EP1151956A1 - Straddle carrier for ISO containers - Google Patents

Straddle carrier for ISO containers Download PDF

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Publication number
EP1151956A1
EP1151956A1 EP01250156A EP01250156A EP1151956A1 EP 1151956 A1 EP1151956 A1 EP 1151956A1 EP 01250156 A EP01250156 A EP 01250156A EP 01250156 A EP01250156 A EP 01250156A EP 1151956 A1 EP1151956 A1 EP 1151956A1
Authority
EP
European Patent Office
Prior art keywords
container
iso
chassis
lifting device
pallet truck
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP01250156A
Other languages
German (de)
French (fr)
Inventor
Hermann Franzen
Joachim Kröll
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atecs Mannesmann GmbH
Original Assignee
Atecs Mannesmann GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atecs Mannesmann GmbH filed Critical Atecs Mannesmann GmbH
Publication of EP1151956A1 publication Critical patent/EP1151956A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B66C1/663—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof for containers
    • 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 ISO containers with two on the front provided portal-like box girders and connecting them, from each other spaced chassis side members that form the basis for the independent suspension of the Form chassis and for the attachment of a lifting device for the ISO container.
  • Pallet trucks are often used to load and unload transport vehicles used, these are vehicles that transport within container terminals of the loading units.
  • Known straddle carriers are with one conventional spreader equipped that lifts and in the portal of the pallet truck is arranged lowerable and after lowering onto the loading unit to be transported this is coupled.
  • the spreaders i.e. the support frame with the arranged on it
  • Fasteners are with different, often very complicated facilities for picking up and fixing the cargo units, they are therefore often complex and difficult.
  • these load suspension devices are for the automatic fast picking up and setting down of ISO containers is not suitable because the The container must be picked up and dropped off manually.
  • the aim of the present invention is to create a straddle carrier for ISO containers Use in container terminals to create the driverless in automatic mode is able to accommodate containers in passive mode as well as in active mode Operation to transport containers.
  • the invention proposes that the Gantry pallet trucks in passive use from above through the between the Chassis side members and the transversely extending box girders formed Free space can be loaded and unloaded, as well as in active use by means of the Gantry truck with both sides of the longitudinal axis of the container positioned Chassis can be moved into a loading position above the ISO container, in two Liftable and lowerable side members arranged symmetrically to the vehicle's longitudinal axis the lifting device articulated, extending downward gripping pliers Mandrels can be swiveled into the lower corner fittings of the ISO containers, the number and position of the grippers according to the dimension of the ISO container to be gripped is selected.
  • the present invention is characterized by its universal applicability both for actively picking up and delivering the load, i.e. by driving over the ISO container, as well as through passive load handling, i.e. by loading and unloading from above.
  • the device is extremely flexible in use and can be automatic as well can be used manually.
  • Picking up the container with the help of gripping tongs in the area of the lower corner fittings makes the portal trolley independent of the Height of the container, which is no longer relevant for the load suspension. By Swiveling the mandrels of the gripping tongs into the corner fittings and lifting the container can be lifted and taken to any location be transported.
  • the Longitudinal beams of the lifting device upper bearing points for the swiveling Gripping pliers and downwardly extending brackets are attached to which the Swivel cylinders for the gripping tongs are articulated, and that the side members of the Lifting device with at least two hydraulic cylinders on each of the two Chassis side members are suspended.
  • The can be via the hydraulic cylinder Adjust the height of the side members of the lifting device, the kinematics of the Gripping tongs themselves are also supported on the longitudinal members of the lifting device which the pivot points of the gripping pliers and also the replacement bearings for the Actuating cylinders for these gripping tongs are arranged.
  • the side members of the Lifting device vertically downwardly extending bearing arms for guide rollers have, which are arranged in vertically aligned, on the chassis side members Unroll vertical guides.
  • Chassis longitudinal beams are attached downwardly extending bearing arms, on the free ends horizontal support are provided for the ISO container bottom, the from a rest position on the side next to the ISO container into an active position under the Bottom of the ISO container are movable.
  • bringable supports allow the storage of any container sizes, so that the gripper, which engages in the corner fittings of the ISO container, only for Pick up and drop off the ISO container.
  • the ISO container lies on top of the one secured, for example, with push knobs Container storage.
  • the horizontal supports according to the invention are also activated when the Gantry pallet truck is loaded and unloaded from above, usually a spreader for Use, which the ISO container through the space between the Chassis longitudinal beams lowered and placed on the container racks. The grippers of the container are deactivated.
  • the position of the corner fittings is optically detectable and in a computer a signal for fine positioning of the straddle carrier can be processed.
  • the Gantry pallet truck with its chassis with independent wheel suspension is positioned that a safe grasping of the container and lifting in order to retract the horizontal runs is possible.
  • the straddle carrier is preferably with a drive system and a Control and navigation system equipped for driverless transport. To this way, the straddle carrier can be used like an AGV (driverless transport vehicle) Transport used and used in fully automatic container warehouses become.
  • AGV driverless transport vehicle
  • the straddle carrier is designated 1
  • its chassis 2 consists of the Chassis longitudinal frame 2.1 and the portal-like box girders 2.2.
  • the Chassis longitudinal frames 2.1 form the basis for the independent suspension of the chassis 3, the suspension 4, the vertical guide 5, the lifting device 6, the container storage 7, the drive unit 8, the electrical cabinet 9 and the charging slot 10.
  • Die aus Portal-like box girders formed from the front of the portal pallet truck 1 are so dimensioned that the material handler over an ISO container with maximum height can drive from 9 '6 ".
  • FIG 2 its chassis 2 can be seen in a plan view of the straddle carrier 1.
  • the loading bay i.e. the space between the chassis longitudinal frame 2.1 and the Portals 2.2 is dimensioned so that a 45 'container is loaded from above can be.
  • FIG 2 shows the vertical guide 5 of FIG Lifting device 6.
  • a pair of brackets 6.3 forms on each support arm Storage for a pair of roller guides 6.4.
  • Figure 4 shows a front view of the straddle carrier. You can see that again Gantry truck 1 with the chassis 2, the chassis 3, the drive unit 8, the Electrical cabinet 9 and the charging slot 10. Inside the portal is a container 11, Drawn 12 or 13.
  • Figure 5 shows a section in the region of the vertical guide 5 of the lifting device.
  • the sketch shows the straddle carrier 1 with the chassis longitudinal frame 2.1 and the Vertical guide 5 of the lifting device.
  • a pair of brackets 6.3 forms on each support arm the storage for a pair of roller guides 6.4.
  • the upper end position of the lifting device is on the left side, the lower one End position can be seen on the right side of the sketch.
  • the lifting device is a container 11 or 12 or 13.
  • FIG. 6 shows the suspension 4 of the lifting device, the lifting cylinder 14 Side members 6.1 of the lifting device, the container grippers 15 with their Storage points 15.1 and mandrels 16 for the container and the storage brackets 17 the gripper swivel cylinder 18.
  • the lifting device is in the upper one End position.
  • the container shelves 7.1 are deactivated. Between the maximum open container grippers 15 stores a container 11 or 12 or 13 on the Ground.
  • Figure 7 shows how the lifting device by actuating the lifting cylinder 14 in the lower End position is lowered.
  • the container shelves 7.1 are deactivated. Between A container 11 or 12 or 13 holds the maximum open container grippers the floor.
  • the lifting device is still in the lower end position.
  • the Container storage 7.1 are deactivated. Between those of the gripper swivel cylinder 18 actuated container grippers 15 stores a container 11 or 12 or 13 on the Ground.
  • the rigid cylindrical mandrels 16 at the lower end of the Container grippers are in the side oval openings of the Container corner fittings 19 introduced.
  • the lifting device is activated by actuating the lifting cylinder 14 raised to the upper end position.
  • the container shelves 7.1 are deactivated.
  • the lifting device is activated by actuating the lifting cylinders 14 lowered to approx. 50 mm below the upper end position. Between the maximum When the container grippers are opened, the container is stored on the active one Container storage, horizontal transport is permitted in this state of charge.
  • the lifting device is located approximately 50 mm below the upper one End position. Is stored between the maximum open container gripping tongs 15 Containers on the activated container shelves 7.2.
  • the load handler here shown as spreader 21 with swung-in spreader flippers 22 takes over Container from the straddle carrier 1.
  • Figure 13 shows the lifting of the load and thus the further course of the Unloading process according to Figure 12.
  • the new handling device can be used automatically and manually and is very flexible in use, the use is both active, i.e. by driving over the ISO container, as well as passive, i.e. by loading and unloading from above.
  • On Driverless transport can be represented with the straddle carrier of the invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The straddle lift has two box girders at the front connected by a spaced chassis longitudinal supports, which form the base of the single-wheel suspension of the running gear and a lifting unit for the container. In the passive state, the straddle lift can be loaded or unloaded from above through the space between the girders and the supports. In the active state, grippers with expanding mandrels (15) are pivoted to the container's lower corners. In the active state the straddle lift can be driven with a running gear on each side of the container in a loading position over the container, in which two symmetrical grippers (15) with expanding mandrels (15) are pivoted to the lower corners of the container. The numbers and positions of the grippers are chosen to fit the size of the container.

Description

Die Erfindung betrifft einen Portalhubwagen für ISO-Container mit zwei frontseitig vorgesehenen portalartigen Kastenträgern und diese verbindenden, voneinander beabstandeten Chassislängsträgern, die die Basis für die Einzelradaufhängung des Fahrwerkes und für die Befestigung einer Hubeinrichtung für die ISO-Container bilden.The invention relates to a straddle carrier for ISO containers with two on the front provided portal-like box girders and connecting them, from each other spaced chassis side members that form the basis for the independent suspension of the Form chassis and for the attachment of a lifting device for the ISO container.

Zum Be- und Entladen von Transportfahrzeugen werden häufig Portalhubwagen eingesetzt, das sind Fahrzeuge, die innerhalb von Container-Terminals den Transport der Ladeeinheiten übernehmen. Bekannte Portalhubwagen sind mit einem konventionellen Spreader ausgerüstet, der in dem Portal des Hubwagens heb- und senkbar angeordnet ist und nach Absenken auf die zu transportierende Ladeeinheit mit dieser gekoppelt wird. Die Spreader, d.h. die Tragrahmen mit den daran angeordneten Befestigungsmitteln sind mit unterschiedlichen, häufig sehr komplizierten Einrichtungen zum Aufgreifen und Fixieren der Ladungseinheiten versehen, sie sind dadurch oft aufwendig und schwer. Vor allem sind diese Lastaufnahmemittel für das automatische schnelle Aufnehmen und Absetzen von ISO-Containern nicht geeignet, weil die Aufnahme und Abgabe der Container manuell erfolgen muß.Pallet trucks are often used to load and unload transport vehicles used, these are vehicles that transport within container terminals of the loading units. Known straddle carriers are with one conventional spreader equipped that lifts and in the portal of the pallet truck is arranged lowerable and after lowering onto the loading unit to be transported this is coupled. The spreaders, i.e. the support frame with the arranged on it Fasteners are with different, often very complicated facilities for picking up and fixing the cargo units, they are therefore often complex and difficult. Above all, these load suspension devices are for the automatic fast picking up and setting down of ISO containers is not suitable because the The container must be picked up and dropped off manually.

Ziel der vorliegenden Erfindung ist es, einen Portalhubwagen für ISO-Container zum Einsatz in Container-Terminals zu schaffen, der im automatischen Betrieb führerlos in der Lage ist, sowohl im passiven Betrieb Container aufzunehmen als auch im aktiven Betrieb Container zu transportieren.The aim of the present invention is to create a straddle carrier for ISO containers Use in container terminals to create the driverless in automatic mode is able to accommodate containers in passive mode as well as in active mode Operation to transport containers.

Zur Lösung der Aufgabe wird erfindungsgemäß vorgeschlagen, daß der Portalhubwagen sowohl im passiven Einsatz von oben durch den zwischen den Chassislängsträgern und den sich quer erstreckenden Kastenträgern gebildeten Freiraum be- und entladbar ist, wie auch im aktiven Einsatz durch Verfahren des Portalhubwagens mit beidseitig der Längsachse des Containers positioniertem Fahrwerk in eine Ladeposition über dem ISO-Container verfahrbar ist, in der an zwei symmetrisch zur Fahrzeuglängsachse angeordneten heb- und senkbaren Längsträgern der Hubeinrichtung angelenkte, sich nach unten erstreckende Greifzangen mit Aufnahmedornen in die unteren Eckbeschläge der ISO-Container einschwenkbar sind, wobei die Anzahl und die Position der Greifzangen entsprechend der Abmessung des zu greifenden ISO-Containers gewählt ist.To solve the problem, the invention proposes that the Gantry pallet trucks in passive use from above through the between the Chassis side members and the transversely extending box girders formed Free space can be loaded and unloaded, as well as in active use by means of the Gantry truck with both sides of the longitudinal axis of the container positioned Chassis can be moved into a loading position above the ISO container, in two Liftable and lowerable side members arranged symmetrically to the vehicle's longitudinal axis the lifting device articulated, extending downward gripping pliers Mandrels can be swiveled into the lower corner fittings of the ISO containers, the number and position of the grippers according to the dimension of the ISO container to be gripped is selected.

Die vorliegende Erfindung zeichnet sich durch die universelle Verwendbarkeit sowohl zur aktiven Aufnahme und Abgabe der Last, d.h. durch Überfahren der ISO-Container, als auch durch passives Lasthandling, d.h. durch Be- und Entladung von oben aus. Somit ist das Gerät äußerst flexibel in der Anwendung und kann automatisch wie auch manuell eingesetzt werden. Das Aufnehmen des Containers mit Hilfe von Greifzangen im Bereich der unteren Eckbeschläge macht den Portalwagen unabhängig von der Höhe des Containers, die für die Lastaufnahme nicht mehr relevant ist. Durch Einschwenken der Aufnahmedorne der Greifzangen in die Eckbeschläge und Anheben der Hubeinrichtung kann der Container aufgenommen und zu beliebigen Orten transportiert werden.The present invention is characterized by its universal applicability both for actively picking up and delivering the load, i.e. by driving over the ISO container, as well as through passive load handling, i.e. by loading and unloading from above. Thus, the device is extremely flexible in use and can be automatic as well can be used manually. Picking up the container with the help of gripping tongs in the area of the lower corner fittings makes the portal trolley independent of the Height of the container, which is no longer relevant for the load suspension. By Swiveling the mandrels of the gripping tongs into the corner fittings and lifting the container can be lifted and taken to any location be transported.

In einer weiteren Ausgestaltung der Erfindung ist vorgesehen, dass an den Längsträgern der Hubeinrichtung obere Lagerpunkte für die einschwenkbaren Greifzangen sowie sich nach unten erstreckende Konsolen befestigt sind, an denen die Schwenkzylinder für die Greifzangen angelenkt sind, und dass die Längsträger der Hubeinrichtung mit jeweils mindestens zwei Hydraulikzylindern an den beiden Chassislängsträgern aufgehängt sind. Über die Hydraulikzylinder lassen sich die Längsträger der Hubeinrichtung beliebig in der Höhe verstellen, die Kinematik der Greifzangen selbst stützt sich ebenfalls an den Längsträgern der Hubeinrichtung ab, an denen die Schwenkpunkte der Greifzange und auch die Wiederlager für die Betätigungszylinder für diese Greifzangen angeordnet sind.In a further embodiment of the invention it is provided that the Longitudinal beams of the lifting device upper bearing points for the swiveling Gripping pliers and downwardly extending brackets are attached to which the Swivel cylinders for the gripping tongs are articulated, and that the side members of the Lifting device with at least two hydraulic cylinders on each of the two Chassis side members are suspended. The can be via the hydraulic cylinder Adjust the height of the side members of the lifting device, the kinematics of the Gripping tongs themselves are also supported on the longitudinal members of the lifting device which the pivot points of the gripping pliers and also the replacement bearings for the Actuating cylinders for these gripping tongs are arranged.

Um die notwendige Führung der Hubeinrichtung in Querrichtung sicherzustellen, ist nach einem weiteren Merkmal der Erfindung vorgesehen, dass die Längsträger der Hubeinrichtung sich vertikal nach unten erstreckende Lagerarme für Führungsrollen aufweisen, die in senkrecht ausgerichteten, an den Chassislängsträgern angeordneten Vertikalführungen abrollen.To ensure the necessary guidance of the lifting device in the transverse direction, According to a further feature of the invention provided that the side members of the Lifting device vertically downwardly extending bearing arms for guide rollers have, which are arranged in vertically aligned, on the chassis side members Unroll vertical guides.

Eine besonders günstige Weiterbildung der Erfindung besteht darin, dass an den Chassislängsträgern sich nach unten erstreckende Lagerarme befestigt sind, an deren freien Enden horizontale Auflage für die ISO-Containerunterseite vorgesehen sind, die aus einer Ruhestellung seitlich neben dem ISO-Container in eine Wirkstellung unter die Unterseite des ISO-Containers bewegbar sind. Diese alternativ in Wirkstellung bringbaren Auflagen ermöglichen die Ablage von beliebigen Containergrößen, so dass die Greifzange, die in die Eckbeschläge des ISO-Containers eingreift, nur zur Aufnahme und Abgabe des ISO-Containers dient. Während des Horizontaltransportes liegt der ISO-Container auf der beispielsweise mit Schubknaggen gesicherten Containerablage.A particularly favorable further development of the invention consists in that Chassis longitudinal beams are attached downwardly extending bearing arms, on the free ends horizontal support are provided for the ISO container bottom, the from a rest position on the side next to the ISO container into an active position under the Bottom of the ISO container are movable. Alternatively, in the active position bringable supports allow the storage of any container sizes, so that the gripper, which engages in the corner fittings of the ISO container, only for Pick up and drop off the ISO container. During horizontal transport the ISO container lies on top of the one secured, for example, with push knobs Container storage.

Die erfindungsgemäßen horizontalen Auflagen sind auch dann aktiviert, wenn der Portalhubwagen von oben be- und entladen wird, wobei gewöhnlich ein Spreader zum Einsatz kommt, der den ISO-Container durch den Freiraum zwischen den Chassislängsträgern absenkt und auf die Container-Ablagen auflegt. Die Greifzangen des Containers sind dabei deaktiviert.The horizontal supports according to the invention are also activated when the Gantry pallet truck is loaded and unloaded from above, usually a spreader for Use, which the ISO container through the space between the Chassis longitudinal beams lowered and placed on the container racks. The grippers of the container are deactivated.

Um ein Eingreifen der Aufnahmedorne der Greifzangen in die Eckbeschläge der ISO-Container sicherzustellen ist nach einem weiteren Merkmal der Erfindung vorgesehen, dass die Position der Eckbeschläge optisch erfaßbar ist und in einem Rechner zu einem Signal zur Feinpositionierung des Portalhubwagens verarbeitbar ist. Der Portalhubwagen wird mit seinem Fahrwerk mit Einzelradaufhängung so positioniert, dass ein sicheres Ergreifen des Containers und Anheben zwecks Einfahren der horizontalen Auflagen möglich wird.In order for the holding mandrels of the gripping tongs to engage in the corner fittings of the ISO containers is to be ensured according to a further feature of the invention, that the position of the corner fittings is optically detectable and in a computer a signal for fine positioning of the straddle carrier can be processed. The Gantry pallet truck with its chassis with independent wheel suspension is positioned that a safe grasping of the container and lifting in order to retract the horizontal runs is possible.

Vorzugsweise ist der Portalhubwagen mit einer Antriebsanlage sowie einem Steuerungs- und Navigationssystem zum fahrerlosen Transport ausgerüstet. Auf diese Weise kann der Portalhubwagen wie ein FTF (fahrerloses Transportfahrzeug) zum Transport benutzt werden und in vollautomatischen Containerlagern eingesetzt werden.The straddle carrier is preferably with a drive system and a Control and navigation system equipped for driverless transport. To this In this way, the straddle carrier can be used like an AGV (driverless transport vehicle) Transport used and used in fully automatic container warehouses become.

Ein Ausführungsbeispiel der Erfindung ist der Zeichnung dargestellt und wird nachfolgend beschrieben. Es zeigt:

Figur 1
die Seitenansicht des erfindungsgemäßen Portalhubwagens,
Figur 2
eine Draufsicht auf den Portalhubwagen nach Figur 1,
Figur 3
eine Detailansicht aus Figur 2,
Figur 4
die Vorderansicht des Portalhubwagens,
Figur 5
einen Schnitt im Bereich der Vertikalführung der Hubeinrichtung,
Figuren 6-11
den Funktionsablauf der Containeraufnahme vom Boden, und
Figuren 12 u. 13
den Funktionsablauf der Containeraufnahme aus dem beladenen Gerät.
An embodiment of the invention is shown in the drawing and is described below. It shows:
Figure 1
the side view of the straddle carrier according to the invention,
Figure 2
2 shows a plan view of the straddle carrier according to FIG. 1,
Figure 3
2 shows a detailed view from FIG. 2,
Figure 4
the front view of the straddle carrier,
Figure 5
a section in the area of the vertical guide of the lifting device,
Figures 6-11
the functional sequence of the container pick-up from the ground, and
Figures 12 u. 13
the functional sequence of the container pick-up from the loaded device.

In Figur 1 ist der Portalhubwagen mit 1 bezeichnet, sein Chassis 2 besteht aus dem Chassislängsrahmen 2.1 und den portalartigen Kastenträgern 2.2. Die Chassislängsrahmen 2.1 bilden die Basis für die Einzelradaufhängung des Fahrwerks 3, die Aufhängung 4, die Vertikalführung 5, der Hubeinrichtung 6, die Containerablage 7, das Antriebsaggregat 8, den E-Schrank 9 und den Ladeschacht 10. Die aus portalartigen Kastenträgern gebildeten Frontseiten des Portalhubwagens 1 sind so dimensioniert, dass das Umschlaggerät über einen ISO-Container mit maximaler Höhe von 9' 6" fahren kann.In Figure 1, the straddle carrier is designated 1, its chassis 2 consists of the Chassis longitudinal frame 2.1 and the portal-like box girders 2.2. The Chassis longitudinal frames 2.1 form the basis for the independent suspension of the chassis 3, the suspension 4, the vertical guide 5, the lifting device 6, the container storage 7, the drive unit 8, the electrical cabinet 9 and the charging slot 10. Die aus Portal-like box girders formed from the front of the portal pallet truck 1 are so dimensioned that the material handler over an ISO container with maximum height can drive from 9 '6 ".

In Figur 2 ist in einer Draufsicht auf den Portalhubwagen 1 sein Chassis 2 erkennbar. Der Ladeschacht, d.h. der Freiraum zwischen den Chassislängsrahmen 2.1 und den Portalen 2.2 ist so dimensioniert, dass ein 45'-Container von oben durchgeladen werden kann.In Figure 2, its chassis 2 can be seen in a plan view of the straddle carrier 1. The loading bay, i.e. the space between the chassis longitudinal frame 2.1 and the Portals 2.2 is dimensioned so that a 45 'container is loaded from above can be.

In einer Detailansicht aus Figur 2 zeigt die Zeichnungsfigur 3 die Vertikalführung 5 der Hubeinrichtung 6. An den Längsträgern 6.1 der Hubeinrichtung befinden sich jeweils vier vertikale Tragarme 6.2. An jedem Tragarm bildet ein Konsolenpaar 6.3 die Lagerung für ein Rollenführungspaar 6.4.2 shows the vertical guide 5 of FIG Lifting device 6. There are in each case on the longitudinal beams 6.1 of the lifting device four vertical support arms 6.2. A pair of brackets 6.3 forms on each support arm Storage for a pair of roller guides 6.4.

Figur 4 zeigt eine Vorderansicht des Portalhubwagens. Erkennbar ist wiederum der Portalhubwagen 1 mit dem Chassis 2, dem Fahrwerk 3, dem Antriebsaggregat 8, dem Elektroschrank 9 und dem Ladeschacht 10. Innerhalb des Portals ist ein Container 11, 12 oder 13 eingezeichnet.Figure 4 shows a front view of the straddle carrier. You can see that again Gantry truck 1 with the chassis 2, the chassis 3, the drive unit 8, the Electrical cabinet 9 and the charging slot 10. Inside the portal is a container 11, Drawn 12 or 13.

Figur 5 stellt einen Schnitt im Bereich der vertikalen Führung 5 der Hubeinrichtung dar. Die Skizze zeigt den Portalhubwagen 1 mit dem Chassislängsrahmen 2.1 und der Vertikalführung 5 der Hubeinrichtung. An den Längsträgern 6.1 der Hubeinrichtung befinden sich vertikale Tragarme 6.2. An jedem Tragarm bildet ein Konsolenpaar 6.3 die Lagerung für ein Rollenführungspaar 6.4. Figure 5 shows a section in the region of the vertical guide 5 of the lifting device. The sketch shows the straddle carrier 1 with the chassis longitudinal frame 2.1 and the Vertical guide 5 of the lifting device. On the longitudinal beams 6.1 of the lifting device there are vertical support arms 6.2. A pair of brackets 6.3 forms on each support arm the storage for a pair of roller guides 6.4.

Die obere Endposition der Hubeinrichtung ist auf der linken Seite, die untere Endposition auf der rechten Seite der Skizze zu sehen. Zwischen den Längsträgern 6.1 der Hubeinrichtung befindet sich ein Container 11 oder 12 oder 13.The upper end position of the lifting device is on the left side, the lower one End position can be seen on the right side of the sketch. Between the side members 6.1 the lifting device is a container 11 or 12 or 13.

In den nachfolgenden Skizzen 6 bis 11 wird der Funktionsablauf der Containeraufnahme vom Boden dargestellt und beschrieben. Der umgekehrte Ladevorgang ist ebenso möglich, wird jedoch nicht im einzelnen beschrieben.In the following sketches 6 to 11 the functional sequence of the Container receptacle shown and described from the ground. The reverse Charging is also possible, but is not described in detail.

Die Figur 6 zeigt die Aufhängung 4 der Hubeinrichtung, den Hubzylinder 14, den Längsträger 6.1 der Hubeinrichtung, die Containergreifzangen 15 mit ihren Lagerpunkten 15.1 und Aufnahmedornen 16 für die Container sowie die Lagerkonsolen 17 der Greifzangenschwenkzylinder 18. Die Hubeinrichtung befindet sich in der oberen Endposition. Die Containerablagen 7.1 sind deaktiviert. Zwischen den maximal geöffneten Container-Greifzangen 15 lagert ein Container 11 oder 12 oder 13 auf dem Boden.FIG. 6 shows the suspension 4 of the lifting device, the lifting cylinder 14 Side members 6.1 of the lifting device, the container grippers 15 with their Storage points 15.1 and mandrels 16 for the container and the storage brackets 17 the gripper swivel cylinder 18. The lifting device is in the upper one End position. The container shelves 7.1 are deactivated. Between the maximum open container grippers 15 stores a container 11 or 12 or 13 on the Ground.

Figur 7 zeigt, wie die Hubeinrichtung durch Betätigung der Hubzylinder 14 in die untere Endposition abgesenkt wird. Die Containerablagen 7.1 sind deaktiviert. Zwischen den maximal geöffneten Containergreifzangen lagert ein Container 11 oder 12 oder 13 auf dem Boden.Figure 7 shows how the lifting device by actuating the lifting cylinder 14 in the lower End position is lowered. The container shelves 7.1 are deactivated. Between A container 11 or 12 or 13 holds the maximum open container grippers the floor.

In Figur 8 befindet sich die Hubeinrichtung weiterhin in der unteren Endposition. Die Containerablagen 7.1 sind deaktiviert. Zwischen den vom Greifzangenschwenkzylinder 18 betätigten Containergreifzangen 15 lagert ein Container 11 oder 12 oder 13 auf dem Boden. Die starren zylindrischen Aufnahmedorne 16 am unteren Ende der Containergreifzangen werden in die seitlichen ovalen Öffnungen der Containereckbeschläge 19 eingeführt.In Figure 8, the lifting device is still in the lower end position. The Container storage 7.1 are deactivated. Between those of the gripper swivel cylinder 18 actuated container grippers 15 stores a container 11 or 12 or 13 on the Ground. The rigid cylindrical mandrels 16 at the lower end of the Container grippers are in the side oval openings of the Container corner fittings 19 introduced.

Wie in Figur 9 erkennbar, wird die Hubeinrichtung durch Betätigen des Hubzylinders 14 wieder in die obere Endposition angehoben. Die Containerablagen 7.1 sind deaktiviert. Zwischen den vom Greifzangenschwenkzylinder 18 betätigten Containergreifzangen 15 lagert ein Container 11, 12 oder 13 auf den starren zylindrischen Aufnahmedornen 16. As can be seen in FIG. 9, the lifting device is activated by actuating the lifting cylinder 14 raised to the upper end position. The container shelves 7.1 are deactivated. Between the container grippers operated by the gripper swivel cylinder 18 15 stores a container 11, 12 or 13 on the rigid cylindrical mandrels 16.

In Figur 10 befindet sich die Hubeinrichtung weiterhin in der oberen Endposition, die Containerablagen 7.2 sind jetzt mittels Ausschiebezylinder 20 aktiviert. Zwischen den vom Greifzangenschwenkzylinder 18 betätigten Containergreifzangen 15 lagert ein Container auf den starren zylindrischen Aufnahmedornen.In Figure 10, the lifting device is still in the upper end position Container racks 7.2 are now activated by means of a push-out cylinder 20. Between Container grippers 15 actuated by the gripper swivel cylinder 18 are stored Containers on the rigid cylindrical mandrels.

Wie in Figur 11 dargestellt, wird die Hubeinrichtung durch Betätigen der Hubzylinder 14 bis ca. 50 mm unterhalb der oberen Endposition abgesenkt. Zwischen den maximal geöffneten Containergreifzangen lagert der Container auf den aktiven Containerablagen, in diesem Ladezustand ist der Horizontaltransport zulässig.As shown in FIG. 11, the lifting device is activated by actuating the lifting cylinders 14 lowered to approx. 50 mm below the upper end position. Between the maximum When the container grippers are opened, the container is stored on the active one Container storage, horizontal transport is permitted in this state of charge.

In den nachfolgenden Skizzen 12 und 13 wird der Funktionsablauf der Containeraufnahme aus dem beladenen Gerät dargestellt und danach beschrieben. Der umgekehrte Ladevorgang ist ebenso möglich, wird jedoch nicht wiedergegeben.In the following sketches 12 and 13, the functional sequence of the Container intake from the loaded device is shown and then described. The reverse loading process is also possible, but is not reproduced.

In Figur 12 befindet sich die Hubeinrichtung ca. 50 mm unterhalb der oberen Endposition. Zwischen den maximal geöffneten Container-Greifzangen 15 lagert ein Container auf den aktivierten Containerablagen 7.2. Das Lastaufnahmemittel, hier dargestellt als Spreader 21 mit eingeschwenkten Spreader-Flippern 22 übernimmt ein Container aus dem Portalhubwagen 1.In Figure 12, the lifting device is located approximately 50 mm below the upper one End position. Is stored between the maximum open container gripping tongs 15 Containers on the activated container shelves 7.2. The load handler, here shown as spreader 21 with swung-in spreader flippers 22 takes over Container from the straddle carrier 1.

Figur 13 zeigt das Anheben der Last und damit den weiteren Verlauf des Entladevorganges nach Figur 12.Figure 13 shows the lifting of the load and thus the further course of the Unloading process according to Figure 12.

Das neuartige Umschlaggerät ist automatisch und manuell einsetzbar und sehr flexibel in der Anwendung, der Einsatz ist sowohl aktiv, d.h. durch Überfahren der ISO-Container, als auch passiv, d.h. durch Be- und Entladen von oben, möglich. Ein fahrerloser Transport läßt sich mit dem Portalhubwagen der Erfindung darstellen.The new handling device can be used automatically and manually and is very flexible in use, the use is both active, i.e. by driving over the ISO container, as well as passive, i.e. by loading and unloading from above. On Driverless transport can be represented with the straddle carrier of the invention.

Claims (6)

Portalhubwagen für ISO-Container mit zwei frontseitig vorgesehen portalartigen Kastenträgern und diese verbindenden voneinander beabstandeten Chassislängsträgern, die die Basis für die Einzelradaufhängung des Fahrwerkes und für die Befestigung einer Hubeinrichtung für die ISO-Container bilden,
dadurch gekennzeichnet, dass der Portalhubwagen (1) im passiven Einsatz sowohl von oben durch den zwischen den Chassislängsträgern (2.1) und den sich quer erstreckenden Kastenträgern (2.2) gebildeten Freiraum be- und entladbar ist, wie auch im aktiven Einsatz durch Verfahren des Portalhubwagens (1) mit beidseitig der Längsachse des ISO-Containers (11,12,13) postioniertem Fahrwerk (3) in eine Ladeposition über dem ISO-Container (11,12,13) verfahrbar ist, in der an zwei symmetrisch zur Fahrzeuglängsachse angeordneten heb- und senkbaren Längsträgern (2.1) der Hubeinrichtung (6) angelenkte sich nach unten erstreckende Greifzangen (15) mit Aufnahmedornen (16) in die unteren Eckbeschläge (19) der ISO-Container (11,12,13) einschwenkbar sind, wobei die Anzahl und Position der Greifzangen (15) entsprechend der Abmessung des zu greifenden ISO-Containers (11,12,13) gewählt ist.Gantry pallet truck for ISO containers with two portal-like box girders provided on the front and connecting chassis longitudinal girders which are spaced apart from one another and form the basis for the independent wheel suspension of the chassis and for fastening a lifting device for the ISO containers,
characterized in that the gantry pallet truck (1) can be loaded and unloaded both from above through the space formed between the chassis longitudinal members (2.1) and the transversely extending box girders (2.2), as well as in active use by moving the portal pallet truck ( 1) can be moved with the chassis (3) positioned on both sides of the longitudinal axis of the ISO container (11, 12, 13) into a loading position above the ISO container (11, 12, 13), in which two lifting arms arranged symmetrically to the vehicle's longitudinal axis and lowerable longitudinal beams (2.1) of the lifting device (6) articulated downward-reaching gripping tongs (15) with holding mandrels (16) can be pivoted into the lower corner fittings (19) of the ISO containers (11, 12, 13), the number and The position of the gripping tongs (15) is selected in accordance with the dimensions of the ISO container (11, 12, 13) to be gripped. Portalhubwagen für ISO-Container nach Anspruch 1,
dadurch gekennzeichnet, dass an den Längsträgern (6.1) der Hubeinrichtung (6) obere Lagerpunkte (15.1) für die einschwenkbaren Greifzangen (15) sowie sich nach unten erstreckende Konsolen (17) befestigt sind, an denen die Schwenkzylinder (18) für die Greifzangen (15) angelenkt sind und dass die Längsträger (6.1) der Hubeinrichtung (6) mit jeweils mindestens zwei Hydraulikzylindern (14) an den beiden Längsträger des Chassisrahmen (2.1) aufgehängt sind.Gantry pallet truck for ISO containers according to claim 1,
characterized in that upper bearing points (15.1) for the pivoting gripping tongs (15) and downwardly extending brackets (17) are fastened to the longitudinal beams (6.1) of the lifting device (6), on which the swivel cylinders (18) for the gripping tongs ( 15) are articulated and that the longitudinal beams (6.1) of the lifting device (6) are each suspended from the two longitudinal beams of the chassis frame (2.1) with at least two hydraulic cylinders (14). Portalhubwagen für ISO-Container nach Anspruch 1 oder 2,
dass die Längsträger (6.1) der Hubeinrichtung (6) sich vertikal nach unten erstreckende Lagerarme (6.3) für Führungsrollen (6.4) aufweisen, die in senkrecht ausgerichteten, an den Chassislängsträgern (2.1) angeordneten Vertikalführungen (5) abrollen. Gantry pallet truck for ISO containers according to claim 1 or 2,
that the longitudinal members (6.1) of the lifting device (6) have vertically downwardly extending bearing arms (6.3) for guide rollers (6.4) which roll in vertically aligned vertical guides (5) arranged on the chassis longitudinal members (2.1). Portalhubwagen für ISO-Container nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet, dass an den Chassislängsträgern (2.1) sich nach unten erstreckende Lagerarme (7) befestigt sind, an deren freien Enden horizontale Auflagen (7.1,7.2) für die ISO-Container-Unterseite vorgesehen sind, die aus einer Ruhestellung seitlich neben dem ISO-Container (11,12,13) in eine Wirkstellung unter die Unterseite des ISO-Containers (11,12,13) bewegbar sindGantry pallet truck for ISO containers according to one of claims 1 to 3,
characterized in that downwardly extending bearing arms (7) are attached to the chassis longitudinal members (2.1), at the free ends of which horizontal supports (7.1, 7.2) are provided for the underside of the ISO container, which, from a rest position, are located laterally next to the ISO -Containers (11, 12, 13) can be moved into an operative position under the underside of the ISO container (11, 12, 13) Portalhubwagen für nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet, dass die Position der Eckbeschläge (19) der ISO-Container (11,12,13) optisch erfaßbar ist und in einem Rechner zu einem Signal zur Feinpositionierung des Portalhubwagens (1) verarbeitbar ist.Gantry truck for according to one of claims 1 to 4,
characterized in that the position of the corner fittings (19) of the ISO containers (11, 12, 13) can be detected optically and can be processed in a computer to form a signal for fine positioning of the straddle carrier (1). Portalhubwagen für ISO-Container nach einem der Ansprüche 1 bis 5,
dadurch gekennzeichnet, dass der Portalhubwagen (1) mit einer Antriebsanlage sowie einem Steuerungs- und Navigationssystem zum fahrerlosen Transport ausgerüstet ist.Gantry pallet truck for ISO containers according to one of claims 1 to 5,
characterized in that the straddle carrier (1) is equipped with a drive system and a control and navigation system for driverless transport.
EP01250156A 2000-05-05 2001-05-02 Straddle carrier for ISO containers Withdrawn EP1151956A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10023076A DE10023076C2 (en) 2000-05-05 2000-05-05 Gantry pallet truck for ISO containers
DE10023076 2000-05-05

Publications (1)

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EP1151956A1 true EP1151956A1 (en) 2001-11-07

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EP01250156A Withdrawn EP1151956A1 (en) 2000-05-05 2001-05-02 Straddle carrier for ISO containers

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EP (1) EP1151956A1 (en)
DE (1) DE10023076C2 (en)

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IT202000000925A1 (en) * 2020-01-20 2021-07-20 Giancarlo Bonfiglioli CONTAINER HANDLING EQUIPMENT

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US8804457B2 (en) 2011-03-31 2014-08-12 Maxim Integrated Products, Inc. Transmit/receive systems for imaging devices
SG186520A1 (en) * 2011-07-04 2013-01-30 Nsl Engineering Pte Ltd Improved spreader and use thereof
KR101573184B1 (en) * 2015-07-23 2015-11-30 한국가스공사 loading and unloading device for LNG tank container
CN109019005A (en) * 2018-09-18 2018-12-18 深圳市鲸仓科技有限公司 Hopper grasping mechanism
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DE10023076A1 (en) 2001-11-15
US20020015637A1 (en) 2002-02-07

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