LI NI U

Cng vi s pht trin ca nn kinh t th gii th vic vn chuyn hng

ho xut khu gia cc nc trn th gii bng container ang ngy mt tr
nn ph bin, bi vic vn chuyn container phn no p ng c cc
yu cu v kinh t nh gim thi gian xp d hng ho cng, tng nng sut
vn chuyn hng ho ti cng, t gim thi gian tu ch xp d hng
cng, nng cao hiu qu kinh t khai thc tu. Ngoi ra, vn chuyn bng
container cn lm tng kh nng bo v hng ho, gim tn tht do h hng
mt mt trong qu trnh vn chuyn cc yu t ny c vai tr quan trng
i vi ngnh giao thng vn ti. Do cc phng tin, thit b xp d
container cng ngy cng ph bin, a dng. V cng vi s pht trin ca
khoa hc k thut th cc thit b ny cng ngy cng hin i.
Sau mt thi gian hc tp v nghin cu ti trng i hc Dn lp Hi
Phng, em c giao lm n tt nghip vi ti M phng h thng
thu lc xe cu container Kalmar.
Trong n ny em xin gii thiu v xe container Kalmar, phn tch mt
s s in v s thu lc ca xe, gii thiu phn mm m phng thu
lc Automation Studio.
Ni dung c th bao gm:
Chng 1: Gii thiu tng quan v xe cu container Kalmar.
Chng 2: H thng thu lc xe nng hng container Kalmar DRF 450.
Chng 3: M phng h thng thu lc xe cu container Kalmar DRF
450.
Trong qu trnh thc hin ti, vi s n lc ca bn thn em c
gng vn dng cc kin thc hc thc hin ni dung ti ny. Bn
cnh em lun nhn c s hng dn nhit tnh ca thy gio Ths. ng
Hng Hi - Ging vin trng i hc Hng Hi v cc thy gio, c gio
khoa in - in t trung i hc Dn Lp Hi Phng cng vi s gip

ca gia nh, bn b em hon thnh bn n tt nghip ny. Trong qu

trnh lm n mc d c gng nhiu nhng v trnh , kinh nghim v
thi gian c hn nn khng trnh khi nhng khim khuyt. Em rt mong
c s ch bo, ng gp tn tnh t cc thy, c gio v cc bn ng
nghip n ny c hon thin.
Em xin chn thnh cm n!
Hi phng 8/2009
Sinh vin: Nguyn Hong Long

CHNG 1
GII THIU TNG QUAN V XE CU CONTAINER KALMAR
1 .1. GII THIU CHUNG V XE NNG HNG CONTAINER
1.1.1 Gii thiu chung v xe nng hng container KALMAR DRF 450
Xe nng hng container KALMAR DRF 450 l mt loi xe nng hnh
chuyn dng Reachstacker kiu cn vi ti hng phc v xp d hng
container. y l mt thit b xp d chuyn dng hng nng c sc nng t
40 n 45 tn, do cng ty cng nghip KALMAR ca Thy in sn xut.
Thit b ny ang c khai thc s dng rng ri rt nhiu cng bin, kho
bi ca Vit Nam v trn th gii.

1. Cu li

5. Cu ch ng

2. Cabin iu khin

6. Cn ng lng

3. ng c diezen

7. Khung nng hng

4. Hp s truyn ng
Xe nng hng container KALMAR DRF 450 s dng ngun ng lc chnh
l ng c diezen VOLVO 4 k 6 xy lanh thng hng, phun nhin liu trc tip
bng h thng vi phun in t, c Turbo tng p kh np nng cao hiu sut
ng c. Xe c kt cu vng chc ph hp vi cng vic nng n ca qu trnh
lm vic, khung xe c thit k c cng chng xon cao, trng tm ca xe
thp, iu ny lm tng tnh n nh ca xe. Cabin iu khin ca xe c th di
chuyn v pha trc tng kh nng quan st ca ngi iu khin nh mt h
thng xy lanh thu lc. H thng iu khin ca xe l h thng iu khin mm
vi cc nt bm, n bo v mn hnh hin th.
H thng hp s truyn ng (di chuyn ca xe) l mt h thng thay i s
thu lc (bng cc ly hp thu lc) vi cc h s bnh rng n khp khng i,
c truyn cng sut t ng c Diezen thng qua mt b chuyn i mmen.
Gm c 4 s tin v 4 s li.
H thng truyn lc (h thng gm) bao gm trc cc ng truyn mmen t
hp s truyn ng n b gim tc vi sai, b gim tc vi sai ny s phn mmen
chuyn ng cho hai cm may bnh xe ch ng trc thng qua cc trc lp.
H thng phanh ca xe s dng loi phanh a ngm trong du, c t bn
trong may ca cc bnh xe ch ng. Phanh (phanh tay) ca xe l loi phanh
a, c lp trn trc u vo ca b gim tc vi sai.
H thng li ca xe c t cc bnh xe pha sau, truyn ng nh mt xy
lanh thu lc tc ng kp.
Cc bnh xe c lp cht vo may bng cc kp hm (cc lp), cu ch
ng c cc cp bnh xe, cu li c cc bnh xe n.

H thng nng h l cc thit b c chc nng nng v h hng ho, hng ho

c nng h bng mt khung nng lp u ca cn ng lng. H thng nng h
c phn chia thnh cc c cu chc nng: nng - h cn, co - gin cn, quay
khung, dch khung, co - gin khung, ng m kho cht, lc khung, nghing
khung, mang hng.
- C cu nng h cn c chc nng nng cn ln v v h cn xung
thay i v tr gc ca cn
- C cu co - gin cn c chc nng y cn ph bn trong gin di ra hoc
thu ngn vo tng kh nng vi hnh ca xe
- C cu quay khung c chc nng quay khung nng v h theo mt gc
ph hp so vi thn xe xp d.
- C cu dch khung c chc nng dch khung nng v mt trong hai pha
cho ph hp vi v tr ca hng hoc a trng tm ca hng v v tr
gia so vi cn nng.
- Co cu co - gin khung c chc nng tri rng khung nng ra xp d
hng container dai 40 hoc co ngn khung nng li xp d container
20.
- C cu ng m kho cht c chc nng xoay kho cht kho
container vo khung nng v nng h container hoc m kho cht
tch khung nng khi container.
- C cu lc khung c chc nng dp tt dao ng ca khung nng v hng
ho theo phng dc ca thn xe.
- C cu nghing khung c chc nng nghing khung nng mt gc so vi
mt t theo phng dc ca khung nng xp d hng container v
tr mt t khng bng phng dn n container b nghing, mt u thp
v mt u cao.

H thng iu khin v mn hnh c chc nng cnh bo cho ngi vn hnh

nhng tnh hung nguy him v s c xy ra trong khi vn hnh. Cc h thng ny
cn cho php chun on cc h hng mt cch d dng v thun tin.
ng c diezen v hp s truyn ng c lp bn trong gia hai dm chnh
ca xe. Hai bn cnh ngoi ca xe c t cc thng du nhin liu, thng du thu
lc, thng du phanh. Cabin iu khin nm gia trung tm xe c th di chuyn
v pha trc v nu la chn cabin c th c nng ln, h xung v dch
chuyn v pha trc thng qua mt h thng piston thu lc c iu khin.

Nng - h cn

Co - gin cn

Dch khung nng

Co - gin khung nng

Quay khung nng

Lc khung nng

Nghing khung nng

1.1.2 Cc thng s k thut ca xe nng hng container KALMAR DRF 450.
1.1.2.1. Cc thng s chnh.
1. K hiu: DRF 450 60S5
2. Sc nng ln nht: 45 tn
3. Khong cch hai cu (chiu di c s): 6.000 mm
4. Khung nng container: 20 40 (nng nh)
5. S container xp d cao nht: 5 (container 96)
6. ng c diezen: Volvo TWD 1240VE
7

- Cng sut theo tiu chun ISO 3046: 246 kW tc 1200vg/ph

- Mmen xon theo tiu chun ISO: 1751 Nm tc 1200vg/ph
- S xy lanh: 6 xy lanh
7. Hp s truyn ng: Dana - Spicer Off Highway T32000
- S lng s la chn. tin - li: 4 - 4
8. Cu xe ch ng: Merritor, PRC 753W4H
9. H thng phanh:
- H thng phanh lm vic - bnh phanh: phanh a - dn ng bnh phanh
- H thng phanh - bnh phanh: phanh l xo - dn ng bnh phanh
10. H thng li: Tr ng thu lc
11. Bnh xe
- Kch thc lp xe, trc v sau: 18.00 25 / 40
- p sut lp: 1.0 Mpa
- Loi lp, trc v sau: bm kh (khng sm)
12. Cabin iu khin: Spirit Delta
- Cn bng mc m thanh trong cabin, gi tr mc m thanh vi ng c
diezen tiu chun: max. 70 dB (A)
13. H thng thu lc:
- Bm thu lc chnh: 04 bm
+ Loi bm: bm piston hng trc vi a nghing thay i
+ p sut ln nht ca bm:
Bm s 1:

2.1 Mpa

Bm s 2:

1.8 Mpa

Bm s 3:

2.9 Mpa

Bm s 4:

3.1 Mpa

- Bm thu lc h thng phanh v lm mt, lc du thu lc: 02 bm

+ Loi bm: bm bnh rng

+ p sut ln nht ca bm: 1.8 Mpa

14. H thng in
- Cng sut my pht: 2240W (28V 80A)
- c quy khi ng, in p - dung lng: 2 12V - 140 Ah
- in p ngun chnh:

24V

1.1.2.2. Cc thng s k thut vn hnh.

1. Sc nng (tn)

A - Container 86
Hng 1 Hng 2 Hng 3

B - Container 96
Hng 1 Hng 2 Hng 3

Chiu cao nng

H4(mm) H5(mm)

43*/45

42*/45

15100

27*

13*

27*

13*

18100

2.Kch thc (mm)

Chiu

rng Bn knh gc Cc kch thc chnh

lm vic
A1A2-

li
R1-

R2-

20

20

40

40

H3

Chiu
gm

cao

11200 13600

8100

9400

4150

6055-

11200

4500

250

12185
3. Ti trng ca xe:

66400 (Kg)

4. Tc di chuyn xe:
- Khi khng ti:

max 25 km/h

- Khi c ti nh mc 45 tn:

max 21 km/h

1.2. H THNG CP NGUN V IU KHIN.

1.2.1. V tr cc b iu khin trn xe nng hng container KALMAR DRF
450

1. B iu khin cabin KCU (D790-1)

2. B iu khin mn hnh hin th KID (D795)

10

3. B iu khin tay-nt bm iu khin KIT (D790-2)

4. B iu khin thn xe trc KDU-F (D797-F)
Cng l v tr b iu khin thn xe, la chn KDU-O (D797-O)
5. B iu khin khung nng KDU (D791-1)
Cng l v tr b iu khin khung nng, la chn KDU (D791-2)
6. B iu khin khung nng cp chn phi KDU (D791-3)
7. B iu khin khung nng cp chn tri KDU (D791-4)
8. B iu khin hp s truyn ng TCU (D793)
9. B iu khin ng c diezen EDC (D794)
10.B iu khin thn xe sau KDU-R (D797-R)
1.2.2. Thng s k thut ca h thng in cp ngun v iu khin.
1. B chuyn i in p ngun cp.
- in p vo:

24 - 28(V)

- in p ra:

12(V)

- Dng in ra ln nht: 20(A)

2. Tn hiu vo/ra cc b iu khin.
Tn hiu vo analog:
- in tr thit b u vo: 0 - 200
- in p vo tn hiu anolog: 0 - 5V, di lm vic t 0.5 n 4.5V
Tn hiu ra analog:
- in p phn hi: 0 - 24V, trong di dng in t 0 n 2A
- in p u ra: 0 - 24V, vi yu cu tham chiu vi im ni t.
- in p u ra i cc: 0 - 24V, vi yu cu tham chiu vi 24V
Tn hiu vo digital.
- Tn hiu vo digital t cc cng tc iu khin.
Tn hiu vo, U < 5V cho mc logic (0)
Tn hiu vo, U >16V cho mc logic (1)
11

Trong trng hp khng c tn hiu, u vo c ni t.

- Tn hiu vo digital t cc cng tc iu khin.
Tn hiu vo, U < 5V cho mc logic (0)
Tn hiu vo, U >16V cho mc logic (1)
Trong trng hp khng c tn hiu, u vo c ni t.
Tn hiu ra digital
- Mc iu khin cao, 1.5A
Mc logic (1) cho in p ra, U >= 22.5V
Dng ti max, 1.5A
Dng ti m, 0.15A
Dng ti tc thi max, 8A
- Mc iu khin cao, 5A
Mc logic (1) cho in p ra, U >= 22.5V
Dng ti max, 5A
Dng ti m, 0.9A
Dng ti tc thi max, 35A
- Mc iu khin cao, 10A
Mc logic (1) cho in p ra, U>= 22.5V
Dng ti max, 10A
Dng ti m, 0.9A
Dng ti tc thi max, 70A
- Tn hiu iu khin H-bridge.
Mc logic (1) cho in p ra, U>= 22.5V hoc u ra ni t, U= 0V
Dng ti max, 0.5A
Dng ti m, 0.15A
Dng ti tc thi max, 8A.
3. Cc b iu khin
12

 Cc b iu khin: KCU, KDU-F. KDU-R, KIT, KDU khung nng

- in p ngun cp: mch cp ngun 24V.
C bo v cc cc trong mch cp ngun vo, ngn mch u vo v u
ra khng gy h hng.
- Nhit lm vic t -400C n 700C
- rung c kh t 20 n 500 Hz
B iu khin KID
- in p ngun cp: mch cp ngun 24V.
C bo v cc cc trong mch cp ngun vo, ngn mch u vo v u
ra khng gy h hng.
- Nhit lm vic t -300C n 700C
- Mn hnh hin th, 128 64 dpi.
B iu khin hp s truyn ng TCU
- in p ngun cp: mch cp ngun 24V.
C bo v cc cc trong mch cp ngun vo, ngn mch u vo v u
ra khng gy h hng.
- Nhit lm vic t -400C n 700C
B iu khin ng c diezen
- in p ngun cp: mch cp ngun 24V.
C bo v cc cc trong mch cp ngun vo, ngn mch u vo v u
ra khng gy h hng.
- Nhit lm vic theo thng tin ch dn.
1.2.3. Gii thiu cc thit b iu khin.
1.2.3.1. V tr cc thit b iu khin trong cabin iu khin.

13

1. Bng iu khin cc thit b cabin bn phi.

2. Tay iu khin chn s v cc chc nng khc.
3. Bng iu khin pha v lng li.
4. V lng li.
5. Cn gt xi nhan.
6. Bng nt bm iu khin cc chc nng thu lc.
7. Nt bm khn cp cho mch servo (thu lc).
8. Nt bm phanh xe.
9. Tay iu khin chnh.
10.Gh ngi ngi li.
11.Chn ga.
12.Chn phanh
13.Chn cn.
14.Hp in phn phi vi cu ch.
15.ng h gi hot ng.
1.2.3.2. Chc nng ca tay iu khin chnh.

14

1. Nt bm iu khin lc khung nng (la chn).

2.

2a. Nt bm kho lc khung nng (la chn).

2b. Nt bm kho nghing khung nng (la chn).

3. Nt bm iu khin quay khung nng.

4. Nt bm iu khin dch khung nng.
5. Nt bm iu khin ng b nng khung nng (la chn).
6. y gt tay iu khin ngang iu khin co - gin cn.
7. Kt hp nt bm iu khin nghing khung nng (la chn).
8. Kt hp nt bm iu khin co - gin khung nng 20 - 40
9. Nt bm iu khin ng m kho cht container.
10.y gt tay iu khin dc iu khin nng h cn.

15

1.3. TRANG B IN - IN T CC C CU LM VIC CA XE

NNG HNG CONTAINER KALMAR DRF 450.
1.3.1. Trang b in - in t c cu nng - h cn.

C cu nng - h cn gm hai xy lanh thu lc t hai bn thn xe v ghp vi

thn xe bng hai khp bn l, cc u piston th c kt ni vi cn cng bng
cc khp bn l. Cc xy lanh thu lc ny khi c cung cp p lc du vo
khoang C+ s y gin piston ra v y nng cn ln, lm tng gc ca cn so vi
phng ngang, khi khung nng c gn u cn s c nng ln cao hn so
vi mt t. Ngc li khi cc xy lanh thu lc ny khi c cung cp p lc du
vo khoang C- th piston s co li v h khung nng xung thp. Vic iu khin
ng p lc du cho cc xy lanh ny c thc hin nh cc ngn ko thu lc
chnh v servo. Cc van in t s c chc nng ng m iu khin ng p lc
du servo, ng du servo ny li iu khin ng m cc van ngn ko thu lc
chnh. Nh vy t vic iu khin cc van in t thng qua h thng trang b in
- in t ta iu khin c c cu nng - h cn.
1.3.1.1. S in nguyn l c cu nng - h cn
S in nguyn l c cu nng - h cn xe nng hng container KALMAR
DRF 450 c biu din trn cc hnh 1.2, hnh 1.3, hnh 1.4, hnh 1.5

16

Hnh 1.2: S in nguyn l iu khin c cu nng - h cn

17

Hnh 1.3: S in nguyn l iu khin c cu nng - h cn

18

Hnh 1.4: S in nguyn l iu khin c cu nng - h cn

19

Hnh 1.5: S in nguyn l iu khin c cu nng - h cn

20

1.3.1.2. Chc nng cc phn t

Lever 815 : tay iu khin
Tay iu khin c tch hp cc nt bm v bin tr cung cp cc tn
hiu iu khin di dng tn hiu analog cho cc c cu lm vic ca xe nng:

P1 : Bin tr cung cp tn hiu iu khin c cu nng - h cn

P2 : Bin tr cung cp tn hiu iu khin c cu co - gin cn

P3 : Bin tr cung cp tn hiu iu khin c cu quay khung nng

P4 : Bin tr cung cp tn hiu iu khin c cu lc khung nng

(la chn)

T1 - 1 & T1 - 2 : Cc nt bm iu khin c cu dch khung nng

T3 1 & T3 2 Cc nt bm iu khin kho c cu lc khung nng

v c cu nghing khung nng (la chn)

T2 : Nt bm iu khin c cu ng m kho cht container
T4 : nt bm kt hp.
D790-1 : B iu khin ca bin KCU (b iu khin trung tm)
D791-F : B iu khin khung nng KDU-F
Y6005 : Van t iu khin nng cn
Y6004 : Van t iu khin h cn.
Y6051 : Van t iu khin ng du ti sinh nng bn phi
Y6052 : Van t iu khin ng du ti sinh nng bn tri.
Y6001 : Van t iu khin kho ng du hi h cn bn phi
Y6002 : Van t iu khin kho ng du hi h cn bn tri
D797-R : B iu khin thn xe sau KDU-R
B769-1 : Senso gim chn (khi bt u nng cn v tr thp nht)
B771 : Senso v tr gc cn (650)

21

 B777 : Senso v tr chiu di cn (1,5m)

B7221 : Senso v tr cu li
1.3.1.3. Nguyn l hot ng
Sau khi bt cha kho in cc b iu khin s c cp ngun t ngun
in c quy. KCU kim tra h thng v nu h thng trng thi bnh thng th s
hin th ln mn hnh v cc n bo, cho php xoay cha kho khi ng ng c
diezen cung cp nng lng quay cc bm thu lc, bm du p lc cho h thng
lm vic.
a tay iu khin v v tr iu khin nng cn, bin tr P1 s di chuyn ra
khi v tr cn bng ban u v cung cp tn hiu analog di dng in p(3.0V 4.5V) cho b iu khin KCU (D790-1), KCU x l tn hiu ri cp cho b iu
khin thn xe trc KDU-F (D797-F) thng qua ng truyn mng CAN-bus.
KDU-F nhn tn hiu digital t KCU ri x l v cung cp cho van t iu khin
nng cn (Y6005), tn hiu iu khin analog (U = 24V). Tu theo v tr tay iu
khin ta c v tr ca bin tr P1, s c mc tn hiu iu khin cao hay thp (t
3.0V - 4.5V), tn hiu u ra iu khin van t c gi tr dng in t 380mA (van
t s m nh nht v tc nng cn chm nht) n ga tr dng in ln nht
650mA (van t s m ln nht v tc nng cn nhanh nht).
ng thi khi cn nng cao khi v tr thp nht mt gc s mt tn hiu ca
senso gim chn B769-1 cp cho b iu khin thn xe sau KDU-R (D797-R).
KDU-R x l tn hiu ri truyn tn hiu iu khin qua mng CAN-bus cho KDUF, KDU-F x l v cp tn hiu iu khin cho van t ng du ti sinh bn phi
Y6051 v bn tri Y6052 m ra, cung cp du p lc thm cho ng du nng
cn lm tng thm tc nng cn.
Khi a tay iu khin v v tr cn bng (in p tn hiu: 2.0V - 3.0V) th
van t nng cn Y6005 s mt tn hiu iu khin, ng du p lc b ngt khng
cp vo xy lanh lm xy lanh dng li.
22

a tay iu khin sang v tr iu khin h cn, bin tr P1 cp tn hiu iu

khin (in p tn hiu iu khin h cn: 2.0V - 0.5V) cho b iu khin cabin
KCU, KCU x l tn hiu ri truyn cho b KDU-F, KDU-F nhn tn hiu, x l
v cp tn hiu iu khin analog (U = 24V) cho van t h cn Y6004 m ra cp p
lc du vo khoang C- ca xy lanh nng h cn, ng thi KDU-F cng cp tn
hiu iu khin cho van t kho ng du hi h cn bn phi Y6001 v bn tri
Y6002 m ra, du thu lc t khoang C+ s chy v thng v xy lanh thu lc s
h cn xung. Tc h cn s ph thuc vo v tr tay iu khin, dng in iu
khin van t kho ng du hi h s thay i t 380mA - 650mA.
1.3.1.4. Cc bo v
Bo v qu ti pha sau (qu ti cu li): khi xy ra ng thi gc cn ln hn
650, cn gin ra khng qu 1.5m v tc xe di chuyn ln hn 10 km/h
Khi gc cn ln hn 650 v cn gin ra khng qu 1.5m , cc senso B771 v
B777 mt tn hiu cp cho b iu khin thn xe sau KDU-R. ng thi khi tc
xe di chuyn ln hn 10 km/h th KDU-R x l tn hiu v truyn tn bo qu ti
pha sau n b iu khin KID(D795), KID s x l v hin th tnh trng qu ti
trn mn hnh v n cnh bo. Tn hiu bo qu ti cng c truyn n b iu
khin khc x l tn hiu v truyn tn hiu iu khin kho tt c cc chc nng
thu lc.
Bo v qu ti nng: khi nng hng vt qu sc nng nh mc s xy ra mt
cn bng ca xe, phn ui xe b nng ln. Nh c cu bo v qu ti c kh senso
v tr cu li B7221 s tch ra khi ming st cm bin v mt tn hiu cp cho b
iu khin thn xe sau KDU-R. KDU-R x l tn hiu v truyn tn bo qu ti
pha sau n b iu khin KID, KID s x l v hin th tnh trng qu ti trn
mn hnh v n cnh bo. Tn hiu bo qu ti cng c truyn n b iu
khin khc x l tn hiu v truyn tn hiu iu khin kho tt c cc chc nng
thu lc.

23

1.3.2. Trang b in - in t c cu co - gin cn.

C cu co - gin cn gm mt xy lanh thu lc c t bn trong ca hai

on cn ng lng. u cui ca xy lanh c ghp ni vi on cn c nh bn
ngoi bng mt khp bn l, cn u u ca piston c ghp ni vi on cn di
ng (gin di) bng mt khp bn l. Khi khoang C+ ca xy lanh c cp p lc
du s y piston chuyn ng i ra y on cn di ng gin di ra lm tng
chiu di cn, t tng tm vi xp d hng ca xe nng. Ngc li, khi cp p
lc vo khoang C- ca xy lanh s y piston chuyn ng i vo cui xy lanh,
piston s ko on cn di ng co ngn li gim chiu di cn.
Vic iu khin c cu co - gin cn cng ging nh c cu nng h hng,
thng qua vic iu khin cc van t servo.
1.3.2.1. S in nguyn l c cu co - gin cn
S in nguyn l c cu co - gin cn xe nng hng container KALMAR
DRF 450 c biu din trn cc hnh 1.6, hnh 1.7

24

Hnh 1.6: S in nguyn l iu khin c cu co - gin cn

25

Hnh 1.7: S in nguyn l iu khin c cu co - gin cn

26

1.3.2.2. Chc nng cc phn t

Lever 815 : tay iu khin

P1 : Bin tr cung cp tn hiu iu khin c cu nng - h cn

P2 : Bin tr cung cp tn hiu iu khin c cu co - gin cn

P3 : Bin tr cung cp tn hiu iu khin c cu quay khung nng
P4 : Bin tr cung cp tn hiu iu khin c cu lc khung nng (la
chn)
T1 - 1 & T1 - 2 : Cc nt bm iu khin c cu dch khung nng
T3 - 1 & T3 - 2 Cc nt bm iu khin kho c cu lc khung nng
v c cu nghing khung nng (la chn)

T2 : Nt bm iu khin c cu ng m kho cht container

T4 : nt bm kt hp.
D790-1 : B iu khin ca bin KCU (b iu khin trung tm)
D797-F : B iu khin thn xe trc KDU-F
Y6006 : Van t iu khin gin cn
Y6007 : Van t iu khin co cn.
Y6062 : Van t iu khin ngt bm thu lc
Y6046 : Van t iu khin ng du ti sinh gin cn.
Y6050 : Van t iu khin kho ng du hi co cn.
D797-R : B iu khin thn xe sau KDU-R
B769-3 : Senso gim chn trc (la chn)
B769-3 : Senso gim chn sau.
1.3.2.3. Nguyn l hot ng
a tay iu khin v v tr iu khin nng cn, bin tr P2 s di chuyn ra
khi v tr cn bng ban u v cung cp tn hiu analog di dng in p (3.0 V 4.5V) cho b iu khin KCU (D790-1), KCU x l tn hiu ri cp cho b iu
27

khin thn xe trc KDU-F (D797-F) thng qua ng truyn mng CAN-bus.
KDU-F nhn tn hiu digital t KCU ri x l v cung cp cho van t iu khin
gin cn (Y6006), tn hiu iu khin analog (U = 24V). Tu theo v tr tay iu
khin ta c v tr ca bin tr P2, s c mc tn hiu iu khin cao hay thp (t
3.0V - 4.5V), tn hiu u ra iu khin van t c gi tr dng in t 380mA (van
t s m nh nht v tc gin cn chm nht) n ga tr dng in ln nht
650mA (van t s m ln nht v tc gin cn nhanh nht).
Khi gin cn khi v tr ngn nht mt on 1m s mt tn hiu ca senso gim
chn B769-3 cp cho b iu khin thn xe sau KDU-R (D797-R). KDU-R x l
tn hiu ri cp tn hiu analog (U = 24V) iu khin cho van t ng du ti sinh
Y6046 m ra, cung cp du p lc thm cho ng du gin cn lm tng thm tc
gin cn.
Khi a tay iu khin v v tr cn bng (in p tn hiu: 2.0V - 3.0V) th
van t nng cn Y6006 s mt tn hiu iu khin, ng du p lc b ngt khng
cp vo xy lanh lm xy lanh dng li.
a tay iu khin sang v tr iu khin co cn, bin tr P2 cp tn hiu iu
khin (in p tn hiu iu khin: 2.0V - 0.5V) cho b iu khin cabin KCU,
KCU x l tn hiu ri truyn cho b KDU-F, KDU-F nhn tn hiu, x l v cp
tn hiu iu khin analog (U = 24V) cho van t h cn Y6007 m ra cp p lc
du vo khoang C- ca xy lanh co - gin cn, ng thi KDU-F cng cp tn hiu
iu khin cho van t kho ng du hi co cn Y6050 m ra, du thu lc t
khoang C+ s chy v thng v xy lanh thu lc s co cn li. Tc co cn s
ph thuc vo v tr tay iu khin, dng in iu khin van t kho ng du
hi co cn s thay i t 380mA - 650mA.
1.3.3. Trang b in - in t c cu quay khung nng.

28

C cu quay khung nng c dn ng bi hai ng c thu lc qua mt hp

gim tc hnh trnh v hai vnh rng lp trn khung nng. Hai ng c thu lc
c ni song song vo mt blok van thu lc. Vic iu khin c cu quay khung
nng cng c thc hin bng vic iu khin van t servo quay khung nng.
1.3.3.1. S in nguyn l c cu quay khung nng
S in nguyn l c cu quay khung nng xe nng hng container
KALMAR DRF 450 c biu din trn cc hnh 1.8, hnh 1.9

29

Hnh 1.8: S in nguyn l iu khin c cu quay khung nng

30

Hnh 1.9: S in nguyn l iu khin c cu quay khung nng

31

1.3.3.2. Chc nng cc phn t

Lever 815 : tay iu khin
P1 : Bin tr cung cp tn hiu iu khin c cu nng - h cn
P2 : Bin tr cung cp tn hiu iu khin c cu co - gin cn
P3 : Bin tr cung cp tn hiu iu khin c cu quay khung nng
P4 : Bin tr cung cp tn hiu iu khin c cu lc khung nng (la
chn)
T1 - 1 & T1 - 2 : Cc nt bm iu khin c cu dch khung nng
T3 1 & T3 - 2 Cc nt bm iu khin kho c cu lc khung nng
v c cu nghing khung nng (la chn)

T2 : Nt bm iu khin c cu ng m kho cht container

T4 : nt bm kt hp.

D790-1 : B iu khin ca bin KCU (b iu khin trung tm).

D791-1 : B iu khin khung nng KDU.

Y6008 : Van t iu khin quay khung nng chiu kim ng h.

Y6009 : Van t iu khin khung nng ngc chiu kim ng h.

Y6003 : Van t iu khin m chc nng thu lc khung nng.

D797-R : B iu khin thn xe sau KDU-R.
1.3.3.3. Nguyn l hot ng
Bm nt iu khin quay khung bn tri, bin tr P3 s di chuyn ra khi v tr
cn bng ban u v cung cp tn hiu analog di dng in p (3.0V - 4.5V) cho
b iu khin KCU (D790-1), KCU x l tn hiu ri cp cho b iu khin khung
nng KDU (D791-1) thng qua ng truyn mng CAN-bus. KDU nhn tn hiu
digital t KCU ri x l v cung cp cho van t iu khin quay khung nng chiu
kim ng h (Y6008), tn hiu iu khin analog (U = 24V). ng thi KCU cng
truyn tn hiu cho b iu khin thn xe sau KDU-R (D797-R), KDU-R nhn tn
hiu x l v cp tn hiu iu khin (U = 24V) cho van t iu khin m chc
32

nng thu lc khung nng (Y6003). Lc ny p lc du thu lc mi cp cho

motor thu lc v quay khung nng theo chiu kim ng h. Tu theo mc su
ca nt bm ta c v tr ca bin tr P3, s c mc tn hiu iu khin t 3.0V
n 4.5V, tn hiu u ra ca KDU iu khin van t c gi tr dng in t 380mA
(van t s m nh nht v tc quay khung chm nht) n gi tr dng in ln
nht 650mA (van t s m ln nht v tc quay khung ln nht).
Khi th tay khi nt bm iu khin quay khung nng s c gi tr in p tn
hiu: 2.0V - 3.0V th cc van t iu khin quay khung (Y6008) v (Y6009) s mt
tn hiu iu khin, ng du p lc b ngt khng cp vo motor thu lc lm
khung nng dng li .
Bm nt iu khin quay khung bn phi, bin tr P3 cp tn hiu iu khin
(in p tn hiu iu khin: 2.0V - 0.5V) cho b iu khin cabin KCU, KCU x
l tn hiu ri truyn cho b KDU v KDU-R, KDU nhn tn hiu, x l v cp tn
hiu iu khin analog (U = 24V) cho van t iu khin quay khung nng ngc
chiu kim ng h (Y6009). V KDU-R nhn tn hiu x l v cp tn hiu iu
khin analog (U = 24V) cho van t iu khin m chc nng thu lc khung nng
Y6003. Khung nng s quay theo chiu ngc chiu kim ng h.
1.3.4. Trang b in - in t c cu dch khung nng.

C cu quay khung nng gm hai xy lanh thu lc tc dng ngc chiu

nhau. Khi xy lanh lm vic (mt ko v mt y) s y phn khung nng dch
sang bn phi hoc bn tri mt on 0.8m so vi v tr cn bng u cn. Vic

33

iu khin c cu dch khung nng cng cng c thc hin bng vic iu khin
van t servo quay khung nng.
1.3.4.1. S in nguyn l c cu dch khung nng.
S in nguyn l c cu dch khung nng xe nng hng container
KALMAR DRF 450 c biu din trn cc hnh 1.10 v 1.11.

34

Hnh 1.10: S in nguyn l iu khin c cu dch khung nng

35

Hnh 1.11: S in nguyn l iu khin c cu dch khung nng

36

1.3.4.2. chc nng cc phn t

Lever 815 : tay iu khin
-

P1 : Bin tr iu khin c cu nng - h cn

P2 : Bin tr iu khin c cu co - gin

P3 : Bin tr iu khin c cu quay khung nng

P4 : Bin tr cung cp tn hiuiu khin c cu lc khung nng (la

chn)
-

T1 - 1 & T1 - 2 : Cc nt bm iu khin c cu dch khung nng

T3 1 & T3 - 2 Cc nt bm iu khin kho c cu lc khung nng

v c cu nghing khung nng (la chn )

-

T2 : Nt bm iu khin kho cht container

T4 : Nt bm kt hp.

D790-1 : B iu khin ca bin KCU (b iu khin trung tm)

D791-1 : B iu khin khung nng KDU

Y6020 : Van t iu khin khung nng sang tri

Y6021 : Van t iu khin khung nng sang phi

1.3.4.3. Nguyn l hot ng.

Khi bm nt chuyn dch khung nng bn tri T1- 1 hoc bn phi T1- 2, cp
tn hiu iu khin (U = 24V) cho b iu khin ca bin KCU (D790 - 1) thng qua
mng CAN-bus. KDU nhn tn hiu t KCU ri s l v cp cho van t iu khin
dch khung sang bn tri Y6020 (ng vi nt bm T1-1) hoc van t iu khin
dch khung bn phi Y6021 (ng vi nt bm T1-2) tn hiu iu khin (U =
24V) . ng thi KCU cng chuyn tn hiu cho b iu khin thn xe sau KDURR (D797-R), KDU-R nhn tn hiu x l v cp tn hiu iu khin (U = 24V) cho
van t iu khin m chc nng thu lc khung nng Y6003. Lc ny p lc du
thu lc mi cp cho xy lanh thu lc dch khung nng sang bn tri hoc bn
phi.
37

CHNG 2
H THNG THU LC XE NNG HNG CONTAINER
KALMAR DRF 450
2.1. GII THIU CHUNG V H THNG THU LC CA XE.
Xe nng hng container KALMAR DRF 450 c trang b ngun ng lc
chnh bng ngun ng lc thu lc cho cc co cu lm vic. H thng thu lc
ca xe c cung cp bi su bm thu lc lai trc tip bi ng c diezen, bao
gm bn bm thu lc chnh l cc bm piston hng trc c kh nng thay i
gc ca a nghing cung cp nng lng cho h thng lm vic ca xe : co cu
nng - h v ra - vo cn, cc c cu ca khung nng, h thng li v hai bm thu
lc loi bnh rng phc v cho h thng lm mt du thu lc v h thng phanh
ca xe. Cc bm thu lc ny c lp thnh hai dy, mi dy bao gm hai bm
thu lc piston hng trc v mt bm bnh rng, cc bm thu thu lc piston
hng trc trn mt dy c ni c kh v thu lc vi nhau theo tng cp cho
nn c th coi nh mt bm, cc van mt chiu s m bo cho cc bm khng
ho sang nhau.

38

1. Bm chnh 1

4. Bm chnh 4

2. Bm chnh 2

5. Bm du phanh

3. Bm chnh 3

6. Bm lm mt my

Cc bm thu lc bn tri (bm chnh 1 v bm chnh 2) cung cp cho h

thng van ca c cu nng - h v ra - vo cn, ng thi cho cc c cu ca
khung nng. Cc bm thu lc bn phi (bm chnh 3 v bm chnh 4) cung cp
cho h thng li, servo v cc van ca c cu nng - h v ra - vo cn. Mt van u
tin s m bo lun c p sut cho h thng li v tm ngt dng chy n cc
van ca c cu nng - h v ra - vo cn ca cc bm bn phi.
Bm thu lc c nh (bm v tr 5) cung cp cho h thng phanh, h thng
ny ho ton tc ng c lp vi h thng thu lc trn, bm ny s cp cho cc
bnh tch thu lc thng qua mt van np.
Bm thu lc c nh (bm v tr 6) c nhim v bm du thu lc qua h
thng kt lm mt v bu lc lm mt ri a th v thng du.
2.2. S H THNG THU LC XE NNG HNG CONTAINER
KALMAR DRF 450.
2.2.1. S h thng thu lc thn xe.
H thng thu lc thn xe c biu din trn hnh 2.1, bao gm su bm
thu lc cung cp cho cc c cu nng - h v ra vo cn, h thng li, h thng
phanh ca xe lm mt du thu lc.

39

Hnh 2.1: S thu lc nguyn l iu khin cc c cu thn xe

40

2.2.1.1. Chc nng cc phn t.

1. Xy lanh nng hi cn.
2. Van kho xy lanh nng - h cn.
3. Xy lanh ra vo cn.
4. Van kho xy lanh ra vo cn.
5. Xy lanh nng hi cn.
6. Van kho xy lanh nng - h cn.
7. Bnh tch p lc du phanh.
8. Van phanh.
9. Xy lanh phanh .
10. Cng tc bo n phanh.
11. Xy lanh phanh.
12. Bnh phanh.
13. Cng tc bo p lc du phanh.
14. Cng tc bo n phanh .
15. Cng tc bo ct li hp.
16. Van np bnh tch p lc.
17. Kt lm mt du phanh.
18. Van nhit i tt.
19. Xy lanh li.
20. Van li.
21. Bu lc phanh.
22. Bu lc thu lc.
2.2.1.2 Nguyn l hot ng.

23. Kt lm mt du thu lc.

24. Bu lc du thu lc tinh.
25. Van u tin.
26. Bm lm mt v lc du thu lc.
27. Bm thu lc 3 v 4.
28. Van con thoi.
29. Van gi p xut thu lc
30. Van khng ti khung nng.
31. Van con thoi.
32. Bm h thng phanh.
33. Bm thu lc 1 v 2.
34. Van kho du thu lc khung nng.
35. Van mt chiu.
36. Van x.
37. Van kho bm khng ti.
38. Van gim p.
39. Bnh tch p lc servo.
40. Bu lc thu lc servo.
41. Cm van iu khin nng - h v ra
-vo cn
42. ng p lc cp cho khung nng.
43. ng du hi t khung nng.
44. Khi van cu xe

+Nng cn : Du thu lc t thng u c a v cc bm 1 v 2 (33) bm

vi p lc cao qua van mt chiu (35) ln u vo P ca cm van iu khin nng h v ra - vo cn (41), ng thi cc bm 3 v 4 (27) cng bm du qua van mt
chiu v van u tin (25), nu trong trng hp c cu ca li xe khng hot ng
(khi cha quay v lng iu khin li) th du p lc ny s cng c a vo u
vo P cn li ca cm van (41). ng thi mt phn du p lc c a qua van
gim p (38) gim p lc xung cn 35 - 40bar, cung cp p lc du servo cho

41

cm van (41). p lc du servo c gi n nh nh mt bnh tch p (39) v lm

sch thng qua bu lc (40) ri a vo u PP ca cm van (41).
Khi c tn hiu in iu khin cp cho cun dy ca van t nng cn, ng
du servo s c m qua van servo nng cn v a vo tc ng ln u trn ca
van thu lc chnh c cu nng - h cn, y con trt ngn ko chnh xung di.
Du thu lc p lc cao t cc u P ca cm van (41) s c m sang ca A1
ca cm van (41) v cp ln cc ca VA ca cc van kho xy lanh nng - h cn (2
v 6).
Khi c tn hiu in iu khin cp cho cun dy ca van t nng cn th ng
thi cng c tn hiu in iu khin cp cho cun dy ca van t kho xy lanh
nng - h cn, m ng du cp p lc cao ln khoang C+ ca cc xy lanh nng h cn (1 v 5), tc ng y cc piston (1 v 5) chuyn ng i ln nng cn tng
gc nghing ca cn so vi phng ngang. Du thu lc t khoang C ca cc xy
lanh (1 v 5) s i qua van (2 v 6) v ca T ca van (2 v 6) v ca B ca cm van
(41).
T ca B1 ca cm van (41) du thu lc s i qua ngn ko van chnh, qua
van mt chiu v ng du ca LS. Khi con trt ngn ko chnh i xung th
mt phn du p lc cao t ca P cng s i qua van mt chiu sang ng du
LS. Phn l du thu lc trn ng LS s i v ng du T v hi v thng du ,
cn mt phn p lc c s dng lm p lc du cm bin ti (LS) phn hi v
tc dng iu khin a nghng ca cc bm thu lc (27) v (33) thng qua cc
van iu khin 37, 39 v cc van con thoi 28, 31, lm thay i gc nghing ca a
nghing bm dn n thay i c p sut v lu lng u bm ra tu theo yu
cu ca ti.
Trong trng hp nng cn khng ti sau mt khong thi gian nht nh khi
tc piston t gi tr nht nh th cun ht van t ti sinh s c cp tn hiu
iu khin m ng du tc ng ng van ti sinh. Lc ny du thu lc t van

42

C- ca cc xy lanh nng s khng v ca T ca van (2 v 6) m qua van mt chiu

sang ca C+ v i vo khoang C+ ca xy lanh cung cp thm lu lng du v lm
tng tc cn.
+ H cn : Khi h cn th cc van t iu khin (37) v (29) s b ngt in,
ng du phn hi ti LS s ch cp cho cc bm (27) hot ng, cn cc bm
(33) s chuyn sang trng thi ch (khng ti).
Du thu lc t thng du c cc bm 3 v 4 (27) bm vi p lc cao qua
van mt chiu (35) v van u tin (25) ln ca P ca cm van iu khin nng - h
v ra vo - cn (41).
Khi c tn hiu in iu khin cp cho cun dy ca van t h cn, u servo
s c m qua van servo h cn v a vo tc ng ln u di ca van thu
lc chnh c cu nng - h cn (qua ca PSS) y con trt ngn ko chnh i ln
trn. Du thu lc p cao t cc u P ca cm van (41) s c m sang ca B1
ca cm van (41) v cp ln cc ca T ca cc van kho xy lanh nng - h cn (2
v 6) Du p lc cao t ca T ca cc van (2) qua van ti sinh (lc ny van ti sinh
trng thi ban u ) ln ca C- ca cc van (2) ri cp vo khoang C- ca xy lanh
nng - h cn (1 v 5) y piston i xung h cn xung.
ng thi lc ny cun ht van t kho xy lanh nng - h cn s c cp
ngun iu khin m ra. Du thu lc t khoang C+ ca xy lanh nng - h cn (1
v 5) i qua van kho xy lanh nng - h cn ra ca VA ca cc van (2 v 6) ri v
ca A1 ca cm van (41). T ca A1 du thu lc s i qua ngn ko van chnh v
ng T, mt phn du s qua van mt chiu v ng du ca LS. Khi con trt
ngn ko chnh i ln th mt phn du p lc cao t ca P cng s i qua van mt
chiu sang ng du LS. Phn ln du thu lc trn ng LS s i i v ng
du T v hi v thng du, cn mt phn du p lc c s dng lm p lc
du cm bin ti (LS) phn hi v tc dng iu khin a nghing ca bm thu

43

lc 27 thng qua van con thoi 28, lm thay i gc nghing ca a nghing bm

dn n thay i c p sut v v lu lng du bm ra tu theo yu cu ca ti.
+ C cu ra - vo cn: Nguyn l hot ng ca c cu ra - vo cn cng
tng t nh c cu nng - h cn. Gia cc ng du B2 v A2 vi ng du
hi T cc van an ton lm nhim v m ng du v ng hi trong trng hp
c cu ra - vo cn b qu ti.
2.2.2. S h thng thu lc iu khin khung nng.
H thng thu lc iu khin khung nng c biu din trn hnh 2.2, bao
gm su bm thu lc cung cp cho cc c cu quay khung, dch khung, ra vo 20
- 40 v ng m cht kho container.

44

Hnh 2.2: S thu lc nguyn l iu khin khung nng

45

2.2.2.1. Chc nng cc phn t.

1. Xy lanh chng lc
2. Van gim chn
3. Cc motor thu lc quay khung.
4. Khi van iu khin quay khung.
5. Cc xy lanh dch khung.
6. Motor ra - vo khung nng.
7. Khi van iu khin motor ra - vo khung nng.
8. Cc xy lanh ng m cht kho container.
9. Khi van iu khin khung nng.
10. Bu lc du thu lc.
11. Van t gi p xut thu lc.
12. Bm con thoi.
13. Bm thu lc chnh 1 v 2
2.2.2.2. Nguyn l hot ng
Du thu lc t thng du c cc bn 3 v 4 (13) bm vi p lc cao qua
van mt chiu ln ca P ca van gim chn (2). Khi khung nng c iu khin
hot ng th ng thi cun ht van t gi p sut thu lc (11) c cp ngun
iu khin m ra, mt phn p ng bm s i qua van (11) v van con thoi
(12) tc dng iu khin a nghing ca cc bm thu lc (13) lm thay i gc
nghing ca a bm dn n thay i c p sut v lu lng du bm ra tu
theo yu cu ca ti. p lc ny cng tc dng ln van mt chiu kho ng du
cp ln cm van iu khin cn (41) ca bm (11).
Du thu lc p sut cao ny i qua van (2) n ca P1 ca cm van iu
khin khung nng (9). Ti y c mt van an ton lun m bo cho p sut ca
ng P1- P2B khng vt qu 175 bar. p lc t ng P2B s cp mt phn

46

nh (p lc servo) qua van tit lu, van iu khin t ng, van mt chiu, bu lc
du vg dng du servo PS. Ti y cng c mt van gim p bo p lc servo
lun c gi tr t 35 - 40 bar.
+ C cu quay khung: Khi c tn hiu in iu khin cp cho cun dy ca
van t quay khung 1, ng du servo t PS s c m qua van servo quay
khung 1 a vo tc ng ln u trn ca van thu lc chnh c cu quay khung,
y con trut ngn ko chnh xung di. Du thu lc p lc cao t ca P1 ca
cm van (9) s c m qua van mt chiu, qua van chnh quay khung sang ca A
ca cm van (9) v cp ln van kho motor quay khung (4).
Du p lc cao t ng A ca cm van chnh s i qua van mt chiu tc
dng ln cc motor thu lc lm chng quay theo chiu thun. Mt phn p lc
du t ng s c a sang tc dng m van an ton ng du hi (ni vi
ca B) ca motor thu lc (van kho ng du khi khng quay khung), du hi
ny qua van an ton v ca B ca cm van (9). Mt van con thoi s s nhn p lc
du t ng du no c p lc cao hn tc dng m phanh (3) ca c cu quay
khung.
Du hi t ca B cm van (9) s i qua van chnh c cu quay khung v
ng du hi T1-T2B, qua van gim chn (2), bu lc ng hi ri v thng
du.
Khi c tn hiu in iu khin cp cho cun dy ca van t quay khung (2)
a vo tc ng ln u di ca van thu lc chnh c cu quay khung, y con
trt ngn ko chnh ln trn. Du thu lc p lc cao t ca P1 ca cm van (9)
s c m qua van mt chiu, qua van chnh quay khung sang ca B ca cm van
(9) v cp ln van kho motor quay khung (4).
Du o lc cao t ng B s i qua van mt chiu tc dng ln cc motor
thu lm chng quay theo chiu ngc. Mt phn p lc du t ng B s c
a sang tc dng m van an ton ng du hi (ni vi ca A) ca motor thu

47

lc, du hi ny qua van an ton v ca A ca cm van (9). Mt van con thoi s

nhn p lc du t ng du no c p lc cao hn tc dng m phanh (3) ca
c cu quay khung.
Du hi t ca A cm van (9) s i qua van chnh c cu quay khung v
ng du hi T1-T2B, qua van gim chn (2) bu lc ng hi ri v thng du.
Nguyn l hot ng ca cc c cu dch khung nng, c cu co - gin khung
nng 20- 40 v c cu ng m cht kho container cng tng t nh c cu
quay khung. Trn cc ng du A v B ca c cu dch khung c b tr cc van
an ton bo v qu ti cho cc xy lanh dch khung.

48

CHNG 3
M PHNG H THNG THU LC XE CU CONTAINER KALMAR
DRF 450
3.1. GII THIU PHN MM M PHNG AUTOMATION STUDIO
Automation Studio l 1 phn mm cng c thit k, tnh ton v m
phng. N c to ra dnh cho lnh vc T ng ha trong Cng nghip, c bit
dng thc thi thit k v kim tra cc iu kin cn thit.
Cc nh my kt hp vi phn mm ny to nn vic s dng rng ri
trong cng nghip 1 cch cht ch, v s xc nhn ca cc qu trnh v chng
trnh t ng.
trong mi trng ca Automation Studio th tt c cc cng c thit k u
rt kh thi.Bn thn chng trnh bao gm 3 phn h tr chnh, l:
-B son tho biu (Diagram Editor).
-Tham kho ti (Project Explorer).
-Th vin tm kim (Library Explorer).
B son tho biu cung cp cho bn cch to,m phng biu v lm
bo co.Trong khi th Tham kho ti li gii quyt vic qun l file, v
phn loi tt c cc ti liu c lin kt vi ti m phng.
Th vin tm kim cung cp nhng th vin dng k hiu, cn thit cho vic
to biu lm nn 1 ti ca bn.
Cui cng, phn mn ny cho php bn tm c h s (Document) trong
ti (Project) ca bn.Bn c th in v xut biu 1 cch d dng!
3.1.1. Bt u lm vic vi Automation Studio (A.S).

49

 bt u lm vic vi A.S ta nhp chut p vo biu tng ca A.S trn

desktop.
Khi , ca s chng ca A.S s m ra nh hnh di y:

Trn thanh cng c toolbars s c biu tng ca cc cng c m chng ta s s

dng. y c 3 thnh phn chnh m ta cp trn l:
- Diagram Editor (b son tho biu )
- Project Exploren (tham kho ti)
- Library Exploren (th vin tm kim)
1. Diagram (B son tho biu )
Phn ny gii thiu nhng thnh phn nm trong ca s chnh ca A.S. Cc
mc ny c chia lm 2 loi l : Tnh v ng.
50

A : Khi tiu (tnh)

B : Khi trnh n (tnh)
C : Di cc cng c khc nhau (tnh)
D : Th vin tm kim (ng)
E : Tham kho ti (ng)
F : Bt trnh n - v d (ng)
(Thc hin bng cch nhn chut phi vo nn ca diagram (biu ) ang thit
k)
trn trnh n Menu c cc phn l: File, Edit, View, Insert, Layout,
Simulation, Tool, Window v Help (?).

51

- Trong File c cc phn gip to mi mt Project ( n), m hay ng mt

Project, Diagram (biu ), Save (lu), Print (in), Report (bo co) cho php
chn vo mt bng vt liu Bill of Materia (BOM) hoc mt h s bo co
- Edit: cho php ct dn, Undo (quay li), xa, chn tt c (Select all),
Ngoi ra: Component Properties trong Edit cho php s dng xem, chn v
chnh sa thng tin lin quan ti phn c chn trong project ( n).Document
Properties trong Edit cho php xem, chn v sa thng tin lin quan ti h s.
-View: c cc chc nng phng to, thu nh biu tin cho vic xem v
thit k biu .
Panning : dng di chuyn biu .
2. Simulation Toolbar (Thanh cng c m phng)
Thanh cng c m phng ca b son tho biu (Diagram Editor) bao
gm cc dng nt nhn:

A: Normal (bnh thng) - m phng mch tc bnh thng

B: Stepbystep (tng bc) - m phng mch ni m chut nhn lm thay
i 1 chu trnh (vng).
C: Slow Motion (chuyn ng chm) - m phng mch tc chm nht.
D: Pause (ngt m phng)
52

E: Stop (dng m phng)

J: Plotter (my v)
3. Insert Toolbar (cng c chn):

A: Selection cho php chn mt phn t trong vng lm vic.

B: Links to lin kt cng ngh.
C: Line v ng thng.
D: Rectangle v hnh ch nht
E: Ellipse v hnh elp
F: % Arc v ng hnh cung
G: Polygon v hnh a gic
H: Text chn hp vn bn
I: Image chn nh
J: Field chn cc trng
4. Library Explorer (Th vin tm kim):
Th vin tm kim a ra s a dng ca lnh vc thy lc, kh, cc i lng
iu khin.v.vN cho php la chn tt c nhng phn t cn thit cho cu trc
ca mt thnh phn c bn da trn yu cu s dng.
53

A: Toolbal: cng c cho php qun l, la chn, to th vin v cc thnh

phn.
B: Tab(s) thanh ny cho php s dng la chn th vin cung cp, cho
nhng i hi v ha trong vic gim thiu mc to nn mch.
C: Library window cho php s dng hin th dng cy v la chn
theo nhng nhm v nhng h phn t thy- kh c bit.v.v
D: Component window: ca s cc phn t ca th vin.

54

5. Khi to mt Project ( n) mi:

khi to mt n mi ta lm nh sau:
1.

Chn File New project.

Khi xut hin hp thoi v a ra s la chn trong hp thoi. Vic ny gip

chn ci m bn s dng lm c s sau ny.

Hnh 4-1 : Hp thoi Project Template

2.

Chn dng cn thit hoc khng (None) nu khng c dng gi tr m

bn cn.

55

3.

Ci ny gip bn thc hin mi la chn hon tt. Nhn vo nt

OK to mt n mi.
4.

Mt n mi ng nht gip la chn c cch m ra trn mn

hnh, s tt nh bn nhn thy trong ca s nh ca Project Explorer.

* khi to mt h s mi (new document) th u tin phi to mt biu mi
(new diagram) bng cch:
Nhn File New Diagram.
6. c tnh phn t: (Component Properties).
* Hp thoi c tnh phn t:
hin th v iu chnh mt c tnh, nhn trn cy cu trc phn t iu
chnh. Khi hin ra bng sau:

56

Hnh 5-11: Hp thoi c tnh phn t ca mt phn t ring l hoc mt nhm cc

phn t.
Hp thoi c tnh phn t ny thng l s cu thnh nhng phn sau:
A Thanh tiu .
y l thanh cha tn ca hp thoi c k tip nhau bng tn ca phn t
B Ca s hin th
Ca s ny hin th k hiu ca phn t. N s hin th dng m phn t
c chnh sa.
C Cy cu trc ca nhm.
Ca s ny xut hin ch khi c mt nhm cc phn t.
D Ca s hin th ca mt h gi tr c tnh.

57

Ta ch vic di chuyn chut v chn bng cch nhn chut tri vo cc dng
trn ca s.
E Phn c tnh.
Phn ny hin th s iu chnh trong trng c tnh ca nhnh c tnh
c chn.
F Hn/Km.
Nt ny cho php s dng hin th hoc tt vng c tnh (Advanced
Data) ca phn t.
G p dng.
Nt ny cho php s dng bt buc c s chnh sa trn c tnh.
H t li.
Nt ny cho php s dng loi b chnh sa trc s hp l vi nt p
dng (Apply).
I Gip .
J ng.
7. Component Builcler: Xy dng phn t.
Cc phn t c sn l nhng ci lin kt vi:
- Xy lanh thy, kh.
- Van c hng thy, kh.
- Van thy lc c hng theo t l.
- Dy kh.
3.1.2. Hng dn m phng
1. Thit k mt xy lanh:
58

Nhn chut p vo biu tng xy lanh.

Khi xut hin Component properties (c tnh phn t).

A Dng xy lanh.
Ci ny cho php s dng chn mt trong cc cch to dng xy lanh nh:
- Tc dng n (kiu co rt).
- Tc dng n (kiu ko dn).

59

- Tc dng kp (cn tc dng kp).

- Tc dng kp (2 cn).
thay i dng xy lanh t 1 xy lanh khc t th vin chnh cn phi chn
la trong cc c tnh trn.
B Dng pttng.
Phn ny cho php s dng chn kiu dng pttng: kiu t trng hoc
phi t trng.
C Dng m.
Ci ny cho php s to nn dng m: khng, tri, phi, tri v phi,
bin tri, bin phi, tri v phi bin, tri v bin phi, bin tri v phi,
D Dn hng.
Cho php s dng to s c v khng dn hng.
E Cng vo/ra.
Cho php s dng la chn lm cng vo hay ra <=> cng hay x.
F Cng x.
Cho php la chn 1 cng x.
G u ni.
Cho php chn 1 trong 10 ng ni.
H Hm.
Chn cch hm: (4 la chn khng, tc dng kp, khng v NC)
I Cu chuyn ng.
Quay v khng quay.

60

J L xo.
C hoc khng c l xo.
K ng knh ca cu.
Gi tr 0, 1, 2 hoc 3.
L di thn xy lanh.
S nguyn t 2 15.
M Cc cm bin.
m mc cm bin ca xy lanh:
3 loi cm bin : v tr , tc v lc.
2. Cc cm bin xy lanh:

Hnh 5 16 : Hp thoi h cc cm bin xy lanh.

61

Khi cm bin l phn c chn (c kim tra) 1 gi tr mi c to trong

phn qun l gi tr. Gi tr khc c th c s dng bng b iu khin (thy lc
theo t l), nh 1 bn bin trong (SFC, lgc hnh thang), hoc vi 1 dng b phn
khc (Van iu khin trc tip).
Vi cm bin, khang ca tn hiu u ra phi c xc lp (gi tr nh nht).
3. Xy dng b van hu hng:

Hnh 5 17: Hp thoi to van hu hng.

62

A- S cng
Cho php s dng xc nh s cng ca van.
B S v tr.
Cho php s dng xc nh v tr ban u ca van.
D T l (proportional).
Cho php s dng xc nh nu b phn phi l o v s khng to nn
van hu hng .M phng nh van t l.
tip cn vi cc phn t thy lc t l, bn phi c 1 th vin thy lc t l .
E Hng mi tn.
S dng di chuyn i lng iu khin cng thuc tnh theo hng ch
ca mi tn.
F B i lng iu khin chn.
G Chp nhn.
H Loi b.
(*) xy dng 1 van hu hng cn lm cc bc cn lm cc bc sau :
1. Chn s cng.
2. Chn s v tr
3. Chn v tr bt u.
4. Chn hp kim tra t l ( nu cn).
5. La chn u tin b phn phi v tr bng cch nhn chut p trn lin
kt cu hi nh du. Khi hp thoi la chn s m ra.
Nu nh cun cn thit khng c th nhn ln nt More, lc ny danh sch cc
cun s hin ra nhiu hn.
63

6. Chn van trt kiu pittng mong mun bng cch nhp p ln n, hoc
la chn n bng 1 nhp v nhp ln nt OK.
7. Chn b iu khin phn phi. Nu cn thit v ph thuc vo h iu
mong mun cng b xung.
4) Piston:
1 . Techinical Data: D liu cng ngh .
(*) D liu c bn: ( Basic data ).
- ng knh pittng (D).
- ng knh cn ni vi pittng (d).
- di dng i ca pttng (L)
- dc ca pittng (a)
- Khi ti bn ngoi ( ni vi cn pittng (M)
- Lc bn ngoi tc ng vo (n).
- Lc bn ngoi ko ra.
(*) Tnh ton d liu: ( nhp thng s trn v s xut hin phn d liu c
tnh ton nh sau ).
- Din tch b mt pttng.
- Th tch pittng.
- Din tch b mt cn ni vi pittng.
- Th tch cn ni.
(*) n tip vo nt (More thm) s xut hin Advanced Data ( d liu nng
cp).
- Lc ti a
64

- Tc ti a
- Lc ma st ca pittng thy lc
- R r bn trong .
- Vng cm nhn ( cm bin ) (%).
2. Biu lc dn ng ( Driving Force Curve)
- c Abscissa ( honh ); Maximum Force ( lc tc ng ti a )
-phn tham s biu ( Curve parameter )
- Dng tng trng:
VD: No constraint ( khng lin kt ).
3. Biu tr lc:
( ging biu trn )
4. Thng tin danh mc ( catalog )
5. Thng tin dc hin th ( Displayed catalog )
C: component Name: tn xylanh.
Comment: ch thch .
VD: g Cylinder A
X location ( trc X ): 2 ( 2 pha ).
Y location (trc Y ): B
6. Gim gi tr ( variable assignment ).
7. Buider: Xy dng.
a) Cylinder type ( dng xylanh ).
b) Dng pitton:
65

- n mng.
- kp ( c khng gian gia 2 xylanh )
- n dy ( gp i loi mng )
- ( cha r )
- Kp ( gia c )
c) cng vo ra : Chn cng l dng vo hay ra.
d) Cng x ( c hoc khng ) Exhaust port.
e) Body longth: Chiu di thn xylanh ( t 2 ->15 ).
g) Phn Left: ( bn tri pitng).
- Spring: c l xo hay khng.
- Adapter: u truyn ra kiu g.
- Brake: Chn kiu hm ngoi.

Rod motion: chuyn ng ca cn ni vi pittng c kiu xoay trn, khng

xoay , xoay na vng theo kim ng h ri thng , ngc kim ng h ri thng.

Rod diameter (d): thay i li ng knh cn trc pittng.

( c 4 gi tr l 0, 1, 2, 3 )

66

5) Van ty bin ( Customized valve )

(*) Flobal setting:Thit lp ton b.

- Number of ports: s cng vo ra (2 ->6 ).
- S v tr ( s khoang diu khin ) : 2 ->4
- initial position : t s cng chn ln khoang.
Khi chn khoang l 3 th tng ng phn ny c 3 gi tr chn 1, 2, 3 nu
chn 1 th s cng c chn s l u tin tnh t bn tri sang.
67

(*) Symbol and Display information: ( K hiu v hin th thng tin ).

Nhp chut p vo 1 trong 2 du chm hi (?) nh la chn phn t tng
ng. Khi xut hin bng sau:

Ngoi ra c th thay i v tr ca cc cng vo ra.

(*)Thay i phn t trng (dng cun dy phn ng) v khng t trng:
[+] 1 1V1
Khi nhp vo [+] s xut hin : ...SOL1
/SOL2

68

y chnh l 2 cun dy iu khin ca van.

Nhp vo SOL1 hoc SOL2 thy bn di xut hin hp thoi c:
Technial data: Trong ny c Basic data.
Basic data c lc (F) tc ng
-

Displayed information :
Trong ny c : Tag name : VD : t tn l : EXT_A1

Build: nhn vo build -> xut hin biu tng ( k hiu ) ca van.
Tip tc nhn chut p vo 1 trong 3 khoang c du chm hi (?) to. Khi xut
hin hp thoi:

69

 y cho php bn chn loi khoang cha no m bn mun s dng.

hon tt, nhn vo nt Apply ri n tip OK.
3.2. M PHNG H THNG THU LC

M phng thu lc

70

KT LUN
Qua thi gian thc tp tt nghip v lm n tt nghip. Nh hng dn tn
tnh ca thy gio Thc s ng Hng Hi cng vi s gip ca cc ng
nghip v s c gng ca bn thn, n nay n ca em hon thnh. Ni dung
c bn phn tch v trnh by c mt s vn n c bn sau:
- Trnh by c tng quan v xe cu container Kalmar
- Trnh by s lc v cc b iu khin v h thng cp ngun ca xe cu
container Kalmar.
- Phn tch, trnh by mt s s in, s thy lc ca xe.
- Gii thiu phn mm m phng thu lc Automation
- M phng h thng thu lc
Vi s c gng ca bn thn song thi gian v kh nng c hn, bn n cn
mt s tn ti sau:
- Cha phn tch c ht tt c cc s thu lc.
- Cha m phng c hon chnh mt h thng thu lc.
c s gip ca cc thy c trong Khoa in - in t trng i hc
Dn Lp Hi Phng, c bit l s hng dn trc tip ca thy gio Ths. ng
Hng Hi - ging vin trng i hc Hng Hi cng vi n lc ca bn thn, bn
n c hon thnh. Nhng do kh nng cng nh kinh nghim ca bn thn
71

cn hn ch nn bn n khng trnh khi thiu st. Tc gi knh mong cc thy

c trong Khoa v cc bn ng nghip ng gp cc kin bn n hon
thin hn.
Sinh vin thc hin
Nguyn Hong Long

TI LIU THAM KHO

1. Maintenance Manual KALMAR DRF 450.
2. Operators Manual KALMAR DRF 450.
3. PGS.TS. Bi Quc Khnh; TS. Hong Xun Bnh
Trang b in - in t T ng ho cu trc v cn trc, NXB Khoa hc &
K thut
4. Mai L Anh (T45-HT1)
Bo co thc tp tt nghip

5. H Anh Thng (DKTD2A), Hc vin k thut qun s

Gii thiu v phn mm Automation Studio
Mt s trang Web:
6. http://www.kalmarind.com
7. http://www.kalmarind.com/show.php?id=1019727

72