WO2010061254A1 - Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures - Google Patents

Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures Download PDF

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Publication number
WO2010061254A1
WO2010061254A1 PCT/IB2009/007236 IB2009007236W WO2010061254A1 WO 2010061254 A1 WO2010061254 A1 WO 2010061254A1 IB 2009007236 W IB2009007236 W IB 2009007236W WO 2010061254 A1 WO2010061254 A1 WO 2010061254A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
self
steering device
automatic steering
straddle carriers
Prior art date
Application number
PCT/IB2009/007236
Other languages
French (fr)
Inventor
Bruno Mognon
Original Assignee
Eden Technology Srl
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 Eden Technology Srl filed Critical Eden Technology Srl
Priority to CN200980143865.0A priority Critical patent/CN102202998B/en
Priority to EP09771769A priority patent/EP2349905B1/en
Priority to US13/127,366 priority patent/US8831841B2/en
Priority to DK09771769.8T priority patent/DK2349905T3/en
Publication of WO2010061254A1 publication Critical patent/WO2010061254A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/04—Travelling gear incorporated in or fitted to trolleys or cranes to facilitate negotiation of curves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B11/00—Units comprising multiple wheels arranged side by side; Wheels having more than one rim or capable of carrying more than one tyre
    • B60B11/02—Units of separate wheels mounted for independent or coupled rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/04—Steering linkage; Stub axles or their mountings for pivoted bogies with more than one wheel
    • 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

  • This invention relates to self-propelled straddle carriers for lifting and transporting manufactures; in particular it concerns a device for the automatic steering for those working machines.
  • steering is used to indicate any type of steering that the working machine can carry out to modify or set the trajectory of the trolley for lifting and transporting manufactures.
  • the traditional straddle carriers for lifting and transporting are essentially made up with a spatial portal structure resting on the ground on four (or more) tyred wheel units connected to each other by means of supporting beams of said portal. All the wheel units, or at least two of them, are connected to the above structure by means of a fifth wheel and they are put into rotation with respect to their vertical axis by an hydraulic cylinder that exerts a tangential force necessary to the rotation; or by an hydraulic motor that generates the same tangential force necessary to the rotation through a pinion acting on a ring gear integral with the fifth wheel.
  • the self-propelled straddle carriers currently in use need oil- pressure actuators to exert the force necessary to the rotation of the wheel units.
  • the actuators need an hydraulic feeding by means of hoses.
  • the oil must be distributed by suitable hydraulic valves and must be placed under pressure by means of respective oil-pressure pumps. This implies a considerable use of components and huge plant costs.
  • the steering system through oil-pressure cylinders is limited in the rotating angle that can be obtained in the wheel units owing to the physical features of the system itself; in fact the overall dimensions of the correlated levers and handles cannot exceed determined dimensions without penalizing the dimensions of the self- propelled straddle carrier itself.
  • the aim of the invention hereby described is to eliminate the above-mentioned inconveniences.
  • the aim of the invention is to create an automatic steering device that can supply different types of steering to a self-propelled straddle carrier.
  • a further aim of the invention is to create a machine without hydraulic actuators, levers, pinions and ring gears.
  • an automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures comprising a spatial portal structure resting on the ground on a plurality of steering wheel units connected to said structure above by means of a fifth wheel, characterized in that: each wheel unit comprises two tyred wheels each of which is associated to its own electric motor means independently with respect to the other; each electric motor is supplied by its own vector frequency converter controlled by a control unit provided with a control microprocessor; angular rotation of each wheel unit is measured by means of an incremental encoder integral with said upper structure and with the fifth wheel and connected to said microprocessor.
  • all the wheels of the steering wheel units are motorized by means of an electric motor and a reduction unit.
  • the torque that generates the wheels rotation is obtained by means of angular transmission reducers in order to allow the positioning of the electric motors between the two wheels.
  • each wheel with its own load is supported by an idle hub, driven by a splined shaft that enters the angular reduction unit.
  • each tyred wheel is offset with respect to its twin so as to limit the transversal overall dimension of the wheel unit.
  • the electric motor is of self-braking type, and it stops automatically in case of lack of power supply.
  • the microprocessor is integrated in a PLC that controls and feeds back in a closed loop the entire kinematic system of the automatic steering device, in order to reach and maintain the curvature radius set by the operator.
  • the advantages obtained by the automatic steering device according to the invention essentially consist in the possibility for the self-propelled straddle carrier to follow winding plotted courses with any bending radius, to move diagonally with any angle, to rotate roundabout, to move 90°, to steer on one side only leaving the opposite side in a rectilinear position and vice versa.
  • a further advantage is the extremely reduced operating time of the steering procedure since the rotation of the wheel unit is carried out using the traversing speed of the wheels; therefore linear velocity becomes angular velocity.
  • Another advantage of the invention is that none of the two wheels of the unit can idle. If this happened, the unit would start rotating but, as a result, also its retroaction would take place, thus stopping the sliding wheel.
  • Fig. 1 shows, view from the top, an automatic steering device for lifting and transporting manufactures, according to the invention
  • Figs. 2, 3 show, respectively from a front and a side view, the device of figure 1 ;
  • Figs. 4, 5 show, respectively from a front and a side view, a self- propelled straddle carrier equipped with the steering device according to the invention
  • Fig. 6 shows a scheme of different possibilities to position the wheel units to obtain different steering procedures of the straddle carrier.
  • the self-propelled straddle carrier (working machine) essentially comprises a spatial portal structure 1 consisting of vertical rods 2 and cross rods 3, laying on the ground on wheel units 4 connected to each other by means of beams 5 supporting the spatial portal structure.
  • the spatial portal structure 1 is equipped with electric motors 6 and tackles 7 for the lifting of the load to be transported according to the known technique.
  • the wheel units 4 include two twin tyred wheels 8, 8' pivotally supported by an idle hub 9, 9' and each connected to its own electric motor 10, 10' by means of an angular reducer 11 , 11' and a splined shaft 12, 12'.
  • Each electric motor is fed by its own vector frequency convertor and is of the self-braking type, i.e. it stops automatically in case of lack of power supply.
  • the splined shafts 12, 12' are placed on the same horizontal plane, but they are offset from each other, so as to limit the transversal overall dimension of the wheel unit.
  • the hubs 9, 9' are combined to a fork 13 connected to the beams 5 by means of a fifth wheel 14 having vertical rotation axis.
  • an incremental encoder of a known type (not illustrated) arranged for measuring the angular displacement of the wheel unit 4 and transferring the measured signal to a PLC microprocessor for the control of each electric motor 10.
  • the spatial portal structure 1 also comprises an electric generator 15 suitable for producing energy needed to the running of all the electric motors 10 assembled on the working machine.
  • each motor 10, 10' of a wheel unit 4 is connected to its own wheel 8, 8' so as the mutual rotation change induces a rotation of the wheel unit 4 around the fifth wheel axis 14; the encoder measures this rotation and transfers the instantaneous value measured to the PLC.
  • the PLC processes it and controls the vector frequency convertors of the motors 10, 10' according to the type of steering and to the radius chosen by the operator among the programs pre-set during the manufacturing of the working machine and stored in the PLC.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Intermediate Stations On Conveyors (AREA)

Abstract

Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures, comprising a spatial portal structure (1) resting on the ground on a plurality of steering wheel units (4) connected by means of a fifth wheel (14) to the said structure above, where each wheel unit (4) comprises two tyred wheels (8, 8') each of which is associated with its own electric motor means (10, 10') independently with respect to the other; each electric motor is supplied by its own vector frequency converter controlled by a control unit provided with a control microprocessor; angular rotation of each wheel unit (4) is measured by means of an incremental encoder integral with said upper structure and with the fifth wheel (14) and connected to said microprocessor.

Description

AUTOMATIC STEERING DEVICE FOR SELF-PROPELLED STRADDLE CARRIERS FOR LIFTING AND TRANSPORTING MANUFACTURES
* * * * *
This invention relates to self-propelled straddle carriers for lifting and transporting manufactures; in particular it concerns a device for the automatic steering for those working machines.
In the description, to be clearer, the word "steering" is used to indicate any type of steering that the working machine can carry out to modify or set the trajectory of the trolley for lifting and transporting manufactures.
The traditional straddle carriers for lifting and transporting are essentially made up with a spatial portal structure resting on the ground on four (or more) tyred wheel units connected to each other by means of supporting beams of said portal. All the wheel units, or at least two of them, are connected to the above structure by means of a fifth wheel and they are put into rotation with respect to their vertical axis by an hydraulic cylinder that exerts a tangential force necessary to the rotation; or by an hydraulic motor that generates the same tangential force necessary to the rotation through a pinion acting on a ring gear integral with the fifth wheel.
The self-propelled straddle carriers currently in use need oil- pressure actuators to exert the force necessary to the rotation of the wheel units. The actuators need an hydraulic feeding by means of hoses. The oil must be distributed by suitable hydraulic valves and must be placed under pressure by means of respective oil-pressure pumps. This implies a considerable use of components and huge plant costs.
A further inconvenience that happens over time when two or more cylinders are connected to each other by an hydraulic bar is the oil leak from one cylinder chamber to the another (blow-by). This involves the necessity to foresee the realignment of the system through suitable valves.
Moreover the cylinders and the hydraulic motors require the maintenance of both the seals and the oil-filtration system.
In addition, the steering system through oil-pressure cylinders is limited in the rotating angle that can be obtained in the wheel units owing to the physical features of the system itself; in fact the overall dimensions of the correlated levers and handles cannot exceed determined dimensions without penalizing the dimensions of the self- propelled straddle carrier itself.
The aim of the invention hereby described is to eliminate the above-mentioned inconveniences.
The aim of the invention is to create an automatic steering device that can supply different types of steering to a self-propelled straddle carrier.
A further aim of the invention is to create a machine without hydraulic actuators, levers, pinions and ring gears.
These aims are achieved by means of an automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures, comprising a spatial portal structure resting on the ground on a plurality of steering wheel units connected to said structure above by means of a fifth wheel, characterized in that: each wheel unit comprises two tyred wheels each of which is associated to its own electric motor means independently with respect to the other; each electric motor is supplied by its own vector frequency converter controlled by a control unit provided with a control microprocessor; angular rotation of each wheel unit is measured by means of an incremental encoder integral with said upper structure and with the fifth wheel and connected to said microprocessor.
According to a first aspect of the invention, all the wheels of the steering wheel units are motorized by means of an electric motor and a reduction unit.
According to a preferred aspect of the invention, the torque that generates the wheels rotation is obtained by means of angular transmission reducers in order to allow the positioning of the electric motors between the two wheels.
According to a further preferred aspect, each wheel with its own load is supported by an idle hub, driven by a splined shaft that enters the angular reduction unit.
Preferably, each tyred wheel is offset with respect to its twin so as to limit the transversal overall dimension of the wheel unit.
Preferably, the electric motor is of self-braking type, and it stops automatically in case of lack of power supply.
According to a preferred embodiment, the microprocessor is integrated in a PLC that controls and feeds back in a closed loop the entire kinematic system of the automatic steering device, in order to reach and maintain the curvature radius set by the operator.
The advantages obtained by the automatic steering device according to the invention essentially consist in the possibility for the self-propelled straddle carrier to follow winding plotted courses with any bending radius, to move diagonally with any angle, to rotate roundabout, to move 90°, to steer on one side only leaving the opposite side in a rectilinear position and vice versa.
A further advantage is the extremely reduced operating time of the steering procedure since the rotation of the wheel unit is carried out using the traversing speed of the wheels; therefore linear velocity becomes angular velocity.
Another advantage of the invention is that none of the two wheels of the unit can idle. If this happened, the unit would start rotating but, as a result, also its retroaction would take place, thus stopping the sliding wheel.
Further features and advantages of the invention will be more evident hereinafter, where a preferable embodiment is described, illustrated by way of non limiting example, with figures where:
Fig. 1 shows, view from the top, an automatic steering device for lifting and transporting manufactures, according to the invention;
Figs. 2, 3 show, respectively from a front and a side view, the device of figure 1 ;
Figs. 4, 5 show, respectively from a front and a side view, a self- propelled straddle carrier equipped with the steering device according to the invention;
Fig. 6 shows a scheme of different possibilities to position the wheel units to obtain different steering procedures of the straddle carrier.
With reference to the details shown in the figures, the self-propelled straddle carrier (working machine) essentially comprises a spatial portal structure 1 consisting of vertical rods 2 and cross rods 3, laying on the ground on wheel units 4 connected to each other by means of beams 5 supporting the spatial portal structure.
The spatial portal structure 1 is equipped with electric motors 6 and tackles 7 for the lifting of the load to be transported according to the known technique.
The wheel units 4 include two twin tyred wheels 8, 8' pivotally supported by an idle hub 9, 9' and each connected to its own electric motor 10, 10' by means of an angular reducer 11 , 11' and a splined shaft 12, 12'.
Each electric motor is fed by its own vector frequency convertor and is of the self-braking type, i.e. it stops automatically in case of lack of power supply.
The splined shafts 12, 12' are placed on the same horizontal plane, but they are offset from each other, so as to limit the transversal overall dimension of the wheel unit. The hubs 9, 9' are combined to a fork 13 connected to the beams 5 by means of a fifth wheel 14 having vertical rotation axis. Between the upper spatial portal structure 1 and the fifth wheel 14 there is an incremental encoder of a known type (not illustrated) arranged for measuring the angular displacement of the wheel unit 4 and transferring the measured signal to a PLC microprocessor for the control of each electric motor 10.
The spatial portal structure 1 also comprises an electric generator 15 suitable for producing energy needed to the running of all the electric motors 10 assembled on the working machine.
In compliance with the present invention, each motor 10, 10' of a wheel unit 4 is connected to its own wheel 8, 8' so as the mutual rotation change induces a rotation of the wheel unit 4 around the fifth wheel axis 14; the encoder measures this rotation and transfers the instantaneous value measured to the PLC. The PLC processes it and controls the vector frequency convertors of the motors 10, 10' according to the type of steering and to the radius chosen by the operator among the programs pre-set during the manufacturing of the working machine and stored in the PLC.
The use of the automatic steering device according to the invention allows the following steering procedures: steering at still working machine:
- steering of the wheel unit 4 by activation of the rotation of the wheels 8, 8' to opposite direction, obtaining a torque that brings to a rotation of the unit itself with respect to its vertical axis (around the fifth wheel 14);
- control of the wheel unit 4 angular position by means of incremental encoder integral with the upper structure;
- comparison between the value reached by the rotation of the wheel unit 4 and the pre-set value (stored in the PLC memory) corresponding to the type of steering chosen and the set radius;
- eventual corrective retroaction for the final equalization of the angular position to the inside tabular value pre-set in the PLC that corresponds to the selected radius of curvature. steering at working machine in motion: steering of the wheel unit 4 by accelerating the rotation of one wheel with respect to the other, creating a torque that induces a rotation of the wheel unit itself; the wheel unit 4 will turn in a clockwise direction if the left wheel is accelerated with respect to the central axis; vice versa it will turn in an anticlockwise direction if the right wheel is accelerated; control of the angular position of the wheel unit 4 by means of an incremental encoder; comparison between the value reached by the rotation of the wheel group 4 and the pre-set value (stored in the PLC memory) corresponding to the type of steering chosen and the radius set by the operator; possible corrective retroaction for the final equalization of the angular position to the inner tabular value pre-set in the PLC; rotation adjustment of all the wheels of the wheel units 4 of the machine so as to allow the differential effect in the rolling during steering procedure; the wheels that are farther from the instantaneous centre of rotation are more accelerated but always in proportion to the radius of curvature set by the operator. It being understood the principle of the invention, the embodiments and means of implementation can of course vary or adopt equivalent solutions without exceeding the limits of the protection of the present invention.

Claims

1. Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures, comprising a spatial portal structure (1) resting on the ground on a plurality of steering wheel units (4) connected to said structure above by means of a fifth wheel (14), characterized in that: each wheel unit (4) comprises two tyred wheels (8, 8') each of which is associated with its own electric motor means (10, 10') independently with respect to the other; each electric motor is supplied by its own vector frequency converter controlled by a control unit provided with a control microprocessor; angular rotation of each wheel unit (4) is measured by means of an incremental encoder integral with said upper structure and with the fifth wheel (14) and connected to said microprocessor.
2. Automatic steering device for self-propelled straddle carriers according to claim 1 , characterized in that the wheels (8, 8') of the steering wheel units (4) are motorized by means of a reduction unit (11 , 11') and electric motor (10, 10').
3. Automatic steering device for self-propelled straddle carriers according to claim 2, characterized in that said reduction unit (11 , 11 ') is of angular type.
4. Automatic steering device for self-propelled straddle carriers according to claim 2, characterized in that each wheel (8, 8') with its own load is supported by an idle hub (9, 9') driven by a splined shaft (12, 12') that enters the angular reduction unit (11 , 11').
5. Automatic steering device for self-propelled straddle carriers according to claim 1 , characterized in that each tyred wheel (8, 8') is offset with respect to its twin.
6. Automatic steering device for self-propelled straddle carriers according to claim 2, characterized in that said electric motor (10, 10') is of the self-braking type, and stops automatically in case of lack of power supply.
7. Automatic steering device for self-propelled straddle carriers according to claim 1 , characterized in that the microprocessor is integrated in a PLC that controls and feeds back in a closed loop the entire kinematic system of the automatic steering device.
8. Self-propelled working machine characterized in that it comprises an automatic steering device according to the preceding claims.
PCT/IB2009/007236 2008-11-03 2009-10-27 Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures WO2010061254A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN200980143865.0A CN102202998B (en) 2008-11-03 2009-10-27 Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures
EP09771769A EP2349905B1 (en) 2008-11-03 2009-10-27 Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures
US13/127,366 US8831841B2 (en) 2008-11-03 2009-10-27 Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures
DK09771769.8T DK2349905T3 (en) 2008-11-03 2009-10-27 AUTOMATIC CONTROLLER FOR SELF-RUNNING PORTAL CRANES FOR LIFTING AND TRANSPORTING PRODUCTS

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITCR2008A000023 2008-11-03
ITCR2008A000023A IT1392130B1 (en) 2008-11-03 2008-11-03 AUTOMATIC STEERING DEVICE FOR LIFTING TRUCKS AND MANUFACTURED TRANSPORT TRUCKS.

Publications (1)

Publication Number Publication Date
WO2010061254A1 true WO2010061254A1 (en) 2010-06-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2009/007236 WO2010061254A1 (en) 2008-11-03 2009-10-27 Automatic steering device for self-propelled straddle carriers for lifting and transporting manufactures

Country Status (6)

Country Link
US (1) US8831841B2 (en)
EP (1) EP2349905B1 (en)
CN (1) CN102202998B (en)
DK (1) DK2349905T3 (en)
IT (1) IT1392130B1 (en)
WO (1) WO2010061254A1 (en)

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Publication number Priority date Publication date Assignee Title
DE102020107874A1 (en) 2020-03-23 2021-09-23 KÜHNEZUG Hebezeuge GmbH & Co.KG vehicle

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EP2931647B1 (en) * 2012-12-11 2018-08-01 Cargotec Finland Oy Method, apparatus and computer program for moving a container carrier
EP3741608A1 (en) 2019-05-22 2020-11-25 Sandvik Mining and Construction Oy Mining vehicle
CN110362088B (en) * 2019-08-02 2022-07-12 上海振华重工(集团)股份有限公司 Tracking control system and method suitable for unmanned straddle carrier
US11858573B2 (en) 2019-08-29 2024-01-02 Conceptual Innovations, L.L.C. Steerable drive wheel
CN113060681B (en) * 2021-03-01 2022-07-19 中国长江电力股份有限公司 Lifting method of lifting device of large-scale runner maintenance platform

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Publication number Priority date Publication date Assignee Title
DE102020107874A1 (en) 2020-03-23 2021-09-23 KÜHNEZUG Hebezeuge GmbH & Co.KG vehicle
DE102020107874B4 (en) 2020-03-23 2024-02-15 KÜHNEZUG Hebezeuge GmbH & Co.KG vehicle

Also Published As

Publication number Publication date
DK2349905T3 (en) 2012-11-26
ITCR20080023A1 (en) 2010-05-03
CN102202998A (en) 2011-09-28
US8831841B2 (en) 2014-09-09
EP2349905B1 (en) 2012-09-05
US20110224857A1 (en) 2011-09-15
CN102202998B (en) 2013-10-30
EP2349905A1 (en) 2011-08-03
IT1392130B1 (en) 2012-02-22

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