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EP2480486B1 - Straddle carrier for use in container terminals and for general transport operations - Google Patents

Straddle carrier for use in container terminals and for general transport operations Download PDF

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Publication number
EP2480486B1
EP2480486B1 EP10763604.5A EP10763604A EP2480486B1 EP 2480486 B1 EP2480486 B1 EP 2480486B1 EP 10763604 A EP10763604 A EP 10763604A EP 2480486 B1 EP2480486 B1 EP 2480486B1
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EP
European Patent Office
Prior art keywords
steering
wheel
straddle carrier
steering unit
unit
Prior art date
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Application number
EP10763604.5A
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German (de)
French (fr)
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EP2480486A1 (en
Inventor
Torsten Gayer
Wilhelm Pfenning
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Pfenning Elektroanlagen GmbH
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Pfenning Elektroanlagen GmbH
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Priority to PL10763604T priority Critical patent/PL2480486T3/en
Publication of EP2480486A1 publication Critical patent/EP2480486A1/en
Application granted granted Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers

Definitions

  • the invention relates to a straddle carrier for use in container terminals and for general transport tasks, with a frame, a load-carrying means, preferably a spreader, which is suspended between the frame and with a load, preferably a container, lockable, hoisting winches, by means of which the load-carrying means vertically movable, driving beams, which are arranged at the lower portion of the frame and each having a plurality of arranged in a row of wheels, and a steering device by means of which the wheels are steerable.
  • a load-carrying means preferably a spreader
  • a load preferably a container, lockable, hoisting winches
  • the load-carrying means vertically movable, driving beams, which are arranged at the lower portion of the frame and each having a plurality of arranged in a row of wheels, and a steering device by means of which the wheels are steerable.
  • straddle carriers arranged on a driving carrier wheels by means of a steering drive, which belongs to a plurality of arranged on a driving carrier wheels associated steering gear, spent in the particular desired steering position.
  • the respectively desired steering position is by means of a steering member, which is usually a steering wheel or the like. acts, given.
  • a steering computer arranged between the steering wheel and the steering drive, nominal values for the steering drive are determined and transmitted to the drive element, which is usually configured as a hydraulic unit the steering drive or to the control of the same forwarded. Accordingly, arranged on the output side of the steering drive wheels of the straddle carrier according to the request on the steering wheel thereof are adjusted.
  • EP150688 discloses a straddle carrier according to the preamble of claim 1.
  • the present invention seeks to provide a straddle carrier for use in container terminals and general transport tasks in which the tire wear, the energy required to operate the gantry and the noise generated during operation of the gantry are considerably reduced ,
  • the steering device for each wheel of the straddle carrier has a separate steering unit, by means of which the steering position of each wheel of the straddle carrier is individually adjustable.
  • a lateral force-free steering of the straddle carrier is made possible, wherein for each wheel of the straddle carrier the physically correct steering radius can be adjusted. Abrasion losses on the tires are thereby significantly reduced.
  • Due to the more precise than in the prior art possible positioning of the individual wheels of the gantry according to the respective requested steering position results in each case a reduction of energy expenditure for the process of the gantry, which in view of the large number of occurring during operation of the gantry truck steering operations to a leads to considerable savings in energy consumption.
  • the noise level of the inventively designed straddle carrier is reduced because of the possible exact positioning of the individual wheels in the individually determined for each wheel steering positions.
  • each steering unit of the portal lifting carriage according to the invention has a steering motor and a steering gear.
  • the steering motor of each steering unit is preferably designed as an electric motor, so that the steering device is operated in total exclusively by electrical energy.
  • each steering unit drives a hollow shaft which is connected by means of a rotationally fixed and movable in the vertical or longitudinally form-locking connection with the steering pin of this steering unit associated wheel.
  • the support steering gear each steering unit is integrated into the structure of the steered by the steering unit associated drive carrier, wherein the output member of the support steering gear is rotatably connected to a wheel of the wheel.
  • the wheel carrier of the wheel is then mounted or supported steerable on the carriage.
  • the integration of the steering unit to the driving carrier is facilitated if an axis of rotation of the steering motor of each steering unit and a steering axis of the steering unit associated with this wheel are arranged perpendicular to each other.
  • the steering gear of each steering unit is equipped on its output side with a rotary encoder or a hollow shaft angle sensor.
  • the steering motor of each steering unit is equipped with a position sensor, by means of which the position of the steering unit assigned to the wheel can be detected via the motor position.
  • the steering safety can be increased, wherein, in addition, plausibility checks with respect to the actual values determined by the two different encoders can be carried out in a steering computer of the gantry pallet truck.
  • the latter has the above-mentioned steering computer into which a desired value for the steering position of the wheels of the straddle carrier can be entered via a steering element, in particular a steering wheel, of the straddle carrier. or detected on the output side of the steering gear arranged rotary encoders, the actual position of the wheels corresponding actual values are entered, and controlled by the steering motor of each steering unit according to the deviation between the actual position and the desired position of the respective steering unit associated wheel is. Due to cross comparisons that can be carried out in the steering computer and - as already mentioned above - plausibility checks, disturbances in steering operation can be detected better than in the prior art.
  • straddle carrier 1 has a frame 2, which arranged in the manner of a portal 2 at the lower end of the frame 2 Fahren 3, of which in FIG. 1 only one is visible, connecting with each other.
  • To the straddle carrier 1 includes a load handling means (spreader, Toppspreader) 4, which is arranged between the two driving supports (3) associated with supports 5 of the frame 2.
  • the load-receiving means 4 is connected by suitable connecting means 6 with a container 7 or locked.
  • the load-receiving means 4 is by means of a in the in FIG. 1 shown embodiment on the lifting device 4 arranged lifting hoist 8 between the supports 5 of the frame 2 vertically movable.
  • a driver's cab 10 is provided from which an operator of the straddle carrier 1 can drive or control this and its load-carrying means 4.
  • a steering device of the straddle carrier 1 include steering units 13, one of which is associated with a wheel 11 and a wheel carrier 12, respectively.
  • FIG. 2 two of these steering units 13 are shown with that part of the driving carrier 3, on which they are arranged, and their associated two wheels 11 and wheel carriers 12.
  • each steering unit 13 By means of each steering unit 13, the rotational position of its associated wheel carrier 12 and the steering position of its associated wheel 11 individually adjustable.
  • each steering unit 13 at the in FIG. 2 shown embodiment of the same a steering motor 14 and a steering gear 15.
  • the steering motor 14 is preferably designed as an electric motor and drives by means of its output shaft to an input part of the steering gear 15.
  • An output member 16 of the steering gear 15 is rotatably connected in a manner to be described with a steering pin 17, which in turn rotatably connected to the wheel carrier 12 of this steering unit 13 associated wheel 11. By rotation of the pivot pin 17, the wheel 11 is adjusted with respect to its steering position corresponding to the operation of the electric motor 14.
  • the steering gear 15 is further configured as a support steering gear. Its output member 16 drives a hollow shaft 18, which in turn rotatably in the direction of rotation and is connected in the longitudinal or vertical direction movable by means of a suitable form-locking connection with the steering pin 17.
  • the output member 16 of the support steering gear 15 and thus indirectly the hollow shaft 18 and the steering pin 17 are in one Rolling bearings stored.
  • This rolling bearing is designed so that it can transmit the high payloads, the high lateral forces and the high tilting moments that arise on the wheel 11 during braking and cornering.
  • the axis of rotation of the output member 16 of the support steering gear 15 and thus the steering axis of the wheel 11 is arranged perpendicular to the axis of rotation of the electric motor 14 of the steering unit 13.
  • the electric motor 14 of the steering unit 13 is connected at its side facing away from the supporting steering gear 15 with a driving carrier-side support 19.
  • the support steering gear 15 is equipped with a hollow shaft angle sensor.
  • the electric motor 14 of the steering unit 13 has a position sensor for detecting the steering position of the steering unit 13 associated wheel 11th
  • the current steering position of the respective steering unit 13 associated wheel 11 is detected and forwarded a corresponding actual value to a not shown in the figures steering computer of the straddle carrier 1.
  • the actual values of the steering positions of all wheels 11 of the straddle carrier 1 are therefore present.
  • a steering wheel of the straddle carrier 1 arranged in the driver's cab 10 is connected to the steering computer, by means of which an operator can input a desired value for the steering positions of the wheels 11 of the straddle carrier.

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

Description

Die Erfindung bezieht sich auf einen Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transportaufgaben, mit einem Rahmengestell, einem Lastaufnahmemittel, vorzugsweise einem Spreader, das zwischen dem Rahmengestell hängt und mit einer Last, vorzugsweise einem Container, verriegelbar ist, Hubwinden, mittels denen das Lastaufnahmemittel vertikal bewegbar ist, Fahrträgern, die am unteren Bereich des Rahmengestells angeordnet sind und jeweils eine Vielzahl in einer Reihe angeordneter Räder aufweisen, und einer Lenkvorrichtung, mittels der die Räder lenkbar sind.The invention relates to a straddle carrier for use in container terminals and for general transport tasks, with a frame, a load-carrying means, preferably a spreader, which is suspended between the frame and with a load, preferably a container, lockable, hoisting winches, by means of which the load-carrying means vertically movable, driving beams, which are arranged at the lower portion of the frame and each having a plurality of arranged in a row of wheels, and a steering device by means of which the wheels are steerable.

Bei bekannten derartigen Portalhubwagen werden die an einem Fahrträger angeordneten Räder mittels eines Lenkantriebs, zu dem ein mehreren an einem Fahrträger angeordneten Rädern zugeordnetes Lenkgetriebe gehört, in die jeweils gewünschte Lenkposition verbracht. Die jeweils gewünschte Lenkstellung wird mittels eines Lenkglieds, bei dem es sich üblicherweise um ein Lenkrad od.dgl. handelt, vorgegeben. In einem zwischen dem Lenkrad und dem Lenkantrieb angeordneten Lenkrechner werden Soll-Werte für den Lenkantrieb ermittelt und an das üblicherweise als Hydraulikaggregat ausgestaltete Antriebsglied des Lenkantriebs bzw. an die Steuerung desselben weitergeleitet. Entsprechend werden die an der Ausgangsseite des Lenkantriebs angeordneten Räder des Portalhubwagens gemäß der Anforderung am Lenkrad desselben verstellt. EP150688 offenbart einen Portalhubwagen nach dem Oberbegriff des Anspruchs 1.In known such straddle carriers arranged on a driving carrier wheels by means of a steering drive, which belongs to a plurality of arranged on a driving carrier wheels associated steering gear, spent in the particular desired steering position. The respectively desired steering position is by means of a steering member, which is usually a steering wheel or the like. acts, given. In a steering computer arranged between the steering wheel and the steering drive, nominal values for the steering drive are determined and transmitted to the drive element, which is usually configured as a hydraulic unit the steering drive or to the control of the same forwarded. Accordingly, arranged on the output side of the steering drive wheels of the straddle carrier according to the request on the steering wheel thereof are adjusted. EP150688 discloses a straddle carrier according to the preamble of claim 1.

Ausgehend von dem vorstehend geschilderten Stand der Technik liegt der Erfindung die Aufgabe zugrunde, einen Portalhubwagen zum Einsatz in Containerterminals und für allgemeine Transportaufgaben zu schaffen, bei dem der Reifenverschleiß, der Energieaufwand zum Betrieb des Portalhubwagens und der beim Betrieb des Portalhubwagens erzeugte Geräuschpegel erheblich reduziert sind.Based on the above-described prior art, the present invention seeks to provide a straddle carrier for use in container terminals and general transport tasks in which the tire wear, the energy required to operate the gantry and the noise generated during operation of the gantry are considerably reduced ,

Diese Aufgabe wird erfindungsgemäß gemäß dem Anspruch 1 gelöst. Die Lenkvorrichtung für jedes Rad des Portalhubwagens weist eine separate Lenkeinheit auf, mittels der die Lenkstellung jedes Rades des Portalhubwagens individuell einstellbar ist. Hierdurch wird eine querkraftfreie Lenkung des Portalhubwagens ermöglicht, wobei für jedes Rad des Portalhubwagens der physikalisch korrekte Lenkradius eingestellt werden kann. Abriebverluste an der Bereifung werden hierdurch erheblich reduziert. Aufgrund der exakter als beim Stand der Technik möglichen Positionierung der einzelnen Räder des Portalhubwagens entsprechend der jeweils angeforderten Lenkstellung ergibt sich darüber hinaus bei jedem Lenkvorgang eine Reduzierung des Energieaufwands für das Verfahren des Portalhubwagens, was angesichts der Vielzahl der im Betrieb des Portalhubwagens auftretenden Lenkvorgänge zu einer erheblichen Einsparung im Energieverbrauch führt. Der Geräuschpegel des erfindungsgemäß ausgestalteten Portalhubwagens wird wegen der möglichen exakten Positionierung der einzelnen Räder in den für jedes Rad einzeln ermittelten Lenkpositionen reduziert.This object is achieved according to claim 1. The steering device for each wheel of the straddle carrier has a separate steering unit, by means of which the steering position of each wheel of the straddle carrier is individually adjustable. As a result, a lateral force-free steering of the straddle carrier is made possible, wherein for each wheel of the straddle carrier the physically correct steering radius can be adjusted. Abrasion losses on the tires are thereby significantly reduced. Due to the more precise than in the prior art possible positioning of the individual wheels of the gantry according to the respective requested steering position results in each case a reduction of energy expenditure for the process of the gantry, which in view of the large number of occurring during operation of the gantry truck steering operations to a leads to considerable savings in energy consumption. The noise level of the inventively designed straddle carrier is reduced because of the possible exact positioning of the individual wheels in the individually determined for each wheel steering positions.

Gemäß einer vorteilhaften Ausführungsform weist jede Lenkeinheit des erfindungsgemäßen Portalhubwagens einen Lenkmotor und ein Lenkgetriebe auf.According to an advantageous embodiment, each steering unit of the portal lifting carriage according to the invention has a steering motor and a steering gear.

Der Lenkmotor jeder Lenkeinheit ist vorzugsweise als Elektromotor ausgebildet, so dass die Lenkvorrichtung insgesamt ausschließlich durch elektrische Energie betreibbar ist.The steering motor of each steering unit is preferably designed as an electric motor, so that the steering device is operated in total exclusively by electrical energy.

Angesichts des an die Lenkvorrichtung eines Portalhubwagens gestellten Anforderungsprofils ist es zweckmäßig, wenn das Lenkgetriebe jeder Lenkeinheit als Untersetzungsgetriebe ausgebildet ist, vorzugsweise mit einem Untersetzungsverhältnis von i = 50 bis 1000 und einer ausgangsseitigen Drehzahl von naus = 2 bis 5 U/min.In view of the imposed on the steering device of a straddle carrier requirement profile, it is expedient if the steering gear of each steering unit is formed as a reduction gear, preferably with a reduction ratio of i = 50 to 1000, and an output-side rotational speed of n off = 2 to 5 U / min.

Eine exakte Einstellung des Rades ergibt sich, wenn das Ausgangsglied des Lenkgetriebes jeder Lenkeinheit drehfest mit einem Lenkzapfen des dieser Lenkeinheit zugeordneten Rades verbunden ist.An exact adjustment of the wheel results when the output member of the steering gear of each steering unit rotatably connected to a steering pin of this steering unit associated wheel.

Ein Ausgleich von Geländeunebenheiten ud. dgl. wird ermöglicht, wenn das Ausgangsglied des Lenkgetriebes jeder Lenkeinheit eine Hohlwelle antreibt, die mittels einer drehfesten und in Vertikal- bzw. Längsrichtung beweglichen Formschlussverbindung mit dem Lenkzapfen des dieser Lenkeinheit zugeordneten Rades verbunden ist.A compensation of uneven terrain ud. Like. Is made possible when the output member of the steering gear each steering unit drives a hollow shaft which is connected by means of a rotationally fixed and movable in the vertical or longitudinally form-locking connection with the steering pin of this steering unit associated wheel.

Hohe Traglasten, hohe Querkräfte und hohe Kippmomente, die insbesondere bei Bremsvorgängen und Kurvenfahrten an den Rädern des Portalhubwagens entstehen, können übertragen und abgeleitet werden, wenn das Lenkgetriebe jeder Lenkeinheit als Traglenkgetriebe ausgebildet ist, bei dem seine Ausgangswelle bzw. - mittelbar - der Lenkzapfen des der Lenkeinheit zugeordneten Rades in einem Wälzlager gelagert ist.High payloads, high lateral forces and high tilting moments that arise in particular during braking and cornering on the wheels of the straddle carrier, can be transmitted and derived when the steering gear of each steering unit as Support steering gear is formed, in which its output shaft or - indirectly - the steering pin of the steering unit associated wheel is mounted in a rolling bearing.

Vorteilhaft ist das Traglenkgetriebe jeder Lenkeinheit in den Aufbau des dem durch die Lenkeinheit gelenkten Rad zugeordneten Fahrträgers integriert, wobei das Ausgangsglied des Traglenkgetriebes drehfest mit einem Radträger des Rades verbunden ist. Hierdurch ist der Radträger des Rades dann lenkbar am Fahrträger gehaltert bzw. gelagert.Advantageously, the support steering gear each steering unit is integrated into the structure of the steered by the steering unit associated drive carrier, wherein the output member of the support steering gear is rotatably connected to a wheel of the wheel. As a result, the wheel carrier of the wheel is then mounted or supported steerable on the carriage.

Die Integration der Lenkeinheit an den Fahrträger wird erleichtert, wenn eine Drehachse des Lenkmotors jeder Lenkeinheit und eine Lenkachse des dieser Lenkeinheit zugeordneten Rades senkrecht zueinander angeordnet sind.The integration of the steering unit to the driving carrier is facilitated if an axis of rotation of the steering motor of each steering unit and a steering axis of the steering unit associated with this wheel are arranged perpendicular to each other.

Vorteilhaft ist das Lenkgetriebe jeder Lenkeinheit an seiner Ausgangsseite mit einem Drehgeber bzw. einem Hohlwellenwinkelsensor ausgerüstet.Advantageously, the steering gear of each steering unit is equipped on its output side with a rotary encoder or a hollow shaft angle sensor.

Zur Erhöhung der Lenksicherheit ist es zweckmäßig, wenn zusätzlich der Lenkmotor jeder Lenkeinheit mit einer Positionssensorik ausgerüstet ist, mittels der über die Motorstellung die Stellung des der Lenkeinheit zugeordneten Rades erfassbar ist. Durch die Redundanz der je Lenkeinheit vorhandenen Drehgeber kann so die Lenksicherheit erhöht werden, wobei darüber hinaus in einem Lenkrechner des Portalhubwagens Plausibilitätsprüfungen hinsichtlich der von den beiden unterschiedlichen Drehgebern ermittelten Ist-Werte durchgeführt werden können.To increase steering safety, it is expedient if, in addition, the steering motor of each steering unit is equipped with a position sensor, by means of which the position of the steering unit assigned to the wheel can be detected via the motor position. As a result of the redundancy of the rotary encoders present per steering unit, the steering safety can be increased, wherein, in addition, plausibility checks with respect to the actual values determined by the two different encoders can be carried out in a steering computer of the gantry pallet truck.

Gemäß einer weiteren vorteilhaften Ausführungsform des erfindungsgemäßen Portalhubwagens weist dieser den vorstehend bereits erwähnten Lenkrechner auf, in den über ein Lenkelement, insbesondere ein Lenkrad, des Portalhubwagens ein Soll-Wert für die Lenkposition der Räder des Portalhubwagens eingebbar ist, in den an den Motorsensoriken und/oder an den ausgangsseitig der Lenkgetriebe angeordneten Drehgebern erfasste, der Ist-Position der Räder entsprechende Ist-Werte eingebbar sind, und mittels dem der Lenkmotor jeder Lenkeinheit entsprechend der Abweichung zwischen der Ist-Position und der Soll-Position des der jeweiligen Lenkeinheit zugeordneten Rades steuerbar ist. Aufgrund von im Lenkrechner durchführbaren Quervergleichen und - wie vorstehend bereits erwähnt - Plausibilitätsprüfungen sind Störungen im Lenkbetrieb besser als beim Stand der Technik feststellbar.According to a further advantageous embodiment of the straddle carrier according to the invention, the latter has the above-mentioned steering computer into which a desired value for the steering position of the wheels of the straddle carrier can be entered via a steering element, in particular a steering wheel, of the straddle carrier. or detected on the output side of the steering gear arranged rotary encoders, the actual position of the wheels corresponding actual values are entered, and controlled by the steering motor of each steering unit according to the deviation between the actual position and the desired position of the respective steering unit associated wheel is. Due to cross comparisons that can be carried out in the steering computer and - as already mentioned above - plausibility checks, disturbances in steering operation can be detected better than in the prior art.

Im Folgenden wird die Erfindung anhand einer Ausführungsform unter Bezugnahme auf die Zeichnung näher erläutert.In the following the invention will be explained in more detail with reference to an embodiment with reference to the drawing.

Es zeigen:

Figur 1
eine Prinzipdarstellung eines erfindungsgemäßen Portalhubwagens (Straddle Carrier); und
Figur 2
eine vergrößerte Darstellung zweier in einen Fahrträger integrierter Lenkeinheiten einer Ausführungsform des in Figur 1 gezeigten erfindungsgemäßen Portalhubwagens.
Show it:
FIG. 1
a schematic diagram of a straddle carrier according to the invention (straddle carrier); and
FIG. 2
an enlarged view of two integrated in a vehicle carrier steering units of an embodiment of in FIG. 1 shown Portalhubwagens invention.

Eine anhand der Figuren 1 und 2 im Folgenden näher erläuterte Ausführungsform eines erfindungsgemäßen Portalhubwagens (Straddle Carrier) 1 hat ein Rahmengestell 2, welches nach Art eines Portals 2 am unteren Ende des Rahmengestells 2 angeordnete Fahrträger 3, von denen in Figur 1 nur einer sichtbar ist, miteinander verbindet.One based on the FIGS. 1 and 2 In the following explained in more detail embodiment of a straddle carrier according to the invention (straddle carrier) 1 has a frame 2, which arranged in the manner of a portal 2 at the lower end of the frame 2 Fahrträger 3, of which in FIG. 1 only one is visible, connecting with each other.

Zu dem Portalhubwagen 1 gehört ein Lastaufnahmemittel (Spreader, Toppspreader) 4, das zwischen den beiden Fahrträgern (3) zugeordneten Stützen 5 des Rahmengestells 2 angeordnet ist. Das Lastaufnahmemittel 4 ist durch geeignete Verbindungsmittel 6 mit einem Container 7 verbind- bzw. verriegelbar. Das Lastaufnahmemittel 4 ist mittels einer in der in Figur 1 gezeigten Ausführungsform am Lastaufnahmemittel 4 angeordneten Hubwinde 8 zwischen den Stützen 5 des Rahmengestells 2 vertikal bewegbar.To the straddle carrier 1 includes a load handling means (spreader, Toppspreader) 4, which is arranged between the two driving supports (3) associated with supports 5 of the frame 2. The load-receiving means 4 is connected by suitable connecting means 6 with a container 7 or locked. The load-receiving means 4 is by means of a in the in FIG. 1 shown embodiment on the lifting device 4 arranged lifting hoist 8 between the supports 5 of the frame 2 vertically movable.

An einem Oberrahmen 9 des Rahmengestells 2 ist eine Fahrerkabine 10 vorgesehen, aus der heraus eine Bedienungsperson des Portalhubwagens 1 diesen und sein Lastaufnahmemittel 4 fahren bzw. steuern kann.On an upper frame 9 of the frame 2, a driver's cab 10 is provided from which an operator of the straddle carrier 1 can drive or control this and its load-carrying means 4.

Die beiden Fahrträger 3 des Portalhubwagens 1, von denen in Figur 1, wie bereits erwähnt, nur einer sichtbar ist, haben in der dargestellten Ausführungsform des Portalhubwagens 1 jeweils vier Räder 11, denen jeweils ein am Fahrwerk 3 gehalterter Radträger 12 zugeordnet ist.The two carriage 3 of the straddle carrier 1, of which in FIG. 1 , as already mentioned, only one is visible, in the illustrated embodiment of the straddle carrier 1 each have four wheels 11, each of which is associated with a mounted on the chassis 3 wheel carrier 12.

Zu einer Lenkvorrichtung des Portalhubwagens 1 gehören Lenkeinheiten 13, von denen jeweils eine einem Rad 11 bzw. einem Radträger 12 zugeordnet ist. In Figur 2 sind zwei dieser Lenkeinheiten 13 mit demjenigen Teil des Fahrträgers 3, an dem sie angeordnet sind, und den ihnen zugeordneten beiden Rädern 11 und Radträgern 12 gezeigt. Mittels jeder Lenkeinheit 13 ist die Drehstellung des ihr zugeordneten Radträgers 12 bzw. die Lenkstellung des ihr zugeordneten Rades 11 individuell einstellbar.To a steering device of the straddle carrier 1 include steering units 13, one of which is associated with a wheel 11 and a wheel carrier 12, respectively. In FIG. 2 two of these steering units 13 are shown with that part of the driving carrier 3, on which they are arranged, and their associated two wheels 11 and wheel carriers 12. By means of each steering unit 13, the rotational position of its associated wheel carrier 12 and the steering position of its associated wheel 11 individually adjustable.

Hierzu weist jede Lenkeinheit 13 bei der in Figur 2 gezeigten Ausführungsform derselben einen Lenkmotor 14 und ein Lenkgetriebe 15 auf.For this purpose, each steering unit 13 at the in FIG. 2 shown embodiment of the same a steering motor 14 and a steering gear 15.

Der Lenkmotor 14 ist vorzugsweise als Elektromotor ausgestaltet und treibt mittels seiner Ausgangswelle ein Eingangsteil des Lenkgetriebes 15 an. Ein Ausgangsglied 16 des Lenkgetriebes 15 ist in noch zu beschreibender Weise drehfest mit einem Lenkzapfen 17 verbunden, der seinerseits drehfest mit dem Radträger 12 des dieser Lenkeinheit 13 zugeordneten Rades 11 verbunden ist. Durch Drehung des Lenkzapfens 17 wird entsprechend dem Betrieb des Elektromotors 14 das Rad 11 hinsichtlich seiner Lenkposition verstellt.The steering motor 14 is preferably designed as an electric motor and drives by means of its output shaft to an input part of the steering gear 15. An output member 16 of the steering gear 15 is rotatably connected in a manner to be described with a steering pin 17, which in turn rotatably connected to the wheel carrier 12 of this steering unit 13 associated wheel 11. By rotation of the pivot pin 17, the wheel 11 is adjusted with respect to its steering position corresponding to the operation of the electric motor 14.

Bei dem Lenkgetriebe 15 handelt es sich im dargestellten Ausführungsbeispiel um ein Untersetzungsgetriebe, dessen Untersetzungsverhältnis zwischen i = 50 bis 1000 liegt, und das eine ausgangsseitige Drehzahl von naus zwischen 2 und 5 U/min aufweist.In the illustrated embodiment, the steering gear 15 is a reduction gear whose reduction ratio is between i = 50 to 1000, and which has an output-side rotational speed of n of between 2 and 5 rpm.

Das Lenkgetriebe 15 ist des weiteren als Traglenkgetriebe ausgestaltet. Sein Ausgangsglied 16 treibt eine Hohlwelle 18 an, die ihrerseits in Rotationsrichtung drehfest und in Längs- bzw. Vertikalrichtung beweglich mittels einer geeigneten Formschlussverbindung mit dem Lenkzapfen 17 verbunden ist.The steering gear 15 is further configured as a support steering gear. Its output member 16 drives a hollow shaft 18, which in turn rotatably in the direction of rotation and is connected in the longitudinal or vertical direction movable by means of a suitable form-locking connection with the steering pin 17.

Das Ausgangsglied 16 des Traglenkgetriebes 15 und damit mittelbar die Hohlwelle 18 und der Lenkzapfen 17 sind in einem Wälzlager gelagert. Dieses Wälzlager ist so ausgestaltet, dass es die hohen Traglasten, die hohen Querkräfte und die hohen Kippmomente, die am Rad 11 bei Bremsvorgängen und Kurvenfahrten entstehen, übertragen kann.The output member 16 of the support steering gear 15 and thus indirectly the hollow shaft 18 and the steering pin 17 are in one Rolling bearings stored. This rolling bearing is designed so that it can transmit the high payloads, the high lateral forces and the high tilting moments that arise on the wheel 11 during braking and cornering.

Bei der in Figur 2 gezeigten Ausführungsform der Lenkeinheit 13 ist die Drehachse des Ausgangsglieds 16 des Traglenkgetriebes 15 und damit die Lenkachse des Rades 11 senkrecht zur Drehachse des Elektromotors 14 der Lenkeinheit 13 angeordnet. Der Elektromotor 14 der Lenkeinheit 13 ist an seiner dem Traglenkgetriebe 15 abgewandten Seite mit einer fahrträgerseitigen Stütze 19 verbunden.At the in FIG. 2 shown embodiment of the steering unit 13, the axis of rotation of the output member 16 of the support steering gear 15 and thus the steering axis of the wheel 11 is arranged perpendicular to the axis of rotation of the electric motor 14 of the steering unit 13. The electric motor 14 of the steering unit 13 is connected at its side facing away from the supporting steering gear 15 with a driving carrier-side support 19.

An seinem drehfest mit dem Radträger 12 verbundenen Ausgangsglied 16 ist das Traglenkgetriebe 15 mit einem Hohlwellenwinkelsensor ausgerüstet. Der Elektromotor 14 der Lenkeinheit 13 hat eine Positionssensorik zur Erfassung der Lenkstellung des der Lenkeinheit 13 zugeordneten Rades 11.At its output member 16 rotatably connected to the wheel carrier 12, the support steering gear 15 is equipped with a hollow shaft angle sensor. The electric motor 14 of the steering unit 13 has a position sensor for detecting the steering position of the steering unit 13 associated wheel 11th

Mittels der motorseitigen Lenksensorik und des getriebeseitigen Hohlwellendrehgebers wird die aktuelle Lenkstellung des der jeweiligen Lenkeinheit 13 zugeordneten Rades 11 erfasst und ein entsprechender Ist-Wert an einen in den Figuren nicht dargestellten Lenkrechner des Portalhubwagens 1 weitergeleitet. Im Lenkrechner des Portalhubwagens 1 liegen somit die Ist-Werte der Lenkstellungen sämtlicher Räder 11 des Portalhubwagens 1 vor. Des weiteren ist an den Lenkrechner ein in der Fahrerkabine 10 angeordnetes Lenkrad des Portalhubwagens 1 angeschlossen, mittels dem eine Bedienungsperson einen Soll-Wert für die Lenkstellungen der Räder 11 des Portalhubwagens eingeben kann. Mittels eines geeigneten Algorithmus wird im Lenkrechner aus dem vom Lenkrad eingegebenen Soll-Wert für jedes Rad 11 des Portalhubwagens 1 eine individuelle Lenkstellung und damit ein individueller Soll-Wert errechnet. Dieser Soll-Wert wird für jedes Rad 11 mit dem im Lenkrechner vorliegenden Ist-Wert verglichen. Entsprechend der im Lenkrechner errechneten Abweichung zwischen der Ist-Position und der Soll-Position des jeweiligen Rades 11 wird der Elektromotor 14 der dem jeweiligen Rad 11 zugeordneten Lenkeinheit 13 gesteuert, so dass jedes Rad 11 schnellstmöglich seine Soll-Position einnimmt. Hierdurch wird eine querkraftfreie Lenkung mit physikalisch korrektem Lenkradius für jedes Rad 11 des Portalhubwagens realisiert. Der Betrieb des Portalhubwagens 1 ist mit geringerem Verschleiß, geringerem Energieaufwand und bei reduziertem Geräuschpegel realisierbar. Die Lenksicherheit wird durch die Redundanz der unterschiedlichen Sensoriken bzw. Drehgeber sowie durch die im Lenkrechner durchführbaren Quervergleiche gewährleistet.By means of the motor-side steering sensor and the gearbox-side hollow shaft encoder, the current steering position of the respective steering unit 13 associated wheel 11 is detected and forwarded a corresponding actual value to a not shown in the figures steering computer of the straddle carrier 1. In the steering computer of the straddle carrier 1, the actual values of the steering positions of all wheels 11 of the straddle carrier 1 are therefore present. Furthermore, a steering wheel of the straddle carrier 1 arranged in the driver's cab 10 is connected to the steering computer, by means of which an operator can input a desired value for the steering positions of the wheels 11 of the straddle carrier. By means of a suitable algorithm is in the steering computer from the entered by the steering wheel target value for each wheel 11 of the straddle carrier 1 an individual steering position and thus calculates an individual target value. This target value is compared for each wheel 11 with the actual value present in the steering computer. According to the calculated deviation in the steering computer between the actual position and the desired position of the respective wheel 11 of the electric motor 14 of the respective wheel 11 associated steering unit 13 is controlled so that each wheel 11 assumes its desired position as quickly as possible. As a result, a lateral force-free steering is realized with physically correct steering radius for each wheel 11 of the straddle carrier. The operation of the gantry truck 1 can be realized with less wear, lower energy consumption and reduced noise level. The steering safety is ensured by the redundancy of the different sensors or encoders and by the cross comparisons that can be carried out in the steering computer.

Claims (10)

  1. A straddle carrier for use in container terminals and for general transport operations, with a rack (2), a lifting means (4), preferentially a spreader, which is suspended between the rack (2) and can be locked to a load, preferentially a container (7), hoisting winches (8), by means of which the lifting means (4) can be vertically moved, wheels (11), which are arranged on the lower region of the rack (2), and a steering device comprising a separate steering unit (13) having a steering motor (14) and a steering gear (15) for each wheel (11) of the straddle carrier (1), by means of which the steering position of the wheel (11) assigned to the steering unit (13) can be individually adjusted, travel supports (3) being arranged on the lower region of the rack (2) and each comprising a multiplicity of wheel (11) arranged in a row, characterized in that each steering unit (13) of the steering device comprises a steering motor (14) and a steering gear (15) and that the steering gear (15) of each steering unit (13) is embodied as support steering gear (15), wherein its output shaft or - indirectly - the bearing pin (17) of the wheel (11) assigned to the steering unit (13) is mounted in a rolling bearing.
  2. The straddle carrier according to Claim 1, wherein the steering motor (14) of each steering unit (13) is embodied as electric motor (14).
  3. The straddle carrier according to Claim 1 or 2, wherein the steering gear (15) of each steering unit (13) is embodied as reduction gear (15), preferentially with a reduction ratio of i = 50 to 1,000 and a rotational speed of nout = 2 to 5 rpm on the output side.
  4. The straddle carrier according to any one of the Claims 1 to 3, wherein an output member (16) of the steering gear (15) of each steering unit (13) is connected to a steering pin (17) of the wheel (11) assigned to this steering unit (13) in a rotationally fixed manner.
  5. The straddle carrier according to Claim 4, wherein the output member (16) of the steering gear (15) of each steering unit (13) drives a hollow shaft (18), which is connected to the steering pin (17) of the wheel (11) assigned to this steering unit (13) by means of a positive connection that is rotationally fixed and moveable in vertical or longitudinal direction.
  6. The straddle carrier according to Claim 1, wherein the support steering gear (15) of each steering unit (13) is integrated in the construction of the travel support (3) assigned to the wheel (11) steered by the steering unit (13) and the output member (16) of the support steering gear (15) is connected to a wheel carrier (12) of the wheel (11) in a rotationally fixed manner.
  7. The straddle carrier according to any one of the Claims 1 to 6, wherein a rotary axis of the steering motor (14) of each steering unit (13) and a steering axis of the wheel (11) assigned to this steering unit (13) are arranged perpendicularly to each other.
  8. The straddle carrier according to any one of the Claims 1 to 7, wherein the steering gear (15) of each steering unit (13) is equipped on its output side with a rotary encoder or a hollow shaft angle sensor.
  9. The straddle carrier according to any one of the Claims 1 to 8, wherein the steering motor (14) of each steering unit (13) is equipped with a position sensor device, by means of which the motor position, the position of the wheel (11) assigned to the steering unit (13) can be captured.
  10. The straddle carrier according to Claim 9, with a steering computer, in which a setpoint value for the steering position of the wheels (11) of the straddle carrier (1) can be input via a steering element, in particular a steering wheel of the straddle carrier (1), in which actual values captured on the motor sensor devices and/or the rotary encoders arranged on the output side of the steering gears (15) can be input, and by means of which the steering motor (14) of each steering unit (13) can be controlled corresponding to the deviation between the actual position and the setpoint position of the wheel (11) assigned to the respective steering unit (13).
EP10763604.5A 2009-09-24 2010-09-22 Straddle carrier for use in container terminals and for general transport operations Active EP2480486B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL10763604T PL2480486T3 (en) 2009-09-24 2010-09-22 Straddle carrier for use in container terminals and for general transport operations

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009042855A DE102009042855A1 (en) 2009-09-24 2009-09-24 Straddle carrier for use in container terminals and for general transport tasks
PCT/EP2010/005784 WO2011035892A1 (en) 2009-09-24 2010-09-22 Straddle carrier for use in container terminals and for general transport operations

Publications (2)

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

Family

ID=43416970

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Application Number Title Priority Date Filing Date
EP10763604.5A Active EP2480486B1 (en) 2009-09-24 2010-09-22 Straddle carrier for use in container terminals and for general transport operations

Country Status (6)

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

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103660975A (en) * 2012-09-13 2014-03-26 微宏动力系统（湖州）有限公司 Electric straddle carrier
CN111071936B (en) * 2020-01-16 2021-06-01 中交机电工程局有限公司 Easily control container straddle carrier

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4263979A (en) * 1978-11-09 1981-04-28 Rpc Corporation Hydraulic master-slave steering system for a wide track vehicle
US4219094A (en) * 1978-11-09 1980-08-26 Rpc Corporation Straddle crane apparatus
US4327725A (en) * 1980-11-25 1982-05-04 Alza Corporation Osmotic device with hydrogel driving member
US4372725A (en) * 1982-03-05 1983-02-08 Good Earth Growers, Inc. Multi-wheeled transporter and conveying vehicle
DE4394316T1 (en) * 1992-08-27 1995-07-20 Komatsu Mfg Co Ltd Operating control system for a portable vehicle
US6206127B1 (en) * 1998-02-27 2001-03-27 Mi-Jack Products Lead wheel steering system for a gantry crane
DE50310577D1 (en) * 2003-08-02 2008-11-13 Noell Mobile Systems Gmbh Straddle carrier with electric wheel hub drive
US7252299B2 (en) * 2005-02-15 2007-08-07 Marine Travelift, Inc. Steering system for crane
WO2009017311A1 (en) * 2007-07-30 2009-02-05 Seoho Electric Co., Ltd, Container transfer vehicles system, 4 wheel driving device and 4 wheel handling device thereof
DE102008011539B3 (en) * 2008-02-28 2009-06-18 Noell Mobile Systems Gmbh Fully automatic straddle carrier with local radiolocation and laser steering

Also Published As

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

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