EP3166881B1 - Heavy duty vehicle with a lifting apparatus for lifting and lowering a container - Google Patents

Description

The invention relates to a heavy-duty vehicle with a lifting device for lifting and lowering a container, in particular an ISO container comprising a load-carrying means with a spreader frame for receiving the container and a lifting drive, via which the load-carrying means can be raised and lowered, wherein the heavy load vehicle rubber-tired wheels free and in particular non-rail is movable.

Typical applications of such heavy-duty vehicles are the handling and transport of containers, in particular standardized ISO containers, within container terminals at sea or inland ports or in container terminals for combined traffic between road and rail.

In this case, in particular heavy-duty vehicles are used, via the lifting device called a spreader or Spreaderrahmen lifting device can be lowered and lowered to accommodate containers, lift and park after a transport at a destination again.

A special type of such heavy duty vehicles are so-called gantry lifting devices, which are also known as straddle carriers, gantry trucks, gantry trucks, straddle carriers, reach stackers, reach stackers, van carriers, shuttle carriers or runners. In these gantry lifting devices, the lifting device is designed as a gantry lifting device with a spider-leg-like construction, which is why they run over a container resting on the ground or on another container and can additionally transport a raised container depending on the design. Depending on the height, the gantry lifting devices are referred to, for example, as 1 over 3 devices, 1 over 2 devices, and so on. A 1 in 3 device can run over three stacked containers with a container in it.

In this context, ISO containers are understood to be standardized large-capacity or sea freight containers used in international goods traffic. Most widely used are ISO containers with a width of 8 feet and a length of 20, 40 or 45 feet.

Such heavy duty vehicles are rubber-tired and hall-bound via a corresponding tire, but not rail-bound and thus freely movable. Accordingly, the heavy vehicles involved in this case are to be distinguished from rail vehicles. In addition, the heavy-duty vehicles can be operated fully automatically and therefore without a driver manually via a driver who is traveling in a driver's cab, semi-automatically or with so-called Automated Guided Vehicles (AGV). "Driverless" here refers only to the actual intervention of a driver in the control process. In this sense, a driverless automatic operation of a corresponding heavy-duty vehicle can be given even if a driver mitfährt, but this does not actively interfere with the control. The drive of these heavy-duty vehicles is usually diesel-electric, diesel-hydraulic or fully electric.

Heavy duty vehicles with lifting devices of the type described above, for example, from the German patent application DE 10 2011 001 847 A1 as well as from the German Utility Model DE 20 2004 018 066 U1 known. The lifting drives the lifting devices of this heavy-duty vehicles are designed as rope drives or lifting mechanism. The use of chain drives as lifting drive for corresponding lifting devices is known. A device according to the prior art is in EP2128074 disclosed.

From the European patent EP 1 094 982 B1 is a rail vehicle is known which has a structure like a straddle carrier. The rail vehicle is movable along rails forming rows of a stack of plate stacks. In order to be able to store or displace the stack of plates arranged on a pallet and lift and lower them for this purpose, the rail vehicle comprises a lifting device with a load-receiving means. The load-receiving means has substantially two spaced apart longitudinal members on which the pallet is supported with two opposite longitudinal sides during lifting and lowering. By means of a lifting drive designed as a belt drive, the longitudinal members which grip correspondingly under the longitudinal sides of a pallet can be raised and lowered between vertical supports of the rail vehicle.

The use of a belt drive as a lifting drive is from the DE 699 33 597 T2 in terms of a hoist, from the DE 10 2005 016 137 A1 in terms of a mast and out of the WO 2014/085943 A2 known in terms of a lift.

On this basis, it is the object of the present invention to provide an improved heavy-duty vehicle with a lifting device for lifting and lowering a container.

This object is achieved by a heavy vehicle with the features of claim 1. In claims 2 to 10 advantageous embodiments of the heavy truck according to the invention are given.

A heavy duty vehicle having a lifting device for lifting and lowering a container, in particular an ISO container comprising a load receiving means with a spreader frame for receiving the container and a lifting drive, via which the load receiving means is raised and lowered, the heavy load vehicle on rubber-tired wheels free and in particular can not be moved by rail, is thereby improved, that the lifting drive is designed as a belt drive. Compared with the known from the prior art linear actuators, especially against rope and chain drives, a belt drive is much easier to maintain in outdoor use and thus more cost-effective. Belt drives are not subject to corrosion and lubrication is not required. The aforementioned points overall lead to an increased life of the linear actuator. In addition, smaller components can be used, since the usable belt usually have advantageous geometric dimensions over correspondingly usable ropes or chains. The required dimensions of these ropes or chains, in particular the rope diameters, in contrast, are relatively large, which requires the use of correspondingly large components in rope and chain drives.

It is advantageously provided that the belt drive is designed as a flat belt drive. As a result, the life is further increased. Flat belts have a particularly long service life, since during operation of the belt drive in flat belts compared to other belt forms almost exclusively the neutral fiber is loaded. Accordingly suitable are flat belts with in Essentially rectangular cross-sections. If, due to the application, not a so-called multi-layer winding is required, other belt cross-sections are also conceivable, for example toothed belts. In addition, the use of smaller compared to rope and chain drives components is possible.

A structurally particularly simple use of a belt drive designed as a lift drive is possible if the lifting device is designed as a portal lifting device.

In a structurally simple manner is also provided that the belt drive comprises at least one belt, a winding device for winding or unwinding of the belt and a Umlenkrollensystem through which the belt is guided flaschenzugartig and to which the load-receiving means can be fastened.

Advantageously, it is also provided that the belt drive comprises four belts and four Umlenkrollensysteme, is guided by a flaschenzugartig each of Umlenkrollensysteme one of the belt and the load-carrying means on the four Umlenkrollensystemen fastened. As a result, a rotationally free lifting or lowering of the load-receiving means is possible without elaborate guides must be provided for the load-carrying means.

In a structurally simple manner is also provided that the belt drive for each belt comprises a winding device for winding or unwinding of the respective belt. As a result, smaller and cheaper winding devices and drives for the winding devices can be used.

It is advantageously provided that the belt drive comprises a first belt drive unit and a second belt drive unit and each of the two belt drive units comprises a winding device for simultaneously winding or unwinding a first belt and a second belt on a common reel of the winding device. The use of these so-called multi-layer windings is easy to implement and leads due to the reduced number of required winding devices advantageously to further cost optimization.

In a structurally simple manner is also provided that each Umlenkrollensystem comprises a top bottle and a bottom block, each with at least one guide roller and the bottom block is suspended via its at least one deflection roller on supporting strands of the guided by the Umlenkrollensystem belt.

Furthermore, it is advantageously provided that each deflection roller system comprises two deflection rollers and the lower block is suspended via its two deflection rollers on four supporting strands of the belt guided by the deflection roller system. The four-stranded design of the Umlenkrollensystems smaller sized and thus cheaper drives can be used for the winding devices.

In a structurally simple manner, it is provided that each Umlenkrollensystem, in particular the upper bottle, is suspended from the heavy load vehicle.

• Figur 1 eine Ansicht eines Portalhubgerätes, dessen Hubantrieb als Riementrieb ausgebildet ist,
• Figur 2 eine Seitenansicht des Hubantriebs des Portalhubgerätes aus Figur 1 und
• Figur 3 einen Ausschnitt des Hubantriebs gemäß Figur 2.

An embodiment of the invention will be explained in more detail with reference to the following description. Show it:

• FIG. 1 a view of a Portalhubgerätes whose Hubantrieb is designed as a belt drive,
• FIG. 2 a side view of the lifting drive of the portal lifting device FIG. 1 and
• FIG. 3 a section of the lifting drive according to FIG. 2 ,

The FIG. 1 1 shows a view of a portal lifting device 1. The portal lifting device 1 is a heavy-duty vehicle with a lifting device designed as a portal lifting device for lifting and lowering a container, in particular an ISO container 2. The portal lifting device 1 is freely movable on a corridor surface 4 via a total of four rubber-tired wheels 3 , The wheels 3 are arranged in the usual way in the corners of an imaginary rectangle. In principle, it is also possible to provide more than four rubber-tired wheels 3, if this is technically necessary. The wheels 3 of the portal lifting device 1 are fastened to two chassis carriers 5 which are each aligned with their longitudinal extent in the direction of travel F of the portal lifting device 1. The two chassis carriers 5 each comprise two of the wheels 3 which are in Direction of travel F seen are arranged at a distance one behind the other. The chassis supports 5 also have electrical travel drives and electric steering motors for the wheels 3, which are fed by arranged within the upper frame 8 batteries 5a. Alternatively, the various drives of the portal lifting device 1 can also be designed as diesel-electric or diesel-hydraulic. Due to the existing single-wheel steering, different steering programs such as optimized standard curve travel, circular travel, a turn around the own vertical axis or a crab can be realized via an appropriate control. The portal lifting device 1 shown by way of example can be operated fully automatically as an AGV, however, as described above, it can also be designed to be manually or semi-automatically operable.

The two chassis supports 5 arranged parallel to one another and at a distance from each other are connected to one another via a front first portal frame 6a and via a rear second portal frame 6b. Accordingly, the two U-shaped portal frame 6a, 6b seen in the direction of travel F are arranged spaced from each other. Each of the two portal frames 6a, 6b comprises an upper horizontal and transverse to the direction of travel F aligned portal carrier 6c, at the lateral ends of which in each case a vertical gantry support 6d connects. About the portal supports 6d, the two portal frames 6a, 6b are based on the chassis beams 5, resulting in a spider-leg like structure. The two gantry supports 6d of each gantry frame 6a, 6b and, accordingly, the two girder girders 5 are at least the width of an ISO container 2 spaced from each other. In addition, the two portal frame 6a, 6b are connected to each other via two spaced apart and aligned in the direction of travel F side member 7. On the upper frame 8, in particular on the gantries 6c, the lifting device is attached, via which the ISO container 2 can be picked up from the floor surface 4 and placed on the floor surface 4.

The lifting device essentially comprises an electric motor-driven lifting drive, via which a load receiving means for receiving and handling the ISO container 2 in a substantially vertical stroke direction H can be raised and lowered. The lifting drive is designed as a belt drive 10 in the form of a flat belt drive and is described below with reference to FIG. 2 described in more detail.

The load-carrying means essentially comprises a so-called spreader frame 9, which may be designed in particular as a so-called single-lift or twin-lift spreader. In the twin-lift variant, two 20-foot ISO containers 2 arranged directly one behind the other in the direction of travel F of the portal lifting device 1 can be accommodated. For receiving an ISO container 2, so-called twistlocks of the spreader frame 9 engage in corresponding upper corner fittings of the ISO container 2, by the subsequent locking of which the ISO container 2 is fastened to the spreader frame 9. In the usual way, the load-receiving means below the upper frame 8 and between the portal supports 6d of the front first portal frame 6a and the portal supports 6d of the rear second portal frame 6b in the lifting direction H up and down movable.

Overall, that is in FIG. 1 exemplified Portalhubgerät 1 formed as a so-called 1 via 0 device, via which a recorded from the floor surface 4 ISO container 2 can be discontinued only on the floor surface 4 again. A stacking of ISO containers 2 is not possible in the illustrated 1 0 portal gantry due to its limited maximum lifting height h of the lifting device.

Of course, even with portal lifting devices with a larger maximum lifting height h, for example 1 over 3 devices, or other heavy-duty vehicles with a lifting device, in particular a portal lifting device, and a corresponding lifting device for lifting and lowering a container or ISO container 2 of the linear actuator 10 as a belt drive, in particular flat belt drive, be formed.

The FIG. 2 shows a side view of the lifting drive of the portal lifting device 1. The trained as a belt drive 10 linear actuator is attached to the upper frame 8, in particular on the gantries 6c. The belt drive 10 essentially comprises a first belt drive unit 10a arranged on the front first portal frame 6a and a second belt drive unit 10b arranged on the rear second portal frame 6b (in FIG FIG. 2 not shown). Each of the two belt drive units 10 a and 10 b has a drivable winding device 10 c to a first belt 10 d and a second belt 10 e simultaneously on a coil coiling the winding device 10c or to be able to unwind. The belts 10d, 10e are preferably formed as a composite belt with a plastic sheath and at least one of them enclosed tensile strand, such as a plastic or steel tendon. In the manner of a block and tackle, the first belt 10d is guided by a first deflection roller system 11a and the second belt 10e is guided by a second deflection roller system 11b. In this way, a total of four pulley-like partial belt drives of the belt drive are formed.

At the lower ends of the four partial belt drives or deflection roller systems 11a, 11b, a fastening point BP is formed in each case. At the four attachment points BP of the spreader frame 9 is suspended with two extending in the direction of travel F carriers 9a. The two belt drive units 10a and 10b or their Umlenkrollensysteme 11a, 11b are arranged between the portal supports 6d of the first portal frame 6a and the second portal frame 6b, that the attachment points BP are arranged below the upper frame 8 in the corners of an imaginary rectangle and in a horizontal plane , In the FIGS. 1 and 2 Only the two non-hidden attachment points BP are marked in the area of the front first portal frame 6a. The front attachment points BP in the region of the first portal frame 6a are each connected via one of the carriers 9a to the corresponding rear attachment point BP in the region of the second portal frame 6b. In addition, the spreader frame 9 comprises two transverse beams 9b, of which in each case a cross member 9b extends between the portal supports 6d of the first and second portal frame 6a, 6b. About the cross member 9b, the carrier 9a are connected to each other in the region of the attachment points BP. The cross member 9b serve as a guide of the Spreaderrahmens 9 between the portal supports 6d.

Characterized in that the first and the second belt drive unit 10a, 10b are operated in unison via a controller, not shown, all four attachment points BP and thus also suspended thereon about its carrier 9a Spreaderrahmen 9 synchronously in the stroke direction H and lower. By the synchronism of the two belt drive units 10a, 10b or their belt 10d, 10e and the associated synchronous lifting or Lowering the four attachment points BP, a container received by the spreader frame 9 can be lifted and lowered safely and essentially without rotation in the stroke direction H. In FIG. 2 an ISO container 2 accommodated by the spreader frame 9 is raised up to the maximum lifting height h.

Due to the same structure of the two belt drive units 10a, 10b, only the in FIG. 2 illustrated first belt drive unit 10a described.

The winding device 10c of the first belt drive unit 10a is seen transversely to the direction of travel F centrally between the two Umlenkrollensystemen 11a, 11b attached to the upper frame 8, in particular on the gantry support 6c of the first portal frame 6a. Via an electric drive motor 10g (see also FIG. 1 ) and an unillustrated transmission, the winding device 10c of the first belt drive unit 10a is driven. In addition, the first belt drive unit 10a includes a brake device 10h to stop the winding device 10c. The drive motor 10g and the braking device 10h are arranged within the upper frame 8 and preferably on an inner side of the corresponding gantry carrier 6c. On an outer side of the gantry carrier 6c, the winding device 10c and in particular its coil is arranged and connected through the gantry carrier 6c through the transmission to the drive motor 10g and the braking device 10h.

The first belt drive unit 10a is essentially formed by the first belt 10d of the first pulley-like belt drive and the second belt 10e of the second pulley-like belt drive each being fastened with its upper first end to the common reel of the winding device 10c. The attachment is made such that the two belts 10d, 10e of the winding device 10c or its coil can be coiled in the same manner in the manner of a so-called multi-layer winding or unwound to raise the Spreaderrahmen 9 or lower. For this purpose, the first ends of the belts 10d and 10e are preferably fastened to the winding device 10c in such a way that, relative to the circumference of the spool, they run opposite to one another or offset by 180 degrees from the spool.

To form the belt drive 10 as a flat belt drive, the belts 10d and 10e are preferably formed as a flat belt having a substantially rectangular cross-section.

All flaschenzugartigen partial belt drives of the embodiment are the same, in particular four-stranded, formed. By way of example, the structure of the first partial belt drive will be described below, which is a section of the first belt drive unit 10a in FIG FIG. 3 is shown.

The first belt 10d is fixed at its first end to the bobbin of the winding device 10c and guided therefrom by the first deflection roller system 11a. The Umlenkrollensystem has in flaschenzugtypischer manner on two upper fixed and two lower loose pulleys. In particular, the first belt 10d is guided over the fixed and loose pulleys of the first Umlenkrollensystems 11a, that the four supporting strands of the first part of belt drive are formed. For this purpose, the first belt 10d is fastened with its second end via a spring 10f to an upper fixed point FP on the first deflection roller system 11a.

The two upper pulleys of the first pulley system 11a are rotatably mounted in a top bottle 11c. In this case, the deflection rollers are arranged one above the other or side by side between and along the longitudinal extent of flat-rod-shaped side walls of the upper bottle 11c. The upper bottle 11c is suspended with its upper first end via a bearing 11e on an outer side of the gantry support 6c in a pendulum-like manner but suspended in a translational manner. As a result, the two pulleys of the upper bottle 11c in flaschenzugtypischer manner to fixed pulleys of the pulley-like Teilriemenzugs. Accordingly, the upper bottle 11c does not move up or down in the stroke direction H during winding or unwinding of the first belt 10d.

The axes of rotation of all pulleys of the upper bottle 11c, the bearing 11e and the coil of the winding device 10c are aligned parallel to each other and in the direction of travel F. An oscillation of the upper bottle 11c along the first gantry frame 6a and transversely to the direction of travel F is limited in the direction of the winding device 10c by a stop 11f. The stopper 11f is so on the first portal frame 6a arranged that the upper bottle 11c is aligned with its longitudinal extent vertically in the stroke direction H, when the upper bottle 11c rests with its lower second end to the stop 11f. Here, the stopper 11f is disposed at the lower end of the upper bottle 11c between the side walls thereof and the first belt 10d.

The two lower deflection rollers of the first deflection roller system 11a are mounted in a lower block 11d comparable to the upper cylinder 11c. The lower block 11d is suspended on the four load-bearing strands of the pulley-type partial belt drive via its two deflection rollers. As a result, the two pulleys of the lower block 11d in pulley-typical manner to loose pulleys of the pulley-like Teilriemenzugs. Accordingly, the lower block 11d moves up or down in the lifting direction H during winding or unwinding of the first belt 10d. The lower block 11d is aligned with its longitudinal extent in the stroke direction H and with the upper bottle 11c.

Below the lowest loose pulley, the lower block 11d forms one of the attachment points BP at its lower end. At the lower end of the upper bottle 11c is the upper fixed point FP for the second end of the first belt 10d. The spring 10f is disposed at the second end between the fulcrum FP and the uppermost pulley of the lug 11d.

All deflection rollers of the first deflection roller system 11a suspended in a pendulum fashion via the upper cylinder 11c are arranged together with the upper cylinder 11c and the lower block 11d in an imaginary vertical plane. The outermost deflection rollers seen in the stroke direction H have a roller diameter which is larger than the roller diameter of the inner deflection rollers arranged therebetween. Preferably, the roll diameter of the outer and inner pulleys are the same size.

In the same way as described above for the first pulley-type partial belt drive, the second belt 10e and the second pulley system 11b form the second pulley-like partial belt drive of the first belt drive unit 10a (see FIG FIG. 2 ).

In order to protect the belt drive 10, plate-shaped covers, not shown, may be provided on the upper frame 8 and on the portal frame 6a, 6b.

The belt drive 10 is arranged concentrically with respect to the lifting device of the heavy load vehicle and the load receiving means, resulting in a correspondingly symmetrical arrangement in particular of the belt drive units 10a, 10b, the belt 10d, 10e, the Umlenkrollensysteme 11a, 11b and the attachment points BP results.

In the present embodiment, all four pulleys are four-stranded. Of course, however, the pulleys may also have a different number of fixed or loose pulleys associated therewith a different number of supporting strands. Likewise, the fixed point FP may also be provided on the lower block 11d.

In principle, it is also possible that a separate winding device 10c is provided for each of the four pulley-like partial belt drives or their belts 10d, 10e. The winding devices 10c are then each independently driven and are operated via a corresponding control in the synchronization described above. Accordingly, four independent belt drive units are then provided, each having a belt, a pulley system and a winding device 10c for the belt and a drive motor 10g, a transmission and a braking device 10h for the winding device 10c.

LIST OF REFERENCE NUMBERS

1

Portalhubgerät

2

ISO containers

3

wheel

4

hallway area

5

suspension carrier

5a

battery

6a

first portal frame

6b

second portal frame

6c

straddle carrier

6d

portal support

7

longitudinal beams

8th

top frame

9

Spreader frame

9a

carrier

9b

crossbeam

10

belt drive

10a

first belt drive unit

10b

second belt drive unit

10c

winder

10d

first belt

10e

second belt

10f

feather

10g

drive motor

10h

braking device

11a

first pulley system

11b

second pulley system

11c

upper bottle

11d

Bottom block

11e

warehouse

11f

attack

BP

attachment point

F

direction of travel

FP

benchmark

H

Lifting height

H

stroke direction

Claims (8)

1. Heavy-duty vehicle, which is designed as a gantry lifting device (1), comprising a lifting apparatus, which is designed as a gantry lifting apparatus, for lifting and lowering a container, in particular an ISO container (2), said lifting apparatus comprising a load picking-up means having a spreader frame (9) for picking up the container, and a lifting drive, via which the load picking-up means can be lifted and lowered, wherein the heavy-duty vehicle is movable freely via wheels (3) with rubber tyres and in particular not rail-bound, characterised in that the lifting drive is designed as a belt drive (10) and the belt drive (10) comprises four belts (10d, 10e), at least one winding apparatus (10c) for winding and unwinding the belts (10d, 10e) and four deflection roller systems (11a, 11b).
2. Heavy-duty vehicle as claimed in claim 1, characterised in that the belt drive (10) is designed as a flat belt drive.
3. Heavy-duty vehicle as claimed in claim 1 or 2, characterised in that one of the belts (10d, 10e) is guided in the manner of a pulley by each of the deflection roller systems (11a, 11b) and the load picking-up means can be fastened to the four deflection roller systems (11a, 11b).
4. Heavy-duty vehicle as claimed in any one of claims 1 to 3, characterised in that the belt drive (10) comprises for each belt (10d, 10e) a winding apparatus (10c) for winding and unwinding the respective belt (10d, 10e).
5. Heavy-duty vehicle as claimed in any one of claims 1 to 4, characterised in that the belt drive (10) comprises a first belt drive unit (10a) and a second belt drive unit (10b) and each of the two belt drive units (10a, 10b) comprises a winding apparatus (10c) for simultaneously winding and unwinding a first belt (10d) and a second belt (10e) on a common coil of the winding apparatus (10c).
6. Heavy-duty vehicle as claimed in any one of claims 1 to 5, characterised in that each deflection roller system (11a, 11b) comprises an upper block (11c) and a lower block (11d) with at least one deflection roller in each case and the lower block (11d) is suspended via its at least one deflection roller from supporting strands of the belt (10d, 10e) which is guided by the deflection roller system (11a, 11b).
7. Heavy-duty vehicle as claimed in claim 6, characterised in that each deflection roller system (11a, 11b) comprises two deflection rollers and the lower block (11d) is suspended via its two deflection rollers from four supporting strands of the belt (10d, 10e) which is guided by the deflection roller system (11a, 11b).
8. Heavy-duty vehicle as claimed in claim 6 or 7, characterised in that each deflection roller system (11a, 11b), in particular the upper block (11c), is suspended in an oscillating manner from the heavy-duty vehicle.

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