EP2483194B1 - Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des transports courants et procédé de commande de ce chariot cavalier - Google Patents

Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des transports courants et procédé de commande de ce chariot cavalier Download PDF

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Publication number
EP2483194B1
EP2483194B1 EP10763605.2A EP10763605A EP2483194B1 EP 2483194 B1 EP2483194 B1 EP 2483194B1 EP 10763605 A EP10763605 A EP 10763605A EP 2483194 B1 EP2483194 B1 EP 2483194B1
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EP
European Patent Office
Prior art keywords
straddle carrier
drive
operator
steering
brake
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
EP10763605.2A
Other languages
German (de)
English (en)
Other versions
EP2483194A1 (fr
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/pl
Publication of EP2483194A1 publication Critical patent/EP2483194A1/fr
Application granted granted Critical
Publication of EP2483194B1 publication Critical patent/EP2483194B1/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
    • 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 Transportzwekke, 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 Steering wheel, brake pedal or accelerator pedal operations in steering operations, braking or fuel dosing 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 in a computer-assisted manner as a function of the current radius of curvature of the straddle carrier carriage in order to prevent tipping; This makes it an operator of the straddle carrier denied, 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 transportation purposes and a method for controlling such a straddle carrier, by means of which tipping of the straddle carrier can be avoided even in extreme situations ,
  • 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 which a current Balance position, a current turning radius and a current speed of the straddle carrier are continuously detected and based on the detected current values continuously a current range of permissible operating conditions of the straddle carrier can be determined, in which is verifiable, whether on the part of the operator the Portalhubwagens by operating the steering wheel, the brake pedal and / or the accelerator pedal requested operating conditions of the straddle carrier within the currently determined range of permissible operating conditions of the straddle carrier, and by means of in the event that this review shows that the straddle carrier in a currently inadmissible operating condition would be changed by the operator by means of the steering wheel, the brake pedal and / or the accelerator pedal input control signals are changed so that the requested by the operator operating state of the
  • the current center of gravity position, the current curve radius and the current speed are continuously detected in the arithmetic unit, based on the detected current values, a current range of permissible operating conditions of the straddle carrier determined, checks whether an on the part of the operator of the straddle carrier by appropriate operation of the steering wheel, the brake pedal and / or the accelerator pedal requested operating state of the gantry within the currently determined range of permissible operating conditions of the gantry, and by the operator by means of the steering wheel, the brake pedal and / or the accelerator pedal input control signals by the straddle carrier in a current changed operating state, so changed that the requested by the operator operating state of the straddle carrier is achieved as quickly as possible without the each currently determined range of permissible operating conditions of the straddle carrier would leave.
  • the total weight of the straddle carrier is therefore taken as the basis, including the load possibly present at its load receiving means, wherein the vertical position of the lifting device including the load possibly present thereon in determining the center of gravity of the Portal pallet truck is considered.
  • the vertical position of the lifting device including the load possibly present thereon in determining the center of gravity of the Portal pallet truck is considered.
  • 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 operating state of the straddle carrier is computer assisted and deviated from the operator generated control signals so that the operator requested change in the operating condition of the operator Although the pallet truck is reached, however, the course of the change is carried out 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 forces do not cause the straddle carrier tilts.
  • the range of permissible operating states of the straddle carrier is expediently predetermined by its tilting limit, that is to say 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 straddle carrier is assigned a first pressure proportional valve which is controllable or controlled by means of the computer unit such that the brake pressure requested by the operator does not leave the current range of permissible operating states of the straddle carrier.
  • 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 such that the respective current range is permissible by the fuel metering requested by the operator Operating conditions of the straddle carrier is not left.
  • 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. To take into consideration here is also 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 gantry truck 1 is not constant.
  • the straddle carrier 1 is equipped with a computer unit 2.
  • 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 current 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 determines from these values 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 position (SPL) of the determine the current turning radius (KR) and the current speed (V) of the gantry lift truck 1. This makes it possible to specify for each current operating state of the gantry truck 1, which steering, braking and / or acceleration maneuvers thereof are permitted.
  • SPL current center of gravity
  • KR current curve 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 such that the requested by the operator operating state of the straddle carrier 1 is achieved as quickly as possible, but at the same time it is ensured that the constantly updated range of permissible operating conditions of the straddle carrier 1 is not left.
  • a steering brake 9 between the steering wheel 3 on the one hand and the steering drive 6 on the other hand, a steering brake 9, between the brake pedal 4 on the one hand and the brake drive 7 on the other hand, a first pressure proportional valve 10 and between the accelerator pedal 5 on the one hand and the fuel metering 8 on the other hand, a second pressure proportional valve 11 is arranged.
  • 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)

Claims (12)

  1. Chariot cavalier à employer dans des terminaux de conteneurs et pour des applications générales de transport, comportant un volant (3), une pédale de frein (4) et une pédale d'accélérateur (5), par l'actionnement desquels un opérateur du chariot cavalier (1) peut commander le fonctionnement de ce dernier, un entraînement de direction (6), un entraînement de freinage (7) et un entraînement de dosage de carburant (8), au moyen desquels des actionnements de volant, de pédale de frein ou de pédale d'accélérateur peuvent être convertis en processus de direction, processus de freinage ou processus de dosage de carburant, caractérisé par une unité informatique (2), qui est branchée d'un côté au volant (3), à la pédale de frein (4) et à la pédale d'accélérateur (5) et d'un autre côté à l'entraînement de direction (6), à l'entraînement de freinage (7) et à l'entrainement de dosage de carburant (8), dans lequel une position actuelle de centre de gravité (SPL), un rayon de courbure actuel (KR) et une vitesse actuelle (V) du chariot cavalier (1) peuvent être détectés en continu et sur la base des valeurs actuelles détectées, une plage actuelle d'états de fonctionnement autorisés du chariot cavalier (1) peut être déterminée en continu, dans laquelle il peut être vérifié si un état de fonctionnement du chariot cavalier (1) requis de la part de l'opérateur du chariot cavalier (1) par l'actionnement correspondant du volant (3), de la pédale de frein (4) et/ou de la pédale d'accélérateur (5) est dans les limites de la plage actuellement déterminée d'états de fonctionnement autorisés du chariot cavalier, et au moyen duquel, au cas où cette vérification indique que le chariot cavalier (1) est passé dans un état de fonctionnement actuellement non autorisé, les signaux de commande entrés par l'opérateur au moyen du volant (3), de la pédale de frein (4) et/ou de la pédale d'accélérateur (5) peuvent être modifiés de telle sorte que l'état de fonctionnement requis de la part de l'opérateur du chariot cavalier (1) puisse être atteint le plus vite possible, sans quitter la plage actuelle respectivement déterminée d'états de fonctionnement autorisés du chariot cavalier (1).
  2. Chariot cavalier selon la revendication 1, dans lequel la plage d'états de fonctionnement autorisés du chariot cavalier (1) est prescrite par la limite de basculement de ce dernier, c'est-à-dire est la plage, dans laquelle le chariot cavalier (1) ne bascule pas.
  3. Chariot cavalier selon la revendication 2, dans lequel un modèle physique du chariot cavalier (1) est sous-jacent lors de la détermination de sa limite de basculement.
  4. Chariot cavalier selon une des revendications 1 à 3, dans lequel le volant (3) ou l'entraînement de direction (6) est coordonné à un frein de direction (9), qui peut être commandé au moyen de l'unité informatique (2) de telle sorte qu'au moyen du déport de l'angle de direction requis de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
  5. Chariot cavalier selon une des revendications 1 à 4, dans lequel la pédale de frein (4) ou l'entraînement de freinage (7) est coordonné à une première soupape proportionnelle de pression (10), qui peut être commandée au moyen de l'unité informatique (2) de telle sorte qu'au moyen de la pression de freinage requise de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
  6. Chariot cavalier selon une des revendications 1 à 5, dans lequel la pédale d'accélérateur (5) ou l'entraînement de dosage de carburant (8) est coordonné à une deuxième soupape proportionnelle de pression (11), qui peut être commandée au moyen de l'unité informatique (2), de telle sorte que au moyen du dosage de carburant requis de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
  7. Procédé de commande d'un chariot cavalier (1), dans lequel un volant (3), une pédale de frein (4) et une pédale d'accélérateur (5) sont actionnées, afin de commander l'état de fonctionnement du chariot cavalier (1), et dans lequel les actionnements du volant, de la pédale de frein et de la pédale d'accélérateur sont convertis au moyen d'un entraînement de direction (6), un entraînement de freinage (7) ou un entraînement de dosage de carburant (8) en processus de direction, processus de freinage ou processus de dosage de carburant, caractérisé en ce que dans une unité informatique (2), qui est branchée d'un côté au volant (3), à la pédale de frein (4) et à la pédale d'accélérateur (5) et d'un autre côté à l'entraînement de direction (6), l'entraînement de freinage (7) et l'entraînement de dosage de carburant (8), une position actuelle de centre de gravité (SPL), un rayon de courbure (KR) actuel et une vitesse actuelle (V) du chariot cavalier (1) sont détectés en continu, sur la base des valeurs actuelles détectées, une plage actuelle d'états de fonctionnement autorisés du chariot cavalier (1) est déterminée, il est vérifié, si un état de fonctionnement de chariot cavalier (1) requis de la part de l'opérateur du chariot cavalier (1) par un actionnement correspondant du volant (3), de la pédale de frein (4) et/ou de la pédale d'accélérateur (5) est compris dans les limites de la plage actuelle déterminée d'états de fonctionnement autorisé du chariot cavalier (1), et les signaux de commande entrés par l'opérateur au moyen du volant (3), de la pédale de frein (4) et/ou de la pédale d'accélérateur (5), au moyen desquels le chariot cavalier (1) a été amené à passer dans un état de fonctionnement actuel non autorisé, sont modifiés de telle sorte que l'état de fonctionnement du chariot cavalier (1) requis de la part de l'opérateur soit atteint le plus vite possible, sans quitter la plage actuelle respectivement déterminée d'états de fonctionnement autorisés du chariot cavalier (1).
  8. Procédé de commande d'un chariot cavalier (1) selon la revendication 7, dans lequel la plage d'états de fonctionnement autorisés du chariot cavalier (1) est prescrite ou limitée par la limite de basculement actuelle de ce dernier.
  9. Procédé de commande d'un chariot cavalier (1) selon la revendication 8, dans lequel un modèle physique du chariot cavalier (1) est sous-jacent lors de la détermination de la limite de basculement de ce dernier.
  10. Procédé de commande d'un chariot cavalier (1) selon une des revendications 7 à 9, dans lequel un frein de direction (9) coordonné au volant (3) ou à l'entraînement de direction (6) est commandé de telle sorte qu'au moyen du déport de l'angle de direction requis de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
  11. Procédé de commande d'un chariot cavalier (1) selon une des revendications 7 à 10, dans lequel une première soupape proportionnelle (10) coordonnée à la pédale de frein (4) ou à l'entraînement de freinage (7) est commandée de telle sorte que au moyen de la pression de freinage requise de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
  12. Procédé de commande d'un chariot cavalier selon une des revendications 7 à 11, dans lequel une deuxième soupape proportionnelle de pression (11) coordonnée à la pédale d'accélérateur (5) ou à l'entraînement de dosage de carburant (8) est commandée de telle sorte que au moyen du dosage de carburant requis de la part de l'opérateur, la plage actuelle respective d'états de fonctionnement autorisés du chariot cavalier (1) ne soit pas quittée.
EP10763605.2A 2009-10-02 2010-09-22 Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des transports courants et procédé de commande de ce chariot cavalier Active EP2483194B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL10763605T PL2483194T3 (pl) 2009-10-02 2010-09-22 Kontenerowy wóz bramowy do użytku w terminalach kontenerowych i do ogólnych celów transportowych i sposób jego sterowania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009048133A DE102009048133A1 (de) 2009-10-02 2009-10-02 Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transportzwecke und Verfahren zur Steuerung desselben
PCT/EP2010/005787 WO2011038851A1 (fr) 2009-10-02 2010-09-22 Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des transports courants et procédé de commande de ce chariot cavalier

Publications (2)

Publication Number Publication Date
EP2483194A1 EP2483194A1 (fr) 2012-08-08
EP2483194B1 true EP2483194B1 (fr) 2013-07-10

Family

ID=43416483

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10763605.2A Active EP2483194B1 (fr) 2009-10-02 2010-09-22 Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des transports courants et procédé de commande de ce chariot cavalier

Country Status (8)

Country Link
EP (1) EP2483194B1 (fr)
CN (1) CN102686501B (fr)
DE (1) DE102009048133A1 (fr)
DK (1) DK2483194T3 (fr)
ES (1) ES2429499T3 (fr)
PL (1) PL2483194T3 (fr)
PT (1) PT2483194E (fr)
WO (1) WO2011038851A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4942529A (en) * 1988-05-26 1990-07-17 The Raymond Corporation Lift truck control systems
DE102005012004B4 (de) * 2004-04-07 2020-09-24 Linde Material Handling Gmbh Flurförderzeug mit erhöhter statischer/quasistatischer und dynamischer Kippstabilität
DE202007016156U1 (de) * 2007-11-16 2008-03-20 Noell Mobile Systems Gmbh Portalhubstapler mit automatischer Lenkung

Also Published As

Publication number Publication date
PL2483194T3 (pl) 2013-12-31
DK2483194T3 (da) 2013-10-07
CN102686501A (zh) 2012-09-19
ES2429499T3 (es) 2013-11-15
DE102009048133A1 (de) 2011-04-07
CN102686501B (zh) 2015-01-21
WO2011038851A1 (fr) 2011-04-07
EP2483194A1 (fr) 2012-08-08
PT2483194E (pt) 2013-09-04

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