curve to accelerate the straddle carrier so that the risk of tipping exists.
  • the present invention seeks to provide a straddle carrier for use in container terminals and for general transport purposes and a method for controlling such a straddle carrier to be avoided by means of tipping the straddle carrier even in extreme situations can.
  • the straddle carrier - for example, to the control - a computer unit belongs, which is connected on the one hand to the steering wheel, the brake pedal and the accelerator pedal and on the other hand to the steering drive, the brake drive and thekulturstoffdosierantrieb in the a current focus position, an actual bend radius and a current speed of the Portalhub ⁇ car are continuously detected and on the basis of the detected current values, a current range of permissible operating conditions of the straddle carrier is continuously determined, is checked in, whether a part of the loading Servant of the gantry by appropriate operation of the steering wheel, the brake pedal and / or accelerator pedal requested operating conditions of the gantry within the currently determined range of permissible operating conditions of the gantry, and means of in the event that this review shows that the straddle carrier in a currently unauthorized Operating state is transferred, by the operator by means of the steering wheel, the brake pedal and / or the accelerator pedal input control signals are so changeable that the requested by the operator operating state of the straddle carrier is reached
  • the current center of gravity, the current radius of curvature and the current speed are continuously detected, a current range of permissible operating states of the straddle carrier is determined on the basis of the detected current values, and it is checked by an operator of the straddle carrier by appropriate actuation of the steering wheel, the
  • the total weight of the straddle carrier including the load possibly present at its load handling device, is therefore taken as a basis, wherein, moreover, the vertical position of the lifting device including the load possibly present thereon in the determination of the Focus of the straddle carrier.
  • the operator requested changes in the operating state are checked to see whether these changes in the operating state of the current range of permissible operating conditions would leave. If this check in the computer unit shows that the range of the currently permissible operating states is not left, the operator requested to change the operating state of the straddle carrier is completed.
  • the operator requested change of the operating state of the straddle carrier is computer-aided and, unlike the control signals generated by the operator, carried out in such a way that the operator requests Although the change in the operating state of the straddle carrier is achieved, the course of the change is completed in such a way that the range of currently permissible operating states of the straddle carrier is not left. Steering, braking and deceleration signals are thus implemented in a modified manner, so that the forces acting on the straddle carrier do not lead to the straddle carrier tipping over.
  • the range of permissible operating states of the straddle carrier is expediently predetermined by its tilting limit, ie the range of permissible operating states is that region in which the straddle carrier does not tip over.
  • the steering wheel or the steering drive of the straddle carrier may advantageously be associated with a steering brake, which is controlled by the computer unit or controlled so that is not left by the requested by the operator adjustment of the steering angle of the current range of permissible operating conditions of the straddle carrier.
  • the brake pedal or the brake drive of the gantry lift truck is assigned a first pressure proportional valve which is controllable or controlled by the computer unit such that it is activated by the operator - Demanded brake pressure the current range of permissible operating conditions of the straddle carrier is not left.
  • the accelerator pedal or the fuel metering drive can also be assigned a second proportional valve which can be controlled or controlled by means of the computer unit in such a way that the respective current area is added by the fuel metering requested by the operator. permissible operating conditions of the straddle carrier.
  • a straddle carrier (straddle carrier) 1 has a very high and a very narrow construction due to its purpose. Therefore, such a straddle carrier 1 is very susceptible to tipping over. To take into account here is the fact that the straddle carrier 1 is used to transport loads with different weights, from which it follows that the center of gravity of the straddle carrier 1 is not constant.
  • the straddle carrier 1 to a computer unit 2 is equipped exclusively.
  • This computer unit 2 can of course be integrated into an otherwise not shown control device of the gantry truck 1.
  • this computer unit 2 are continuously, as shown with the corresponding arrows in the figure, the ak ⁇ tual center of gravity (SPL), the current curve radius (KR) and the current speed (V) of the gantry 1 entered. Based on a physical model of the straddle carrier 1, the computer unit 2 uses these values to determine a respective current range of permissible operating states of the straddle carrier 1. This respective current range of permissible operating states is determined by the respective current tilt limit, which is based on the current center of gravity (SPL), the determine the current turning radius (KR) and the current speed (V) of the gantry lift truck 1. As a result, it is possible to specify for each current operating state of the straddle carrier 1 which steering, braking and / or acceleration maneuvers thereof are permissible.
  • SPL current center of gravity
  • KR current turning radius
  • V current speed
  • a specific change of the operating state of the straddle carrier 1 is requested by means of a steering wheel 3, and / or a brake pedal 4 and / or an accelerator pedal 5.
  • the corresponding requirements of the operator can be realized by means of a steering drive 6, a brake drive 7 or a fuel metering drive 8.
  • the steering wheel 3, the brake pedal 4 and the accelerator pedal 5 are also connected to the computer unit 2, so that in the computer unit 2, the part exerted by the operator by means of the steering wheel 3, the brake pedal 4 and / or the accelerator pedal 5 control signals.
  • the computer unit 2 intervenes and modifies the control signals generated by the operator in such a way in that the operating state of the straddle carrier 1 requested by the operator is reached as quickly as possible, but at the same time it is ensured that the constantly updated range of permissible operating states of the straddle carrier 1 is not left.
  • a first pressure proportional valve 10 is arranged between the brake pedal 4 on the one hand and the brake drive 7 on the other hand and a second pressure proportional valve 11 between the accelerator pedal 5 on the one hand and the fuel metering drive 8 on the other hand.
  • the steering brake 9 and the two pressure proportional valves 10, 11 are also connected to the computer unit 2.
  • correction signals are generated, which are applied to the steering brake 5, the first pressure proportional valve 10 and / or the second pressure proportional valve 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a straddle carrier (1) for use in container terminals and for general transport purposes, comprising a steering wheel (3), a brake pedal (4) and an accelerator pedal (5), the operator of the straddle carrier (1) being able to control said carrier by actuating said components, also comprising a steering drive (6), a brake drive (7) and a fuel dosing drive (8) by means of which the steering wheel actuation, brake pedal actuation or accelerator pedal acceleration is converted into the steering processes, braking processes and/or fuel dosing processes. In order to prevent the straddle carrier (1) from overturning in both extreme and dangerous situations, said straddle carrier (1) is equipped with a calculation unit (2) which is connected on one side to the steering wheel (3), the brake pedal (4) and the accelerator pedal (5), and on the other side to the steering drive (6), the brake drive (7) and the fuel dosing drive (8), in which the actual position of the centre of gravity (SPL), an actual curve radius (KR) and an actual speed (V) of the straddle carrier (1) can be continuously detected, and an actual range of the authorised operational state of the straddle carrier (1) can be continuously determined based on the detected actual value. Said calculation unit controls whether an operational state of the straddle carrier (1) actuated by the driver of the said straddle carrier (1) by correspondingly actuating the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5) is within the actual determined range of the authorised operational state of the straddle carrier, and if said test demonstrates that said straddle carrier (1) is in a momentary non-authorised operational state, then control signals can be changed between the operator of the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5) such that the operational state of the straddle carrier (1) driven by the operator can be attained as fast as possible without abandoning the momentary determined range of the authorised operational state of the straddle carrier (1).

Description

„Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transport zwecke und Verfahren zur Steuerung des- selben" "Straddle carrier for use in container terminals and for general transport purposes and method of controlling the same"
Die Erfindung bezieht sich auf einen Portalhubwagen zum Ein- satz in Containerterminals und für allgemeine Transport zwek- ke, mit einem Lenkrad, einem Bremspedal und einem Gaspedal, durch deren Betätigung eine Bedienungsperson des Portalhubwagens den Betrieb desselben steuern kann, und einem Lenkantrieb, einem Bremsantrieb und einem Treibstoffdosierantrieb, mittels denen Lenkrad-, Bremspedal- bzw. Gaspedalbetätigungen in Lenkvorgänge, Bremsvorgänge bzw. Treibstoffdosiervorgänge umsetzbar sind. Darüber hinaus bezieht sich die Erfindung auf ein entsprechendes Verfahren zur Steuerung eines Portalhubwagens . The invention relates to a straddle carrier for use in container terminals and for general transport purposes keke, with a steering wheel, a brake pedal and an accelerator pedal by the operation of an operator of the straddle carrier can control the operation thereof, and a steering drive, a brake drive and a Treibstoffdosierantrieb, by means of which steering wheel, brake pedal or accelerator pedal operations in steering operations, braking or fuel metering operations can be implemented. Moreover, the invention relates to a corresponding method for controlling a straddle carrier.
Derartige Portalhubwagen, auch Straddle Carrier genannt, sind aufgrund ihrer sehr hohen und sehr schmalen Bauweise sehr kippanfällig. Bei bekannten derartigen Portalhubwagen wird daher zum Verhindern des Kippens die Abgabeleistung der An- triebsanlage des Portalhubwagens in Abhängigkeit vom aktuellen Kurvenradius des Portalhubwagens rechnergestützt gedrosselt; hierdurch ist es einer Bedienungsperson des Portalhub- Such straddle carriers, also called straddle carriers, are very susceptible to tipping due to their very high and very narrow design. In known such straddle carriers, therefore, the output power of the drive system of the straddle carrier is throttled as a function of the current curve radius of the straddle carrier in order to prevent tipping; As a result, it is an operator of the portal lift
BESTÄTIGUNGSKOPIE wagens verwehrt, z.B. in einer Kurve den Portalhubwagen so zu beschleunigen, dass die Gefahr des Kippens besteht. CONFIRMATION COPY carts, for example, in a curve to accelerate the straddle carrier so that the risk of tipping exists.
Der aus dem Stand der Technik bekannte Kippschutz bzw. das entsprechende aus dem Stand der Technik bekannte Verfahren zur Steuerung eines derartigen Portalhubwagens ist jedoch nicht geeignet, ein Kippen des Portalhubwagens zuverlässig zu verhindern, wenn während einer Kurvenfahrt des Portalhubwagens der Kurvenradius verändert oder eine Bremsung durchge- führt wird. Ursache für die Einleitung derartiger Steuersignale könnten z.B. Mutwille oder Angst der Bedienungsperson sein . However, the well-known from the prior art anti-tipper or the corresponding known from the prior art method for controlling such a gantry is not suitable to reliably prevent tilting of the gantry when changing the cornering radius during cornering of the gantry truck or Run through a brake - leads. Cause of the initiation of such control signals could e.g. To be mischief or fear of the operator.
Ausgehend von dem vorstehend geschilderten Stand der Technik liegt der Erfindung die Aufgabe zugrunde, einen Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transport zwecke sowie ein Verfahren zur Steuerung eines derartigen Portalhubwagens zur Verfügung zu stellen, mittels dem ein Umkippen des Portalhubwagens auch in Extremsituationen vermieden werden kann. Based on the above-described prior art, the present invention seeks to provide a straddle carrier for use in container terminals and for general transport purposes and a method for controlling such a straddle carrier to be avoided by means of tipping the straddle carrier even in extreme situations can.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass zu dem Portalhubwagen - z.B. zu dessen Steuerung - eine Rechnereinheit gehört, die einerseits an das Lenkrad, das Brems- pedal und das Gaspedal und andererseits an den Lenkantrieb, den Bremsantrieb und den Treibstoffdosierantrieb angeschlossen ist, in der eine aktuelle Schwerpunktlage, ein aktueller Kurvenradius und eine aktuelle Geschwindigkeit des Portalhub¬ wagens kontinuierlich erfassbar sind und auf der Grundlage der erfassten aktuellen Werte kontinuierlich ein aktueller Bereich zulässiger Betriebszustände des Portalhubwagens ermittelbar ist, in der überprüfbar ist, ob ein seitens der Be- dienungsperson des Portalhubwagens durch entsprechende Betätigung des Lenkrads, des Bremspedals und/oder des Gaspedals angeforderte Betriebszustände des Portalhubwagens innerhalb des aktuell ermittelten Bereichs zulässiger Betriebszustände des Portalhubwagens ist, und mittels der für den Fall, dass diese Überprüfung ergibt, dass der Portalhubwagen in einen aktuell unzulässigen Betriebszustand überführt würde, von der Bedienungsperson mittels des Lenkrads, des Bremspedals und/oder des Gaspedals eingegebene Steuersignale so veränder- bar sind, dass der seitens der Bedienungsperson angeforderte Betriebszustand des Portalhubwagens schnellstmöglich erreichbar ist, ohne dass der jeweils aktuell ermittelte Bereich zulässiger Betriebszustände des Portalhubwagens verlassen würde. This object is achieved in that the straddle carrier - for example, to the control - a computer unit belongs, which is connected on the one hand to the steering wheel, the brake pedal and the accelerator pedal and on the other hand to the steering drive, the brake drive and the Treibstoffdosierantrieb in the a current focus position, an actual bend radius and a current speed of the Portalhub ¬ car are continuously detected and on the basis of the detected current values, a current range of permissible operating conditions of the straddle carrier is continuously determined, is checked in, whether a part of the loading Servant of the gantry by appropriate operation of the steering wheel, the brake pedal and / or accelerator pedal requested operating conditions of the gantry within the currently determined range of permissible operating conditions of the gantry, and means of in the event that this review shows that the straddle carrier in a currently unauthorized Operating state is transferred, by the operator by means of the steering wheel, the brake pedal and / or the accelerator pedal input control signals are so changeable that the requested by the operator operating state of the straddle carrier is reached as quickly as possible, without the currently determined each range of permissible operating conditions of the straddle carrier would leave.
Bei dem erfindungsgemäßen Verfahren wird in der Recheneinheit die aktuelle Schwerpunktläge , der aktuelle Kurvenradius und die aktuelle Geschwindigkeit kontinuierlich erfasst, auf der Grundlage der erfassten aktuellen Werte ein aktueller Bereich zulässiger Betriebszustände des Portalhubwagens ermittelt, überprüft, ob ein seitens der Bedienungsperson des Portalhubwagens durch entsprechende Betätigung des Lenkrads, des In the method according to the invention, the current center of gravity, the current radius of curvature and the current speed are continuously detected, a current range of permissible operating states of the straddle carrier is determined on the basis of the detected current values, and it is checked by an operator of the straddle carrier by appropriate actuation of the steering wheel, the
Bremspedals und/oder des Gaspedals angeforderter Betriebszustand des Portalhubwagens innerhalb des aktuell ermittelten Bereichs zulässiger Betriebszustände des Portalhubwagens liegt, und von der Bedienungsperson mittels des Lenkrads, des Bremspedals und/oder des Gaspedals eingegebene Steuersignale, durch die der Portalhubwagen in einen aktuell unzulässigen Betriebs zustand überführt würde, so verändert, dass der sei- tens der Bedienungsperson angeforderte Betriebs zustand desBrake pedals and / or the accelerator pedal requested operating state of the straddle carrier within the currently determined range of permissible operating conditions of the straddle carrier, and entered by the operator by means of the steering wheel, the brake pedal and / or the accelerator pedal control signals through which the straddle carrier in a currently inadmissible operating state transferred would, so changed that the operating state requested by the operator of the
Portalhubwagens schnellstmöglich erreicht wird, ohne dass der jeweils aktuell ermittelte Bereich zulässiger Betriebszustände des Portalhubwagens verlassen würde. Portalhubwagens is achieved as quickly as possible without the each currently determined range of permissible operating conditions of the straddle carrier would leave.
Bei der Berechnung des sich ständig ändernden Bereichs zuläs- siger Betriebszustände des Portalhubwagens wird somit das Gesamtgewicht des Portalhubwagens inklusive der an seinem Lastaufnahmemittel ggf. vorhandenen Last zugrunde gelegt, wobei darüber hinaus die Vertikalposition des Lastaufnahmemittels inklusive der daran ggf. vorhandenen Last bei der Ermittlung der Schwerpunkt läge des Portalhubwagens berücksichtigt wird. Seitens der Bedienungsperson angeforderte Änderungen des Betriebszustands werden daraufhin überprüft, ob durch diese Änderungen des Betriebszustands der jeweils aktuelle Bereich zulässiger Betriebszustände verlassen würde. Ergibt diese Überprüfung in der Rechnereinheit, dass der Bereich der aktuell zulässigen Betriebszustände nicht verlassen wird, wird die seitens der Bedienungsperson angeforderte Änderung des Betriebszustands des Portalhubwagens vollzogen. Falls diese Überprüfung jedoch ergibt, dass der Bereich aktuell zulässi- ger Betriebszustände verlassen würde, wird die seitens der Bedienungsperson angeforderte Änderung des Betriebs zustands des Portalhubwagens rechnergestützt und in Abweichung zu den seitens der Bedienungsperson generierten Steuersignalen so durchgeführt, dass die seitens der Bedienungsperson angefor- derte Veränderung des Betriebszustands des Portalhubwagens zwar erreicht wird, jedoch der Verlauf der Veränderung so vollzogen wird, dass der Bereich jeweils aktuell zulässiger Betriebszustände des Portalhubwagens nicht verlassen wird. Lenk-, Brems- und Verzögerungssignale werden somit in modifi- zierter Weise realisiert, so dass die auf den Portalhubwagen einwirkenden Kräfte nicht dazu führen, dass der Portalhubwagen kippt . Hierbei wird zweckmäßigerweise der Bereich zulässiger Be- triebszustände des Portalhubwagens durch dessen Kippgrenze vorgegeben, d.h., der Bereich zulässiger Betriebszustände ist derjenige Bereich, in dem der Portalhubwagen nicht kippt. When calculating the constantly changing range of permissible operating states of the straddle carrier, the total weight of the straddle carrier, including the load possibly present at its load handling device, is therefore taken as a basis, wherein, moreover, the vertical position of the lifting device including the load possibly present thereon in the determination of the Focus of the straddle carrier. On the part of the operator requested changes in the operating state are checked to see whether these changes in the operating state of the current range of permissible operating conditions would leave. If this check in the computer unit shows that the range of the currently permissible operating states is not left, the operator requested to change the operating state of the straddle carrier is completed. If, however, this check reveals that the area would be leaving current permissible operating states, the operator requested change of the operating state of the straddle carrier is computer-aided and, unlike the control signals generated by the operator, carried out in such a way that the operator requests Although the change in the operating state of the straddle carrier is achieved, the course of the change is completed in such a way that the range of currently permissible operating states of the straddle carrier is not left. Steering, braking and deceleration signals are thus implemented in a modified manner, so that the forces acting on the straddle carrier do not lead to the straddle carrier tipping over. In this case, the range of permissible operating states of the straddle carrier is expediently predetermined by its tilting limit, ie the range of permissible operating states is that region in which the straddle carrier does not tip over.
Bei der Ermittlung der Kippgrenze des Portalhubwagens kann zweckmäßigerweise ein physikalisches Modell desselben zugrunde gelegt werden, wobei dieses physikalische Modell selbstverständlich eine ggf. am Lastaufnahmemittel des Portalhubwa- gens vorhandene Last berücksichtigt. When determining the tilting limit of the straddle carrier, it is expedient to use a physical model of the same, this physical model of course taking into account any load that may be present on the lifting device of the straddle carrier.
Dem Lenkrad bzw. dem Lenkantrieb des Portalhubwagens kann vorteilhaft eine Lenkbremse zugeordnet sein, die mittels der Rechnereinheit so steuerbar ist bzw. so gesteuert wird, dass durch die seitens der Bedienungsperson angeforderte Verstellung des Lenkwinkels der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens nicht verlassen wird. The steering wheel or the steering drive of the straddle carrier may advantageously be associated with a steering brake, which is controlled by the computer unit or controlled so that is not left by the requested by the operator adjustment of the steering angle of the current range of permissible operating conditions of the straddle carrier.
Gemäß einer weiteren vorteilhaften Ausführungsform des erfin- dungsgemäßen Portalhubwagens bzw. des Verfahrens zum Betrieb desselben ist dem Bremspedal bzw. dem Bremsantrieb des Portalhubwagens ein erstes Druckproportionalventil zugeordnet, das mittels der Rechnereinheit so steuerbar ist bzw. gesteuert wird, dass durch den seitens der Bedienungsperson ange- forderten Bremsdruck der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens nicht verlassen wird. According to a further advantageous embodiment of the inventive gantry lift truck or the method for operating the same, the brake pedal or the brake drive of the gantry lift truck is assigned a first pressure proportional valve which is controllable or controlled by the computer unit such that it is activated by the operator - Demanded brake pressure the current range of permissible operating conditions of the straddle carrier is not left.
Zweckmäßigerweise kann auch dem Gaspedal bzw. dem Treibstoffdosierantrieb ein zweites Proportionalventil zugeordnet sein, das mittels der Rechnereinheit so steuerbar ist bzw. gesteuert wird, dass durch die seitens der Bedienungsperson angeforderte Treibstoffdosierung der jeweils aktuelle Bereich zu- lässiger Betriebszustände des Portalhubwagens nicht verlassen wird . Expediently, the accelerator pedal or the fuel metering drive can also be assigned a second proportional valve which can be controlled or controlled by means of the computer unit in such a way that the respective current area is added by the fuel metering requested by the operator. permissible operating conditions of the straddle carrier.
Erfindungsgemäß kann somit weitestgehend sichergestellt wer- den, dass ein mutwilliges oder ein aus einer Angstreaktion erfolgendes Umkippen des Portalhubwagens vermieden wird. Thus, according to the invention, it is possible to ensure as far as possible that a wanton or tipping-over of the straddle carrier caused by a fear reaction is avoided.
Im Folgenden wird die Erfindung anhand einer Ausführungsform unter Bezugnahme auf die Zeichnung näher erläutert, in deren einziger Figur die für die vorliegende Erfindung wesentlichen Bestandteile eines Portalhubwagens prinzipiell gezeigt sind. In the following the invention will be explained in more detail by means of an embodiment with reference to the drawing, in the single figure of which the essential components of a straddle carrier according to the present invention are shown in principle.
Ein Portalhubwagen (Straddle Carrier) 1 hat aufgrund seiner Zweckbestimmung eine sehr hohe und eine sehr schmale Bauwei- se. Daher ist ein derartiger Portalhubwagen 1 sehr kippanfällig. Zu berücksichtigen ist hierbei auch die Tatsache, dass der Portalhubwagen 1 zum Transport von Lasten mit unterschiedlichen Gewichten verwendet wird, woraus sich ergibt, dass die Schwerpunktläge des Portalhubwagens 1 nicht konstant ist. A straddle carrier (straddle carrier) 1 has a very high and a very narrow construction due to its purpose. Therefore, such a straddle carrier 1 is very susceptible to tipping over. To take into account here is the fact that the straddle carrier 1 is used to transport loads with different weights, from which it follows that the center of gravity of the straddle carrier 1 is not constant.
Um hier auch im Falle extremer Brems-, Beschleunigungs¬ und/oder Lenkmanöver des Portalhubwagens 1 Abhilfe zu schaf¬ fen, ist der Portalhubwagen 1 mit einer Rechnereinheit 2 aus- gerüstet. Diese Rechnereinheit 2 kann selbstverständlich in eine ansonsten nicht dargestellte Steuervorrichtung des Portalhubwagens 1 integriert sein. In order also in case of extreme braking, acceleration ¬ and / or steering maneuvers of the straddle carrier 1 to remedy sheep ¬ fen, the straddle carrier 1 to a computer unit 2 is equipped exclusively. This computer unit 2 can of course be integrated into an otherwise not shown control device of the gantry truck 1.
In diese Rechnereinheit 2 werden kontinuierlich, wie dies mit den entsprechenden Pfeilen in der Figur gezeigt ist, die ak¬ tuelle Schwerpunktlage (SPL) , der aktuelle Kurvenradius (KR) und die aktuelle Geschwindigkeit (V) des Portalhubwagens 1 eingegeben. Aus diesen Werten ermittelt die Rechnereinheit 2 unter Zugrundelegung eines physikalischen Modells des Portalhubwagens 1 einen jeweils aktuellen Bereich zulässiger Betriebszustände des Portalhubwagens 1. Dieser jeweils aktuelle Bereich zulässiger Betriebszustände wird durch die jeweils aktuelle Kippgrenze bestimmt, die sich anhand der aktuellen Schwerpunktläge (SPL), des aktuellen Kurvenradius (KR) und der aktuellen Geschwindigkeit (V) des Portalhubwagens 1 ermitteln lässt. Hierdurch lässt sich für jeden aktuellen Be- triebszustand des Portalhubwagens 1 vorgeben, welche Lenk-, Brems- und/oder Beschleunigungsmanöver desselben zulässig sind . In this computer unit 2 are continuously, as shown with the corresponding arrows in the figure, the ak ¬ tual center of gravity (SPL), the current curve radius (KR) and the current speed (V) of the gantry 1 entered. Based on a physical model of the straddle carrier 1, the computer unit 2 uses these values to determine a respective current range of permissible operating states of the straddle carrier 1. This respective current range of permissible operating states is determined by the respective current tilt limit, which is based on the current center of gravity (SPL), the determine the current turning radius (KR) and the current speed (V) of the gantry lift truck 1. As a result, it is possible to specify for each current operating state of the straddle carrier 1 which steering, braking and / or acceleration maneuvers thereof are permissible.
Seitens einer Bedienungsperson des Portalhubwagens 1 wird mittels eines Lenkrads 3, und/oder eines Bremspedals 4 und/oder eines Gaspedals 5 eine bestimmte Änderung des Betriebszustands des Portalhubwagens 1 angefordert. Die entsprechenden Anforderungen der Bedienungsperson sind mittels eines Lenkantriebs 6, eines Bremsantriebs 7 bzw. eines Treib- stoffdosierantriebs 8 realisierbar. On the part of an operator of the straddle carrier 1, a specific change of the operating state of the straddle carrier 1 is requested by means of a steering wheel 3, and / or a brake pedal 4 and / or an accelerator pedal 5. The corresponding requirements of the operator can be realized by means of a steering drive 6, a brake drive 7 or a fuel metering drive 8.
Das Lenkrad 3, das Bremspedal 4 und das Gaspedal 5 sind außerdem an die Rechnereinheit 2 angeschlossen, so dass in der Rechnereinheit 2 die seitens der Bedienungsperson mittels des Lenkrads 3, des Bremspedals 4 und/oder des Gaspedals 5 ausgeübten Steuersignale vorliegen. The steering wheel 3, the brake pedal 4 and the accelerator pedal 5 are also connected to the computer unit 2, so that in the computer unit 2, the part exerted by the operator by means of the steering wheel 3, the brake pedal 4 and / or the accelerator pedal 5 control signals.
In der Rechnereinheit wird überprüft, ob diese Steuersignale der Bedienungsperson dazu führen, dass der Portalhubwagen 1 den ständig aktualisierten Bereich zulässiger Betriebszustände verlässt oder nicht. Verbleibt der Portalhubwagen 1 in dem Bereich zulässiger Betriebszustände, werden die von der Be- dienungsperson gegebenen Steuersignale im Lenkantrieb 6, im Bremsantrieb 7 und/oder im Treibstoffdosierantrieb 8 umgesetzt. Wird in der Rechnereinheit 2 ermittelt, dass das Steuersignal bzw. die Steuersignale der Bedienungsperson dazu führt bzw. führen, dass der stets aktualisierte Bereich zulässiger Betriebszustände des Portalhubwagens 1 verlassen wird, greift die Rechnereinheit ein und modifiziert die seitens der Bedie- nungsperson erzeugten Steuersignale derart, dass der seitens der Bedienungsperson angeforderte Betriebszustand des Portalhubwagens 1 schnellstmöglich erreicht wird, wobei jedoch gleichzeitig sichergestellt wird, dass der stets aktualisierte Bereich zulässiger Betriebszustände des Portalhubwagens 1 nicht verlassen wird. In the computer unit is checked whether these control signals of the operator cause the straddle carrier 1 leaves the constantly updated range of permissible operating conditions or not. If the straddle carrier 1 remains in the range of permissible operating conditions, the Serving person given control signals in the steering drive 6, implemented in the brake drive 7 and / or in Treibstoffdosierantrieb 8. If it is determined in the computer unit 2 that the control signal or the control signals of the operator leads or leads to leave the constantly updated range of permissible operating states of the straddle carrier 1, the computer unit intervenes and modifies the control signals generated by the operator in such a way in that the operating state of the straddle carrier 1 requested by the operator is reached as quickly as possible, but at the same time it is ensured that the constantly updated range of permissible operating states of the straddle carrier 1 is not left.
Hierzu ist zwischen dem Lenkrad 3 einerseits und dem Lenkantrieb 6 andererseits eine Lenkbremse 9, zwischen dem Bremspedal 4 einerseits und dem Bremsantrieb 7 andererseits ein er- stes Druckproportionalventil 10 und zwischen dem Gaspedal 5 einerseits und dem Treibstoffdosierantrieb 8 andererseits ein zweites Druckproportionalventil 11 angeordnet. Die Lenkbremse 9 und die beiden Druckproportionalventile 10, 11 sind ebenfalls an die Rechnereinheit 2 angeschlossen. In der Rech- nereinheit 2 werden Korrektursignale generiert, die an die Lenkbremse 5, das erste Druckproportionalventil 10 und/oder das zweite Druckproportionalventil 11 angelegt werden. Hierdurch wird sichergestellt, dass eine mittels des Lenkrads 3, des Bremspedals 4 und/oder des Gaspedals 5 seitens der Bedie- nungsperson des Portalhubwagens 1 angeforderte Änderung des Betriebs zustands desselben nur in einer Weise realisiert wird, dass während dieser Veränderung des Betriebszustands der jeweils aktualisierte Bereich zulässiger Betriebszustände des Portalhubwagens 1 nicht verlassen wird. Ein Kippen des Portalhubwagens 1 kann so zuverlässig vermieden werden. Auch ein mutwilliges oder aus einer Angstreaktion der Bedienungsperson resultierendes Umkippen des Portalhubwagens 1 ist erfindungsgemäß ausgeschlossen. On the other hand, a first pressure proportional valve 10 is arranged between the brake pedal 4 on the one hand and the brake drive 7 on the other hand and a second pressure proportional valve 11 between the accelerator pedal 5 on the one hand and the fuel metering drive 8 on the other hand. The steering brake 9 and the two pressure proportional valves 10, 11 are also connected to the computer unit 2. In the computer unit 2 correction signals are generated, which are applied to the steering brake 5, the first pressure proportional valve 10 and / or the second pressure proportional valve 11. In this way, it is ensured that a change in the operating state requested by means of the steering wheel 3, the brake pedal 4 and / or the gas pedal 5 by the operator of the gantry truck 1 is realized only in such a way that during this change of the operating state the respectively updated range of permissible operating states of the straddle carrier 1 is not left. A tilting of the gantry truck 1 can be reliably avoided. Also, a wanton or resulting from a fear reaction of the operator tipping the portal lift truck 1 is excluded according to the invention.

Claims

A T E N T A N S P R U C H E A T E N T A N S P R U C H E
Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transport zwecke, mit einem Lenkrad (3), einem Bremspedal (4) und einem Gaspedal (5), durch deren Betätigung eine Bedienungsperson des Portalhubwagens 1 den Betrieb desselben steuern kann, einem Lenkantrieb (6), einem Bremsantrieb (7) und einem Treibstoffdosierantrieb (8), mittels denen Lenkrad-, Bremspedal- bzw. Gaspedalbetätigungen in Lenkvorgänge, Bremsvorgänge bzw. Treibstoffdosiervorgänge umsetzbar sind, gekennzeichnet durch eine Rechnereinheit (2), die einerseits an das Lenkrad (3), das Bremspedal (4) und das Gaspedal (5) und andererseits an den Lenkantrieb (6), den Bremsantrieb (7) und den Treibstoffdosierantrieb (8) angeschlossen ist, in der eine aktuelle Schwerpunktlage (SPL) , ein aktueller Kurvenradius (KR) und eine aktuelle Geschwindigkeit (V) des Portalhubwagens (1) kontinuierlich erfassbar sind und auf der Grundlage der erfassten aktuellen Werte kontinuierlich ein aktueller Bereich zulässiger Betriebszustände des Portalhubwagens (1) ermittelbar ist, in der überprüfbar ist, ob ein seitens der Bedienungsperson des Portal¬ hubwagens (1) durch entsprechende Betätigung des Lenkrads (3), des Bremspedals (4) und/oder des Gaspedals (5) angeforderter Betriebszustand des Portalhubwagens (1) inner¬ halb des aktuell ermittelten Bereichs zulässiger Betriebszustände des Portalhubwagens ist, und mittels der für den Fall, dass diese Überprüfung ergibt, dass der Portalhubwagen (1) in einen aktuell unzulässigen Betriebszustand überführt würde, von der Bedienungsperson mittels des Lenkrads (3), des Bremspedals (4) und/oder - Il des Gaspedals (5) eingegebene Steuersignale so veränderbar sind, dass der seitens der Bedienungsperson angeforderte Betriebszustand des Portalhubwagens (1) schnellstmöglich erreichbar ist, ohne dass der jeweils aktuell ermittelte Bereich zulässiger Betriebszustände des Portalhubwagens (1) verlassen würde. Straddle carrier for use in container terminals and for general transport purposes, with a steering wheel (3), a brake pedal (4) and an accelerator pedal (5), by actuating which an operator of the straddle carrier 1 can control the operation of the same, a steering drive (6), a brake drive (7) and a fuel metering drive (8), by means of which steering wheel, brake pedal or accelerator pedal operations can be converted into steering processes, braking processes or fuel metering processes, characterized by a computer unit (2), which on the one hand is connected to the steering wheel (3). Brake pedal (4) and the accelerator pedal (5) and on the other hand is connected to the steering drive (6), the brake drive (7) and the fuel metering drive (8), in which a current center of gravity position (SPL), a current curve radius (KR) and a current speed (V) of the straddle carrier (1) can be continuously detected and, based on the current values recorded, a current range of permissible operating states of the straddle carrier (1) can be continuously determined, in which it can be checked whether an operation by the operator of the portal carrier (1) ( 1) the operating state of the straddle carrier (1) requested by appropriate actuation of the steering wheel (3), the brake pedal (4) and / or the accelerator pedal (5) is within the currently determined range of permissible operating states of the straddle carrier, and by means of the for the case that this check shows that the straddle carrier (1) would be put into a currently impermissible operating state by the operator using the steering wheel (3), the brake pedal (4) and/or - Il the accelerator pedal (5) input control signals can be changed so that the operating state of the straddle carrier (1) requested by the operator can be reached as quickly as possible without leaving the currently determined range of permissible operating states of the straddle carrier (1).
Portalhubwagen nach Anspruch 1, bei dem der Bereich zulässiger Betriebszustände des Portalhubwagens (1) durch dessen Kippgrenze vorgegeben ist, d.h. derjenige Bereich ist, in dem der Portalhubwagen (1) nicht kippt. A straddle carrier according to claim 1, in which the range of permissible operating states of the straddle carrier (1) is predetermined by its tipping limit, i.e. is the area in which the straddle carrier (1) does not tip.
Portalhubwagen nach Anspruch 2, bei dem bei der Ermittlung seiner Kippgrenze ein physikalisches Modell des Portalhubwagens (1) zugrunde legbar ist. A straddle carrier according to claim 2, in which a physical model of the straddle carrier (1) can be used as a basis for determining its tipping limit.
Portalhubwagen nach einem der Ansprüche 1 bis 3, bei dem dem Lenkrad (3) bzw. dem Lenkantrieb (6) eine Lenkbremse (9) zugeordnet ist, die mittels der Rechnereinheit (2) so steuerbar ist, dass durch die seitens der Bedienungsperson angeforderte Verstellung des Lenkwinkels der jeweils aktuelle Bereich zulässiger Betriebszustände des Portal¬ hubwagens (1) nicht verlassen wird. A straddle carrier according to one of claims 1 to 3, in which the steering wheel (3) or the steering drive (6) is assigned a steering brake (9), which can be controlled by means of the computer unit (2) in such a way that the adjustment requested by the operator of the steering angle, the current range of permissible operating states of the portal pallet truck (1) is not left.
Portalhubwagen nach einem der Ansprüche 1 bis 4, bei dem dem Bremspedal (4) bzw. dem Bremsantrieb (7) ein erstes Druckproportionalventil (10) zugeordnet ist, das mittels der Rechnereinheit (2) so steuerbar ist, dass durch den seitens der Bedienungsperson angeforderten Bremsdruck der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens (1) nicht verlassen wird. Portalhubwagen nach einem der Ansprüche 1 bis 5, bei dem dem Gaspedal (5) bzw. dem Treibstoffdosierantrieb (8) ein zweites Druckproportionalventil (11) zugeordnet ist, das mittels der Rechnereinheit A straddle carrier according to one of claims 1 to 4, in which the brake pedal (4) or the brake drive (7) is assigned a first pressure proportional valve (10), which can be controlled by means of the computer unit (2) in such a way that the pressure requested by the operator Brake pressure does not leave the current range of permissible operating states of the straddle carrier (1). A straddle carrier according to one of claims 1 to 5, in which the accelerator pedal (5) or the fuel metering drive (8) is assigned a second pressure proportional valve (11), which is activated by means of the computer unit
(2) so steuerbar ist, dass durch die seitens der Bedienungsperson angeforderte (2) is controllable in such a way that is requested by the operator
Treibstoffdosxerung der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens (1) nicht verlassen wird. Fuel dosing does not leave the current range of permissible operating states of the straddle carrier (1).
Verfahren zur Steuerung eines Portalhubwagens (1), bei dem ein Lenkrad Method for controlling a straddle carrier (1), in which a steering wheel
(3), ein Bremspedal (3), a brake pedal
(4) und ein Gaspedal(4) and an accelerator pedal
(5) betätigt werden, um den Betriebszustand des Portalhubwagens (1) zu steuern, und bei dem die Lenkrad-, (5) can be operated to control the operating status of the straddle carrier (1), and in which the steering wheel,
Bremspedal- und Gaspedalbetätigungen mittels eines Lenkantriebs (6), eines Bremsantriebs (7) bzw. eines Treibstoffdosiersantriebs (8) in Lenkvorgänge, Bremsvorgänge bzw. Treibstoffdosiervorgänge umgesetzt werden, dadurch gekennzeichnet, dass in einer Rechnereinheit (2), die einerseits an das Lenkrad (3), das Bremspedal (4) und das Gaspedal (5) und andererseits an den Lenkantrieb Brake pedal and accelerator pedal operations are converted into steering processes, braking processes or fuel metering processes by means of a steering drive (6), a brake drive (7) or a fuel metering drive (8), characterized in that in a computer unit (2), which on the one hand is connected to the steering wheel ( 3), the brake pedal (4) and the accelerator pedal (5) and on the other hand to the steering drive
(6), den Bremsantrieb (6), the brake drive
(7) und den Treibstoffdosierantrieb (8) angeschlossen ist, eine aktuelle Schwerpunktlage (SPL) , ein aktueller Kurvenradius (KR) und eine aktuelle Geschwin¬ digkeit (V) des Portalhubwagens (1) kontinuierlich er- fasst werden, auf der Grundlage der erfassten aktuellen Werte ein aktueller Bereich zulässiger Betriebszustände des Portalhubwagens (1) ermittelt wird, überprüft wird, ob ein seitens der Bedienungsperson des Portalhubwagens(7) and the fuel metering drive (8) is connected, a current center of gravity (SPL), a current curve radius (KR) and a current speed (V) of the straddle carrier (1) are continuously recorded, based on the recorded current values, a current range of permissible operating states of the straddle carrier (1) is determined, it is checked whether one on the part of the operator of the straddle carrier
(1) durch entsprechende Betätigung des Lenkrads (3), des Bremspedals (4) und/oder des Gaspedals (5) angeforderter Betriebszustand des Portalhubwagens (1) innerhalb des ak¬ tuell ermittelten Bereichs zulässiger Betriebszustände des Portalhubwagens (1) ist, und von der Bedienungsperson mittels des Lenkrads (3), des Bremspedals (4) und/oder des Gaspedals (5) eingegebene Steuersignale, durch die der Portalhubwagen (1) in einen aktuell unzulässigen Betriebszustand überführt würde, so verändert werden, dass der seitens der Bedienungsperson angeforderte Betriebszustand des Portalhubwagens (1) schnellstmöglich erreicht wird, ohne dass der jeweils aktuell ermittelte Bereich zulässiger Betriebszustände des Portalhubwagens (1) verlassen würde. (1) operating state of the straddle carrier (1) requested by appropriate actuation of the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5) within the currently determined range of permissible operating states of the straddle carrier (1), and control signals entered by the operator using the steering wheel (3), the brake pedal (4) and/or the accelerator pedal (5), through which the straddle carrier (1) would be transferred to a currently impermissible operating state, so can be changed so that the operating state of the straddle carrier (1) requested by the operator is reached as quickly as possible without leaving the currently determined range of permissible operating states of the straddle carrier (1).
8. Verfahren zur Steuerung eines Portalhubwagens (1) nach Anspruch 7, bei dem der Bereich zulässiger Betriebszustände des Portalhubwagens (1) durch dessen aktuelle Kippgrenze vorgegeben bzw. beschränkt wird. 8. Method for controlling a straddle carrier (1) according to claim 7, in which the range of permissible operating states of the straddle carrier (1) is specified or limited by its current tipping limit.
9. Verfahren zur Steuerung eines Portalhubwagnes (1) nach Anspruch 8, bei dem bei der Ermittlung der Kippgrenze des Portalhubwagens (1) dessen physikalisches Modell zugrunde gelegt wird. 9. Method for controlling a straddle carrier (1) according to claim 8, in which the physical model is used as a basis when determining the tipping limit of the straddle carrier (1).
10. Verfahren zur Steuerung eines Portalhubwagens (1) nach einem der Ansprüche 7 bis 9, bei dem eine dem Lenkrad (3) bzw. dem Lenkantrieb (6) zugeordnete Lenkbremse (9) so gesteuert wird, dass durch die seitens der Bedienungsperson angeforderte Verstellung des Lenkwinkels der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens (1) nicht verlassen wird. 10. A method for controlling a straddle carrier (1) according to one of claims 7 to 9, in which a steering brake (9) assigned to the steering wheel (3) or the steering drive (6) is controlled in such a way that the adjustment requested by the operator of the steering angle, the current range of permissible operating states of the straddle carrier (1) is not left.
11. Verfahren zur Steuerung eines Portalhubwagens (1) nach einem der Ansprüche 7 bis 10, bei dem ein dem Bremspedal (4) bzw. dem Bremsantrieb (7) zugeordnetes ersten Propor- tionalventil (10) so gesteuert wird, dass durch den seitens der Bedienungsperson angeforderten Bremsdruck der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens (1) nicht verlassen wird. 11. A method for controlling a straddle carrier (1) according to one of claims 7 to 10, in which a first proportional signal assigned to the brake pedal (4) or the brake drive (7) tional valve (10) is controlled in such a way that the current range of permissible operating states of the straddle carrier (1) is not left by the brake pressure requested by the operator.
12. Verfahren zur Steuerung eines Portalhubwagens nach einem der Ansprüche 7 bis 11, bei dem ein dem Gaspedal (5) bzw. dem Treibstoffdosierantrieb (8) zugeordnetes zweites Druckproportionalventil (11) so gesteuert wird, dass durch die seitens der Bedienungsperson angeforderte 12. A method for controlling a straddle carrier according to one of claims 7 to 11, in which a second pressure proportional valve (11) assigned to the accelerator pedal (5) or the fuel metering drive (8) is controlled in such a way that the pressure requested by the operator
Treibstoffdosierung der jeweils aktuelle Bereich zulässiger Betriebszustände des Portalhubwagens (1) nicht verlassen wird. Fuel dosing does not leave the current range of permissible operating states of the straddle carrier (1).
EP10763605.2A 2009-10-02 2010-09-22 Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof Active EP2483194B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009048133A DE102009048133A1 (en) 2009-10-02 2009-10-02 Straddle carrier for use in container terminals and for general transport purposes and method of controlling the same
PCT/EP2010/005787 WO2011038851A1 (en) 2009-10-02 2010-09-22 Straddle carrier for use in container terminals and for general transport purposes and method for the control thereof

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CN (1) CN102686501B (en)
DE (1) DE102009048133A1 (en)
DK (1) DK2483194T3 (en)
ES (1) ES2429499T3 (en)
PL (1) PL2483194T3 (en)
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US4942529A (en) * 1988-05-26 1990-07-17 The Raymond Corporation Lift truck control systems
DE102005012004B4 (en) * 2004-04-07 2020-09-24 Linde Material Handling Gmbh Industrial truck with increased static / quasi-static and dynamic tipping stability
DE202007016156U1 (en) * 2007-11-16 2008-03-20 Noell Mobile Systems Gmbh Portal forklift with automatic steering

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Title
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WO2011038851A1 (en) 2011-04-07
ES2429499T3 (en) 2013-11-15
PL2483194T3 (en) 2013-12-31
DK2483194T3 (en) 2013-10-07
PT2483194E (en) 2013-09-04
CN102686501B (en) 2015-01-21
EP2483194B1 (en) 2013-07-10
CN102686501A (en) 2012-09-19
DE102009048133A1 (en) 2011-04-07

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