CA2219433A1 - Container crane - Google Patents
Container crane Download PDFInfo
- Publication number
- CA2219433A1 CA2219433A1 CA002219433A CA2219433A CA2219433A1 CA 2219433 A1 CA2219433 A1 CA 2219433A1 CA 002219433 A CA002219433 A CA 002219433A CA 2219433 A CA2219433 A CA 2219433A CA 2219433 A1 CA2219433 A1 CA 2219433A1
- Authority
- CA
- Canada
- Prior art keywords
- spreader
- vibration
- head block
- trolley
- container
- 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.)
- Abandoned
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/42—Hydraulic transmitters
-
- 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
- B66C1/101—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 for containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
- B66C2700/012—Trolleys or runways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Vibration sensors 28 for sensing vibration of a head block 15 or a spreader 16 in traverse direction of a trolley 9 are arranged symmetrically with respect to lateral center line L of the head block 15 or the spreader 16. Moreover, active damping devices 31 each having a mass 29 movable in transverse direction of the trolley 9 and an actuator 30 for driving in response to the vibration sensed the movable mass 29 in a direction of counteracting the vibration are arranged symmetrically with respect to the lateral center line L of the head block 15 or the spreader 16. Thus, not only sway but also rocking and skew of the head block and the spreader can be suppressed and loading and unloading operations can be efficiently performed.
Description
CONTAINER CRANE
BACKGROUND OF THE INVENTION
The present invention relates to a container crane having a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container.
Fig. 1 schematically illustrates a conventional general container crane 3 for loading and unloading containers 4 to and from a container ship 1 moored at a quay 2.
The crane 3 comprises legs 6 adapted to run along rails 5 on the quay 2, girders 7 on top of the legs 6 and extending substantially horizontally to protrude toward the sea, traverse rails 8 extending along the girders 7 and a trolley 9 adapted to be moved in traverse direction along the rails 8.
As shown in Figs. 2 and 3, the trolley 9 comprises a trolley body 11 with traverse wheels 12 for rolling on the rails 8. Tied to the trolley body 11 are opposite ends of a traverse rope 13 which is wound around a traverse drum (not shown) in a machine room 10 (see Fig. 1) and which extends under tension longitudinally of the girders 7. Rotation of the traverse drum in normal or reverse direction causes the trolley 9 to be moved in traverse direction.
The trolley 9 has a head block 15 which is suspended from the trolley 9 through winding ropes 14 which in turn are wound around a hoist drum (not shown) in the machine room 10 and which extend under tension longitudinally of the girder 7.
Rotation of the hoist drum in normal or reverse direction causes the head block 15 to be hoisted up or down.
Detachably interlocked with the head block 15 through twist locks 17 is a spreader 16 which grips the container 4.
As shown in Figs. 4 and 5, each of the twist locks 17 comprises a lock pin 20 which is inserted into a corresponding suspender 18 of the spreader 16 through a slot 19 on the suspender 18 and which is twisted by actuation of a hydraulic cylinder 21 for interlock of the head block 15 with the spreader 16.
As shown in Figs. 3 and 6, the spreader 16 comprises a spreader body 16a with extension frames 22 each of which in turn is mounted on the body 16a to be slidable by a drive (not shown) perpendicularly of the traverse direction of the trolley 9. The frame 22 is provided at its outward corners with twist locks 23 for gripping the container 4 as well as guide arms 24 for positioning the twist locks 23 into positions for engagement with the container 4. The spreader 16 can grip containers 4 with different lengths since the difference in length of the containers 4 can be absorbed by sliding displacement of the frames 22.
Just as the twist lock 17, the twist lock 23 can interlock the spreader 16 with the container 4 in such a manner that a lock pin of the twist lock 23 is inserted into the container 4 through a slot on the container 4 and is twisted by actuation of a hydraulic cylinder. The guide arm 24 can be swung from an upper, turned-over open position into a position for engagement with a corner of the container 4 by actuation of a hydraulic motor 25. Therefore, the spreader 16 can be correctly positioned to the container 4 and the twist locks 23 can be positively engaged with the container 4 even if there may be some deviation in lowering the spreader 16 interlocked with the head block 15 onto the container 4.
In general, when the container 4 is to be loaded on the container ship 1 by the container crane 3, the container 4 is gripped by the spreader 16 interlocked with the head block 15 suspended from the trolley 9. Under this condition, the spreader 16 is hoisted up and the trolley 9 is moved in traverse direction to a predetermined position above the container ship 1. Then, the spreader 16 is hoisted down to place the container 4 on the container ship 1.
In such container crane 3, mostly the container 4 has a predetermined destination on the container ship 1.
Therefore, in accordance with setting of the destination of the container 4, the trolley 9 may be automatically moved in traverse direction and only hoisting-up and -down of the spreader 16 interlocked with the head block 15 may be carried out manually by an operator in an operation room 26.
However, in an automatically operated traverse movement pattern of the trolley 9 in which the trolley 9 is simply accelerated to a preset speed and is then in uniform speed operation and is decelerated to stop at the predetermined position (the destination of the container 4), the container-griping spreader 16 interlocked with the head block 15 suspended from the trolley 9 tends to swing or vibrate due to inertia at acceleration or deceleration or due to any wind, resulting in difficulties in loading and unloading operations.
Conventionally, in order to prevent the container 4 from swinging or vibrating during traverse movement of the trolley 9, sheaves 27 on the trolley 9 for supporting the hoist ropes 14 for the head block 15 and spreader 16 are separated away from each other by drive means (not shown) so that the hoist ropes 14 for the head block 15 and spreader 16 are in the form of the letter V to suppress swinging or vibration of the head block 15 and spreader 16. Such mechanical swing- or vibration-suppressing mechanism is effective only to suppress sway (pendulum-like swing or vibration; see Fig. 2) and is substantially ineffective to suppress rocking (rotational swing or vibration around an axis below the suspended position; see Fig. 2) or skew (swing or vibration in horizontal plane; see Fig. 6).
In view of the above, the present invention has its object to provide a container crane which can suppress not only sway but also rocking and skew of the head block and spreader and can efficiently achieve loading and unloading operations.
BRIEF SUMMARY OF THE INVENTION
In a first aspect of the invention, a container crane is provided which has a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the head block in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the head block; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the head block sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the head block.
In a second aspect of the invention, a container crane is provided which has a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the spreader in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the spreader; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the spreader sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the spreader.
These provide the following meritorious effects.
According to the first aspect, in a case where swinging or vibration occurs on the head block interlocked with the spreader, the vibration of the head block in traverse direction of the trolley is sensed by each of the vibration sensors arranged symmetrically with respect to the lateral center line of the head block, and the movable mass of each of the damping means is driven by the corresponding actuator in a direction of counteracting the vibration of the head block in response to the vibration sensed.
If only one damping means were provided, then it could cope with sway and rocking of the head block but could not cope with skew. According to the first aspect, the vibration sensors and the damping means are arranged symmetrically with respect to the lateral center line of the head block so that any type of vibration such as sway, rocking or skew of the head block can be coped with.
According to the second aspect, in a case where vibration occurs on the spreader interlocked with the head block, the vibration of the spreader in traverse direction of the trolley is sensed by each of the vibration sensors arranged symmetrically with respect to the lateral center line of the spreader, and a movable mass of each of the damping means is driven by the corresponding actuator in a direction of counteracting the vibration of the spreader in response to the vibration sensed.
If only one damping means were provided, then it could cope with sway and rocking of the spreader but could not cope with skew. According to the second aspect, the vibration sensors and the damping means are arranged symmetrically with respect to the lateral center line of the spreader. Thus, it is possible to cope with any type of vibration such as sway, rocking or skew of the spreader.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 schematically illustrates a conventional general container crane;
Fig. 2 is a side view of a head block and spreader for the conventional container crane shown in Fig. l;
Fig. 3 is a front view of the head block and spreader shown in Fig. 2;
Fig. 4 is an enlarged vertical sectional view of the twist lock shown in Fig. 3;
Fig. 5 is a view looking in the direction of arrows V
in Fig. 4;
Fig. 6 is a view looking in the direction of arrows VI
in Fig. 3;
Fig. 7 is a front view of an embodiment of the present invention;
Fig. 8 is a view looking in the direction of arrows VIII in Fig. 7;
Fig. 9 is a front view of a further embodiment of the present invention; and Fig. 10 is a view looking in the direction of arrows X
in Fig. 9.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Preferred embodiments of the present invention will be described in conjunction with the attached drawings.
Figs. 7 and 8 illustrate an embodiment of the present invention in which the same components as in Figs. 1 to 6 are referred to by the same reference numerals and whose basic arrangement is the same as that in the conventional system shown in Figs. 1 to 6. This embodiment resides in that, as shown in Figs. 7 and 8, vibration sensors 28 such as acceleration sensors or speed sensors for sensing any vibration of the head block 15 in traverse direction of the trolley 9 are arranged symmetrically with respect to lateral center line L of the head block 15 and that active damping means 31 each having a mass 29 movable in traverse direction of the trolley 9 and an actuator 30 for driving the movable mass 29 in a direction of counteracting the vibration of the head block 15 sensed by the vibration sensor 28 are arranged symmetrically with respect to the lateral center line L of the head block 15.
In this embodiment, each of the damping means 31 is provided in such a manner that a nut member 33 is screwed on a screw shaft 32 extending in traverse direction of the trolley 9 and the movable mass 29 is integrally mounted on the nut member 33. Rotation of the screw shaft 32 by the actuator 30 forcibly causes the movable mass 29 to be moved in the same cycle with the same wavelength as those of vibration of the head block 15 and with phase difference of 90~ from the same.
Next, operation of the above-mentioned embodiment will be described.
When vibration occurs on the head block 15 suspended integrally with the spreader 16, the vibration of the head block 15 in traverse direction of the trolley 9 is sensed by each of the vibration sensors 28 arranged symmetrically with respect to the lateral center line L of the head block 15. In response to the sensed vibration of the head block 15, the movable mass 29 of each of the damping means 31 is driven by the corresponding actuator 30 in a direction of counteracting the vibration.
If there were provided only one damping means 31, it could cope with sway and rocking of the head block 15 but could not cope with skew. However, in the embodiment shown in Figs. 7 and 8, both the vibration sensors 28 and the damping means 31 are arranged symmetrically with respect to the lateral center line L of the head block 15 and can cope with any type of vibration such as sway, rocking or skew of the head block 15.
Thus, not only sway but also rocking and skew of the head block 15 suspended integrally with the spreader 16 can be adequately suppressed and loading and unloading operations can be efficiently performed.
Figs. 9 and 10 illustrate a further embodiment of the present invention in which the same components as in Figs. 7 and 8 are referred to by the same reference numerals.
Vibration sensors 28 such as acceleration sensors and speed sensors for sensing vibration of the spreader 16 in traverse direction of the trolley 9 are arranged symmetrically with respect to the lateral center line L of the spreader 16. Also, active damping means 31 each having a mass 29 movable in transverse direction of the trolley 9 and an actuator 30 for driving the movable mass 29 in a direction of counteracting the vibration of the spreader 16 detected by the vibration sensor 28 are arranged symmetrically with respect to the lateral center line L of the spreader 16.
In the embodiment shown in Figs. 9 and 10, each of the damping means 31 is provided in such a manner that a nut member 33 is screwed on the screw shaft 32 extending in traverse direction of the trolley 9 and a movable mass 29 is integrally mounted on the nut member 33. Rotation of the screw shaft 32 by the actuator 30 forcibly causes the movable mass 29 to be moved at the same cycle and with the same wavelength as those of the vibration of the spreader 16 and with phase difference of 90~ from the same.
In the embodiment shown in Figs. 9 and 10, when vibration occurs on the spreader 16 interlocked with the head block 15, the vibration of the spreader 16 in traverse direction of the trolley 9 is sensed by each of the vibration sensors 28 arranged symmetrically with respect to the lateral center line L of the spreader 16. In response to the sensed vibration of the spreader 16, the movable mass 29 of each of the damping means 31 is driven by the corresponding actuator 30 in a direction of counteracting the vibration.
If there were provided only one damping means 31, it could cope with sway and rocking of the spreader 16 but could not cope with skew. However, in the embodiment shown in Figs.
9 and 10, both the vibration sensors 28 and the damping means 31 are arranged symmetrically with respect to the lateral center line L of the spreader 16 and can cope with any type of vibration such as sway, rocking or skew of the spreader 16.
Thus, not only sway but also rocking and skew of the spreader 16 suspended integrally with the head block 15 can be adequately suppressed and loading and unloading operations can be efficiently performed.
It is to be understood that a container crane according to the present invention is not limited to the above embodiments and that various changes and modifications may be made without departing from the spirit and the scope of the present invention.
As described above, a container crane according to the present invention has meritorious effects of suppressing not only sway of the head block and the spreader but also vibrations such as rocking and skew of the same and of efficiently performing loading and unloading operations.
BACKGROUND OF THE INVENTION
The present invention relates to a container crane having a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container.
Fig. 1 schematically illustrates a conventional general container crane 3 for loading and unloading containers 4 to and from a container ship 1 moored at a quay 2.
The crane 3 comprises legs 6 adapted to run along rails 5 on the quay 2, girders 7 on top of the legs 6 and extending substantially horizontally to protrude toward the sea, traverse rails 8 extending along the girders 7 and a trolley 9 adapted to be moved in traverse direction along the rails 8.
As shown in Figs. 2 and 3, the trolley 9 comprises a trolley body 11 with traverse wheels 12 for rolling on the rails 8. Tied to the trolley body 11 are opposite ends of a traverse rope 13 which is wound around a traverse drum (not shown) in a machine room 10 (see Fig. 1) and which extends under tension longitudinally of the girders 7. Rotation of the traverse drum in normal or reverse direction causes the trolley 9 to be moved in traverse direction.
The trolley 9 has a head block 15 which is suspended from the trolley 9 through winding ropes 14 which in turn are wound around a hoist drum (not shown) in the machine room 10 and which extend under tension longitudinally of the girder 7.
Rotation of the hoist drum in normal or reverse direction causes the head block 15 to be hoisted up or down.
Detachably interlocked with the head block 15 through twist locks 17 is a spreader 16 which grips the container 4.
As shown in Figs. 4 and 5, each of the twist locks 17 comprises a lock pin 20 which is inserted into a corresponding suspender 18 of the spreader 16 through a slot 19 on the suspender 18 and which is twisted by actuation of a hydraulic cylinder 21 for interlock of the head block 15 with the spreader 16.
As shown in Figs. 3 and 6, the spreader 16 comprises a spreader body 16a with extension frames 22 each of which in turn is mounted on the body 16a to be slidable by a drive (not shown) perpendicularly of the traverse direction of the trolley 9. The frame 22 is provided at its outward corners with twist locks 23 for gripping the container 4 as well as guide arms 24 for positioning the twist locks 23 into positions for engagement with the container 4. The spreader 16 can grip containers 4 with different lengths since the difference in length of the containers 4 can be absorbed by sliding displacement of the frames 22.
Just as the twist lock 17, the twist lock 23 can interlock the spreader 16 with the container 4 in such a manner that a lock pin of the twist lock 23 is inserted into the container 4 through a slot on the container 4 and is twisted by actuation of a hydraulic cylinder. The guide arm 24 can be swung from an upper, turned-over open position into a position for engagement with a corner of the container 4 by actuation of a hydraulic motor 25. Therefore, the spreader 16 can be correctly positioned to the container 4 and the twist locks 23 can be positively engaged with the container 4 even if there may be some deviation in lowering the spreader 16 interlocked with the head block 15 onto the container 4.
In general, when the container 4 is to be loaded on the container ship 1 by the container crane 3, the container 4 is gripped by the spreader 16 interlocked with the head block 15 suspended from the trolley 9. Under this condition, the spreader 16 is hoisted up and the trolley 9 is moved in traverse direction to a predetermined position above the container ship 1. Then, the spreader 16 is hoisted down to place the container 4 on the container ship 1.
In such container crane 3, mostly the container 4 has a predetermined destination on the container ship 1.
Therefore, in accordance with setting of the destination of the container 4, the trolley 9 may be automatically moved in traverse direction and only hoisting-up and -down of the spreader 16 interlocked with the head block 15 may be carried out manually by an operator in an operation room 26.
However, in an automatically operated traverse movement pattern of the trolley 9 in which the trolley 9 is simply accelerated to a preset speed and is then in uniform speed operation and is decelerated to stop at the predetermined position (the destination of the container 4), the container-griping spreader 16 interlocked with the head block 15 suspended from the trolley 9 tends to swing or vibrate due to inertia at acceleration or deceleration or due to any wind, resulting in difficulties in loading and unloading operations.
Conventionally, in order to prevent the container 4 from swinging or vibrating during traverse movement of the trolley 9, sheaves 27 on the trolley 9 for supporting the hoist ropes 14 for the head block 15 and spreader 16 are separated away from each other by drive means (not shown) so that the hoist ropes 14 for the head block 15 and spreader 16 are in the form of the letter V to suppress swinging or vibration of the head block 15 and spreader 16. Such mechanical swing- or vibration-suppressing mechanism is effective only to suppress sway (pendulum-like swing or vibration; see Fig. 2) and is substantially ineffective to suppress rocking (rotational swing or vibration around an axis below the suspended position; see Fig. 2) or skew (swing or vibration in horizontal plane; see Fig. 6).
In view of the above, the present invention has its object to provide a container crane which can suppress not only sway but also rocking and skew of the head block and spreader and can efficiently achieve loading and unloading operations.
BRIEF SUMMARY OF THE INVENTION
In a first aspect of the invention, a container crane is provided which has a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the head block in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the head block; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the head block sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the head block.
In a second aspect of the invention, a container crane is provided which has a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the spreader in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the spreader; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the spreader sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the spreader.
These provide the following meritorious effects.
According to the first aspect, in a case where swinging or vibration occurs on the head block interlocked with the spreader, the vibration of the head block in traverse direction of the trolley is sensed by each of the vibration sensors arranged symmetrically with respect to the lateral center line of the head block, and the movable mass of each of the damping means is driven by the corresponding actuator in a direction of counteracting the vibration of the head block in response to the vibration sensed.
If only one damping means were provided, then it could cope with sway and rocking of the head block but could not cope with skew. According to the first aspect, the vibration sensors and the damping means are arranged symmetrically with respect to the lateral center line of the head block so that any type of vibration such as sway, rocking or skew of the head block can be coped with.
According to the second aspect, in a case where vibration occurs on the spreader interlocked with the head block, the vibration of the spreader in traverse direction of the trolley is sensed by each of the vibration sensors arranged symmetrically with respect to the lateral center line of the spreader, and a movable mass of each of the damping means is driven by the corresponding actuator in a direction of counteracting the vibration of the spreader in response to the vibration sensed.
If only one damping means were provided, then it could cope with sway and rocking of the spreader but could not cope with skew. According to the second aspect, the vibration sensors and the damping means are arranged symmetrically with respect to the lateral center line of the spreader. Thus, it is possible to cope with any type of vibration such as sway, rocking or skew of the spreader.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 schematically illustrates a conventional general container crane;
Fig. 2 is a side view of a head block and spreader for the conventional container crane shown in Fig. l;
Fig. 3 is a front view of the head block and spreader shown in Fig. 2;
Fig. 4 is an enlarged vertical sectional view of the twist lock shown in Fig. 3;
Fig. 5 is a view looking in the direction of arrows V
in Fig. 4;
Fig. 6 is a view looking in the direction of arrows VI
in Fig. 3;
Fig. 7 is a front view of an embodiment of the present invention;
Fig. 8 is a view looking in the direction of arrows VIII in Fig. 7;
Fig. 9 is a front view of a further embodiment of the present invention; and Fig. 10 is a view looking in the direction of arrows X
in Fig. 9.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Preferred embodiments of the present invention will be described in conjunction with the attached drawings.
Figs. 7 and 8 illustrate an embodiment of the present invention in which the same components as in Figs. 1 to 6 are referred to by the same reference numerals and whose basic arrangement is the same as that in the conventional system shown in Figs. 1 to 6. This embodiment resides in that, as shown in Figs. 7 and 8, vibration sensors 28 such as acceleration sensors or speed sensors for sensing any vibration of the head block 15 in traverse direction of the trolley 9 are arranged symmetrically with respect to lateral center line L of the head block 15 and that active damping means 31 each having a mass 29 movable in traverse direction of the trolley 9 and an actuator 30 for driving the movable mass 29 in a direction of counteracting the vibration of the head block 15 sensed by the vibration sensor 28 are arranged symmetrically with respect to the lateral center line L of the head block 15.
In this embodiment, each of the damping means 31 is provided in such a manner that a nut member 33 is screwed on a screw shaft 32 extending in traverse direction of the trolley 9 and the movable mass 29 is integrally mounted on the nut member 33. Rotation of the screw shaft 32 by the actuator 30 forcibly causes the movable mass 29 to be moved in the same cycle with the same wavelength as those of vibration of the head block 15 and with phase difference of 90~ from the same.
Next, operation of the above-mentioned embodiment will be described.
When vibration occurs on the head block 15 suspended integrally with the spreader 16, the vibration of the head block 15 in traverse direction of the trolley 9 is sensed by each of the vibration sensors 28 arranged symmetrically with respect to the lateral center line L of the head block 15. In response to the sensed vibration of the head block 15, the movable mass 29 of each of the damping means 31 is driven by the corresponding actuator 30 in a direction of counteracting the vibration.
If there were provided only one damping means 31, it could cope with sway and rocking of the head block 15 but could not cope with skew. However, in the embodiment shown in Figs. 7 and 8, both the vibration sensors 28 and the damping means 31 are arranged symmetrically with respect to the lateral center line L of the head block 15 and can cope with any type of vibration such as sway, rocking or skew of the head block 15.
Thus, not only sway but also rocking and skew of the head block 15 suspended integrally with the spreader 16 can be adequately suppressed and loading and unloading operations can be efficiently performed.
Figs. 9 and 10 illustrate a further embodiment of the present invention in which the same components as in Figs. 7 and 8 are referred to by the same reference numerals.
Vibration sensors 28 such as acceleration sensors and speed sensors for sensing vibration of the spreader 16 in traverse direction of the trolley 9 are arranged symmetrically with respect to the lateral center line L of the spreader 16. Also, active damping means 31 each having a mass 29 movable in transverse direction of the trolley 9 and an actuator 30 for driving the movable mass 29 in a direction of counteracting the vibration of the spreader 16 detected by the vibration sensor 28 are arranged symmetrically with respect to the lateral center line L of the spreader 16.
In the embodiment shown in Figs. 9 and 10, each of the damping means 31 is provided in such a manner that a nut member 33 is screwed on the screw shaft 32 extending in traverse direction of the trolley 9 and a movable mass 29 is integrally mounted on the nut member 33. Rotation of the screw shaft 32 by the actuator 30 forcibly causes the movable mass 29 to be moved at the same cycle and with the same wavelength as those of the vibration of the spreader 16 and with phase difference of 90~ from the same.
In the embodiment shown in Figs. 9 and 10, when vibration occurs on the spreader 16 interlocked with the head block 15, the vibration of the spreader 16 in traverse direction of the trolley 9 is sensed by each of the vibration sensors 28 arranged symmetrically with respect to the lateral center line L of the spreader 16. In response to the sensed vibration of the spreader 16, the movable mass 29 of each of the damping means 31 is driven by the corresponding actuator 30 in a direction of counteracting the vibration.
If there were provided only one damping means 31, it could cope with sway and rocking of the spreader 16 but could not cope with skew. However, in the embodiment shown in Figs.
9 and 10, both the vibration sensors 28 and the damping means 31 are arranged symmetrically with respect to the lateral center line L of the spreader 16 and can cope with any type of vibration such as sway, rocking or skew of the spreader 16.
Thus, not only sway but also rocking and skew of the spreader 16 suspended integrally with the head block 15 can be adequately suppressed and loading and unloading operations can be efficiently performed.
It is to be understood that a container crane according to the present invention is not limited to the above embodiments and that various changes and modifications may be made without departing from the spirit and the scope of the present invention.
As described above, a container crane according to the present invention has meritorious effects of suppressing not only sway of the head block and the spreader but also vibrations such as rocking and skew of the same and of efficiently performing loading and unloading operations.
Claims (2)
1. A container crane having a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the head block in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the head block; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the head block sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the head block.
vibration sensors for sensing any vibration of the head block in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the head block; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the head block sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the head block.
2. A container crane having a trolley adapted to be moved in traverse direction along traverse rails and a spreader hoistably suspended from the trolley through a head block and adapted to grip a container, said container crane comprising:
vibration sensors for sensing any vibration of the spreader in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the spreader; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the spreader sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the spreader.
vibration sensors for sensing any vibration of the spreader in traverse direction of the trolley, said sensors being arranged symmetrically with respect to lateral center line of the spreader; and damping means each having a mass movable in traverse direction of the trolley and an actuator for driving the movable mass in response to the vibration of the spreader sensed by said sensors and in a direction of counteracting said vibration, said damping means being arranged symmetrically with respect to the lateral center line of the spreader.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29491296A JPH10139366A (en) | 1996-11-07 | 1996-11-07 | Spreader for container crane |
| JP8-294912 | 1996-11-07 | ||
| JP8-302953 | 1996-11-14 | ||
| JP30295396A JPH10139361A (en) | 1996-11-14 | 1996-11-14 | Head block for container crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2219433A1 true CA2219433A1 (en) | 1998-05-07 |
Family
ID=26560039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002219433A Abandoned CA2219433A1 (en) | 1996-11-07 | 1997-10-24 | Container crane |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0841296A1 (en) |
| KR (1) | KR19980041984A (en) |
| CN (1) | CN1184074A (en) |
| AU (1) | AU4275497A (en) |
| CA (1) | CA2219433A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477423A (en) * | 2015-08-27 | 2017-03-08 | 富士电梯（合肥）有限公司 | A kind of elevator device against shake and its anti-shaking method |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19918449C2 (en) * | 1999-04-23 | 2001-09-13 | Noell Stahl Und Maschb Gmbh | Load lifting system for fine positioning and active vibration damping |
| JP2001114492A (en) * | 1999-08-12 | 2001-04-24 | Mitsubishi Heavy Ind Ltd | Crane device |
| US7845087B2 (en) | 1999-12-14 | 2010-12-07 | Voecks Larry A | Apparatus and method for measuring and controlling pendulum motion |
| US7121012B2 (en) | 1999-12-14 | 2006-10-17 | Voecks Larry A | Apparatus and method for measuring and controlling pendulum motion |
| WO2001081232A1 (en) * | 2000-04-24 | 2001-11-01 | Natsteel Engineering Pte Ltd. | A spreader |
| DE20216321U1 (en) * | 2002-05-13 | 2003-02-20 | Noell Crane Sys Gmbh | Trolley for a crane comprises an upper part consisting of a chassis support connected to a lower part via compression-tension girders and chassis girders, and a plane load-bearing structure connecting a truss to a lifting gear frame |
| FI117969B (en) * | 2004-09-01 | 2007-05-15 | Kalmar Ind Oy Ab | Plant and method for stopping a rotary pendulum movement of a container |
| CN101590986B (en) * | 2009-04-30 | 2011-08-03 | 大连华锐股份有限公司 | Method for real-time monitoring of hoisting mechanism of crane |
| EP2574819B1 (en) | 2011-09-30 | 2014-04-23 | Siemens Aktiengesellschaft | Speed-proportional active oscillation attenuator |
| EP2902356B1 (en) * | 2014-01-29 | 2016-03-23 | Siemens Aktiengesellschaft | Crane with active damping of pendular movements of loads |
| CN106477419A (en) * | 2015-08-27 | 2017-03-08 | 富士电梯（合肥）有限公司 | A kind of elevator start and stop stabilising arrangement and its control method |
| KR101702779B1 (en) * | 2015-10-29 | 2017-02-03 | 세메스 주식회사 | Hand unit of overhead hoist transport |
| CN107285198A (en) * | 2017-08-01 | 2017-10-24 | 润邦卡哥特科工业有限公司 | A kind of crane hanger sway stabilisation system and its operating method |
| JP7248147B2 (en) * | 2019-11-20 | 2023-03-29 | 村田機械株式会社 | overhead carrier |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1694084A (en) * | 1926-05-25 | 1928-12-04 | Halver R Straight | Crane |
| US3210114A (en) * | 1963-11-21 | 1965-10-05 | Lawton Lawrence | Apparatus for orienting a suspended load |
| DE2356504A1 (en) * | 1973-11-13 | 1975-05-15 | Krupp Gmbh | Crane load handling tackle - has fans at ends of span to counteract any tendency to swing by generating thrust |
| US5186342A (en) * | 1990-11-07 | 1993-02-16 | Paceco Corp. | Integrated passive sway arrest system for cargo container handling cranes |
| JPH08290892A (en) * | 1995-04-24 | 1996-11-05 | Mitsubishi Heavy Ind Ltd | Steady brace device of suspended cargo |
-
1997
- 1997-10-22 AU AU42754/97A patent/AU4275497A/en not_active Abandoned
- 1997-10-24 CA CA002219433A patent/CA2219433A1/en not_active Abandoned
- 1997-10-30 EP EP97308691A patent/EP0841296A1/en not_active Withdrawn
- 1997-10-31 KR KR1019970056775A patent/KR19980041984A/en not_active Application Discontinuation
- 1997-11-06 CN CN97122265A patent/CN1184074A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477423A (en) * | 2015-08-27 | 2017-03-08 | 富士电梯（合肥）有限公司 | A kind of elevator device against shake and its anti-shaking method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0841296A1 (en) | 1998-05-13 |
| AU4275497A (en) | 1998-05-14 |
| CN1184074A (en) | 1998-06-10 |
| KR19980041984A (en) | 1998-08-17 |
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