CN101209803A - Crane - Google Patents
Crane Download PDFInfo
- Publication number
- CN101209803A CN101209803A CN 200710167489 CN200710167489A CN101209803A CN 101209803 A CN101209803 A CN 101209803A CN 200710167489 CN200710167489 CN 200710167489 CN 200710167489 A CN200710167489 A CN 200710167489A CN 101209803 A CN101209803 A CN 101209803A
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- CN
- China
- Prior art keywords
- suspension bracket
- actuator
- suspender
- cargo
- side suspension
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C1/104—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 for two or more containers side by side
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/223—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/002—Container cranes
Abstract
The present invention provides a crane in which the sway of a lifter (spreader) or a lifted load (container) can be stopped (suppressed) in a short period of time, the positioning of the lifter or the lifted load can be carried out easily and quickly, the operability of the crane can be improved, and shortening of the loading and unloading time can be achieved. The crane is provided with a lifter that holds plural loads, there is provided an actuator that is able to change a relative position between the lifted loads, and by driving the actuator according to a deviation from the target position, the lifted load or load holding part of the lifter can be positioned on a target position.
Description
Technical field
The present invention relates to a kind of hoisting crane, be particularly related to container handling crane, this hoisting crane can be advanced along harbour and be moved back and forth between the hatch of harbour and boats and ships simultaneously, so as with cargo-carring freight container and other items from the boats and ships that pull in to shore be discharged to the land or with the container loading of land to boats and ships.
Background technology
Known opening for example spy disclosed a kind of container handling crane in the 2003-252568 communique.
Be provided with the suspender swing restraining device that is used for eliminating (inhibition) suspender (suspension bracket) or lifting cargo (freight container and other items) swing in the container handling crane that in above-mentioned document, discloses.
But this suspender swing restraining device comes (elimination) to suppress the swing of suspender or lifting cargo by making the motion of trol(l)ey (-lly) or elevator cable.Therefore, have following problem: the motion of trol(l)ey (-lly) or elevator cable can take place when being conveyed to suspender and the cooresponding time delay of oscillation period, thereby speed of answer is slack-off, suppresses the required time lengthening of pendulum pendulum.
Summary of the invention
The present invention be directed to that above situation makes, its purpose is to provide a kind of hoisting crane, this lifting function is eliminated the swing of (inhibition) suspender or lifting cargo at short notice, can be easily and promptly carry out the location of suspender or lifting cargo, and, when can improving crane operation, also can shorten the loadingunloading time.
In order to solve above-mentioned problem, the present invention has adopted following means.
Relate to hoisting crane of the present invention, be provided with the goods of target location and lifting cargo or the suspender detecting device that detects of position deviation of part of slinging, can in the suspender that can lift by crane many lifting cargos, change the actuator of relative distance between lifting cargo, and the control setup that carries out above-mentioned actuator control according to above-mentioned position deviation, wherein, above-mentioned control setup has control program, this control program is by the position deviation amount of the part of slinging according to the goods of target location and lifting cargo or suspender, drive above-mentioned actuator, thereby utilize the remainder of suspender and the inertia of remaining lifting cargo, make by the goods of lifting cargo of above-mentioned suspender lifting or the suspender part aligned position on the target location of slinging.
Promptly, because for for the suspender of crane loading, lifting cargo, the tension force of its gravity and cable wire offsets substantially, therefore, can reach near the state that does not have external force, state when the actuator that drives under the condition that does not have external force between two objects is shown in Figure 13 A and Figure 13 B, utilization can be controlled position, this situation of speed of a side, can be in the suspender of many lifting cargos that is used for once slinging, use the actuator in the suspender, the goods of a lifting cargo or the suspender part of slinging is stopped on the target location.
Even more ideal is, in above-mentioned hoisting crane, above-mentioned control setup is provided with device or the device that receives altitude information that detects the target location height and detects the detector that volume hangs height, and, be provided with the autofitting control program, this program stops under the state on the target location in the goods that makes lifting cargo or the suspender part of slinging, and volume is reduced to the target location height, realizes in place thus or controls lifting cargo.
Even more ideal is, in above-mentioned hoisting crane, above-mentioned autofitting control program is set at, swing or dislocation at suspender are bigger, during driving above-mentioned actuator according to above-mentioned automatic control program, the stroke of above-mentioned actuator does not have surplus in the part of oscillation period, stop under the situation on the target location up to the goods that can't make lifting cargo or the suspender in place part of slinging, be used in volume in place fall the operation stop, when returning in the actuator range according to oscillation period, according to above-mentioned automatic control program the goods of lifting cargo or suspender being sling partly stops on the target location, be used for hoisting crane in place volume and fall operation, make thus the goods of lifting cargo or suspender sling part stop under the state of target location in place.
Even more ideal is, in above-mentioned hoisting crane, above-mentioned autofitting control program is set at, the goods that makes a lifting cargo or suspender sling part in place after, for the goods of suspender is sling partly, after controlling lifting cargo, with the goods of above-mentioned lifting cargo or suspender sling the part friction force or hold be fulcrum, the restriction propulsive effort is so that it is no more than above-mentioned friction force or hold, the part aligned position on the target location that drives above-mentioned actuator on this basis so that the innage of residue lifting cargo or suspender is sling.
Even more ideal is, in above-mentioned hoisting crane, above-mentioned suspender is lap siding suspension bracket (tandemspreader), and it is provided with the 1st suspension bracket and the 2nd suspension bracket that lifting cargo is sling side by side along 2 short-axis directions.
Even more ideal is, in above-mentioned hoisting crane, in above-mentioned the 1st suspension bracket and/or above-mentioned the 2nd suspension bracket, be respectively equipped with the filming apparatus of photographic subjects position, after will being delivered to control setup and handling by this filming apparatus shot image data, again it be delivered to above-mentioned actuator.
According to this hoisting crane, by making actuator action and make the bar of this actuator flexible, locate thereby for example can make any one suspension bracket in the 1st suspension bracket or the 2nd suspension bracket utilize the inertia (is fulcrum with another suspension bracket) of another suspension bracket to stop at target location (" loaded " position).
That is, shown in Figure 13 A and 13B,, thereby can make a suspension bracket stop at target location by the other parts that make suspender integral body focus on suspender with respect to the deviation and the speed of object point.
In this way, can be easily, promptly to carrying out the location of a suspension bracket, thus can improve the operability of hoisting crane, simultaneously, can shorten the loadingunloading time.
In addition, even since unskilled operating personal also can be easily, promptly suspension bracket is positioned, therefore, can reduce because of the difference on the loadingunloading time that difference caused of operating personal skill level.And, can make suspender safety, in place exactly, thereby guarantee to carry out the Ground Operation personnel or the shipboard operation personnel's of handling labor safety, simultaneously, can prevent that freight container and other freight container that suspender or suspender are controlled from bumping.
A kind of hoisting crane that is provided with two suspension brackets (twin spreader) is provided in relating to a kind of form of hoisting crane of the present invention, this pair suspension bracket can come and go the trol(l)ey (-lly) that moves from the bearing of trend along summer up or down and suspend in midair, and be provided with the 1st suspension bracket and the 2nd suspension bracket that dispose side by side along the bearing of trend or the direction vertical of above-mentioned summer with above-mentioned summer bearing of trend, wherein, above-mentioned the 1st suspension bracket and above-mentioned the 2nd suspension bracket link to each other by being provided with along the actuator of the flexible bar of the bearing of trend of above-mentioned summer or being provided with along the actuator with the flexible bar of the vertical direction of the bearing of trend of above-mentioned summer.
Use this hoisting crane,, can make a suspension bracket in the 1st suspension bracket or the 2nd suspension bracket utilize the inertia (is fulcrum with another suspension bracket) of another suspension bracket to stop on the target location (" loaded " position) by making actuator action and making the bar of this actuator flexible.
In this way, can be easily, promptly suspension bracket is positioned, improve the operability of hoisting crane, simultaneously, can shorten the loadingunloading time.
In addition, even, therefore, can reduce because of the difference on the loadingunloading time that difference caused of operating personal skill level because unskilled operating personal also can easily, promptly carry out the location of suspender.
A kind of hoisting crane that is provided with the lap siding suspension bracket is provided in relating to a kind of form of hoisting crane of the present invention, this lap siding suspension bracket comes and goes cargo block (head block) suspention of moving from the bearing of trend along summer with trol(l)ey (-lly), and have the 1st suspension bracket and the 2nd suspension bracket that dispose side by side along the bearing of trend or the direction vertical of above-mentioned summer with above-mentioned summer bearing of trend, wherein, above-mentioned the 1st suspension bracket and above-mentioned cargo block and above-mentioned the 2nd suspension bracket and above-mentioned cargo block link to each other by being provided with along the actuator of the flexible bar of above-mentioned summer bearing of trend or being provided with along the actuator with the flexible bar of the vertical direction of above-mentioned summer bearing of trend respectively.
According to this hoisting crane, by making actuator action and making the bar of this actuator flexible, can make the 1st suspension bracket and/or the 2nd suspension bracket utilize the inertia (is fulcrum with the cargo block) of cargo block, stop on the target location (" loaded " position).
In this way, can be easily, promptly suspension bracket is positioned, improve the operability of hoisting crane, simultaneously, can shorten the loadingunloading time.
In addition, even, therefore, can reduce because of the difference on the loadingunloading time that difference caused of operating personal skill level because unskilled operating personal also can easily, promptly carry out the location of suspender.
Even more ideal is, the 2nd actuator is set in above-mentioned hoisting crane, the 2nd actuator is provided with along the direction flexible bar vertical with the flexible direction of the bar of above-mentioned actuator, and an end of the 2nd actuator links to each other with above-mentioned the 1st suspension bracket, and the other end links to each other with above-mentioned the 2nd suspension bracket.
According to this hoisting crane, for example, even the 1st suspension bracket and/or the 2nd suspension bracket are along the direction swing vertical with the flexible direction of the bar of above-mentioned actuator, still can make any one suspension bracket in the 1st suspension bracket or the 2nd suspension bracket utilize the inertia (is fulcrum with another suspension bracket or cargo block) of another suspension bracket or cargo block stop at targeted containers directly over, thereby can further improve the operability and the reactivity of hoisting crane, can further shorten the loadingunloading time simultaneously.
Description of drawings
Fig. 1 is for showing the front view of the 1st embodiment that relates to container handling crane of the present invention.
Fig. 2 is the front view of lap siding suspension bracket shown in Figure 1.
Fig. 3 has shown the 2nd embodiment of container handling crane of the present invention, and it is the front view of lap siding suspension bracket.
Fig. 4 is the birds-eye view of lap siding suspension bracket shown in Figure 3.
Fig. 5 is for being used to illustrate that container handling crane is at the diagram of circuit that obtains (reception) concrete operation (operation) method when being loaded into freight container on the boats and ships that pull in to shore.
Fig. 6 is for being used to illustrate that container handling crane is at the diagram of circuit that obtains (reception) concrete operation (operation) method when being loaded into freight container on the boats and ships that pull in to shore.
Fig. 7 has shown the 3rd embodiment of container handling crane of the present invention, and it is the front view of lap siding suspension bracket.
Fig. 8 is the birds-eye view of lap siding suspension bracket shown in Figure 7.
Fig. 9 has shown the 3rd embodiment of container handling crane of the present invention, and it is the front view of lap siding suspension bracket.
Figure 10 has shown the 4th embodiment of container handling crane of the present invention, and it is the front view of lap siding suspension bracket.
Figure 11 has shown other embodiment of container handling crane of the present invention, and it is the birds-eye view of lap siding suspension bracket.
Figure 12 is the diagram of circuit that is used to illustrate other embodiment of container handling crane of the present invention.
Figure 13 A and 13B are respectively applied for the principle of explanation localization method of the present invention.
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
[the 1st embodiment]
Below, with reference to Fig. 1 and Fig. 2 to relating to hoisting crane of the present invention (hereinafter referred to as " container handling crane ".) the 1st embodiment describe.Fig. 1 relates to the front view of the container handling crane of present embodiment, and Fig. 2 is the front view of lap siding suspension bracket shown in Figure 1.
Container handling crane 1 be a kind of for go up from the boats and ships (not shown) that pull in to shore with cargo-carring freight container and other items (below, be called freight container.) be discharged to the land or with the container loading of land to boats and ships, when harbour is advanced between land and ship hatch reciprocating hoisting crane.
As shown in Figure 1, container handling crane 1 is erect and is arranged on the track R that is configured on the harbour ground basal plane G, constitutes for main important document with a plurality of wheels 2 of advancing, foot 3 and summer 4.
A plurality of wheels 2 of advancing are arranged at the lower end of foot 3.In addition, in foot 3, in position locate to be provided with the supporting member 5 of other foot 3 of a plurality of supportings and summer 4.
With the direction parallel summer 4 is set with harbour ground basal plane G.The pallet 6 of advancing is set on this summer 4, and trol(l)ey (-lly) 7 can be advanced on this its Width of pallet 6 upper edges of advancing (long limit).In addition, on this summer 4 Machine Room 8 is set, this Machine Room is provided with the actuating device that this trol(l)ey (-lly) 7 is advanced.
On trol(l)ey (-lly) 7, be useful on the lap siding suspension bracket 9 of loading and unloading as the freight container (not shown) of lifting cargo by winch rope 10 suspentions.
In addition, drive lap siding suspension bracket 9 (or freight container) bevelled suspender reclining device 11 in the last setting of an end (end of the land side) 4a of summer 4 by winch rope 10.
As shown in Figure 2, lap siding suspension bracket 9 is that main important document constitutes with land side suspension bracket (the 1st suspension bracket) 12, seawater side suspension bracket (the 2nd suspension bracket) 13, cargo block 14 and actuator 15.
Land side suspension bracket 12 and seawater side suspension bracket 13 suspend in midair from cargo block 14 by suspention rope 16 respectively, in four jiaos bottom of land side suspension bracket 12 and seawater side suspension bracket 13 mechanism 17 that catches freight container are set respectively.
On the top of cargo block 14 lifting pulley 18 is set, and winch rope 10 is wound on each lifting pulley 18.
On land side suspension bracket 12 arm 12a is set, on seawater side suspension bracket 13 arm 13a is set, simultaneously, an end of actuator 15 logical pin 12b links to each other with arm 12a, and the other end of actuator 15 links to each other with arm 13a by pin 13b.Interval adjustment between land side suspension bracket 12 and the seawater side suspension bracket 13 is undertaken by making actuator 15 action and the bar 15a of this actuator 15 being stretched.
The container handling crane 1 that relates to present embodiment constitutes, can carry out by suspender reclining device 11 adjustment of verting (balance adjustment) of long limit (length) direction of cargo block 14 and width (about) adjustment of verting (balance adjustment) of direction.
Below, operation (operation) method of hoisting crane 1 when receiving (acquisition) and be loaded in freight container on the boats and ships that pull in to shore described.
At first, for make in land side suspension bracket 12 or the seawater side suspension bracket 13 any one suspension bracket (for example, land side suspension bracket 12) arrive targeted containers (target location (object point)) directly over or avoid disturbing and in the stroke range of actuator, slide and be positioned at (arrivals) distance set case above the high position of 100cm, the actuating device that driving is advanced trol(l)ey (-lly) 7, trol(l)ey (-lly) 7 is moved along the long side direction of summer 4, simultaneously, drive winding drum (not shown) and winch rope 10 volumes are fallen, thereby make lap siding suspension bracket 9 whole declines.
Afterwards, by making actuator 15 actions and making the bar 15a of this actuator 15 flexible, make in land side suspension bracket 12 or the seawater side suspension bracket 13 any (for example, land side suspension bracket 12) (for example utilizes another suspension bracket, seawater side suspension bracket 13) inertia (is fulcrum with another suspension bracket (for example, seawater side suspension bracket 13)) stops at as directly over the freight container of target.Afterwards, under this state, drive winding drum (not shown) once more, winch rope 10 is further rolled up fallen, thereby make the 9 whole further declines of lap siding suspension bracket, thereby by the mechanism 17 that catches freight container, connect a suspension bracket (for example, land side suspension bracket 12) with as the freight container of target.
Herein, though, carried out temporarily stopping to roll up the action of falling, still, in fact can proceed volume and fall operation at the height place of 100cm in order to illustrate.
For (for example at a suspension bracket, land side suspension bracket 12) controls after (catching: in place) targeted containers, another suspension bracket (for example seawater side suspension bracket 13) is utilized control the friction force (is fulcrum with a suspension bracket (for example land side suspension bracket 12)) of the hold of a suspension bracket (for example land side suspension bracket 12) of freight container in place and freight container stop at targeted containers directly over (promptly, enter in the allowed band in place), and make actuator 15 action and make the bar 15a of this actuator 15 flexible, connect another suspension brackets (for example seawater side suspension bracket 13) and freight container by the mechanism 17 that catches freight container as target.
At this moment, better is to carry out following operation, promptly, utilize suspender reclining device 11 to carry out the balance adjustment, make another suspension bracket (for example seawater side suspension bracket 13) be positioned at the top (that is, the mechanism that catches freight container 17 of another suspension bracket (for example seawater side suspension bracket 13) can not interfere with the top of freight container) of a suspension bracket (for example land side suspension bracket 12).
Below, concrete operation (operation) method to the boats and ships that pull in to shore the time describes with container loading to container handling crane 1.
At first, the actuating device that driving is advanced trol(l)ey (-lly) 7, trol(l)ey (-lly) 7 is moved along the long side direction of summer 4, simultaneously, drive winding drum (not shown) and winch rope 10 volumes are fallen, lap siding suspension bracket 9 is whole to descend thereby make so that any in land side suspension bracket 12 or the seawater side suspension bracket 13 (for example land side suspension bracket 12) be positioned at (arrival) targeted containers (target location (object point)) directly over and the position of 100cm above the freight container for example.
Afterwards, by making actuator 15 action and make the bar 15a of this actuator 15 flexible, thus make land side suspension bracket 12 or seawater side suspension bracket 13 any (for example land side suspension bracket 12) utilize the inertia (is fulcrum with another suspension bracket (for example seawater side suspension bracket 13)) of another suspension bracket (for example seawater side suspension bracket 13) stop at target location (" loaded " position) directly over.Afterwards, under this state, drive winding drum (not shown) once more, winch rope 10 is further rolled up fallen and lap siding suspension bracket 9 integral body are further rolled up and fall, locate thereby the freight container that a suspension bracket (for example land side suspension bracket 12) is controlled is located in target location (" loaded " position).
Herein, though for convenience of explanation, carried out highly locating to make volume to fall the action that temporarily stops, can having proceeded volume and fall process at 100cm.
For the freight container of controlling (catching) at a suspension bracket (for example land side suspension bracket 12) target location (" loaded " position) locate in place after, another suspension bracket (for example seawater side suspension bracket 13) is utilized control the friction force (be fulcrum with a suspension bracket (for example land side suspension bracket 12)) of the hold of a suspension bracket (for example land side suspension bracket 12) of freight container in place and freight container stop at target location (" loaded " position) directly over (it is interior promptly to enter allowed band in place), and make actuator 15 actions and make the bar 15a of this actuator 15 flexible, thereby being located in target location (" loaded " position), the freight container that makes another suspension bracket (for example seawater side suspension bracket 13) control (catching) locates.
At this moment, better is to carry out following operation, promptly, utilize suspender reclining device 11 to carry out the balance adjustment, make top that another suspension bracket (for example seawater side suspension bracket 13) is positioned at a suspension bracket (for example land side suspension bracket 12) (promptly, the mechanism that catches freight container 17 of another suspension bracket (for example, seawater side suspension bracket 13) does not interfere with the upper surface of freight container).
In addition and since container handling crane on land with container loading to (being placed on) trailer the time and the concrete operating method of reception (acquisition) when being loaded in freight container on the trailer identical with the said method cardinal principle, so omitted explanation to it at this.
The container handling crane 1 of present embodiment, by making actuator 15 action and make the bar 15a of this actuator 15 flexible, locate thereby can make any (for example land side suspension bracket 12) in land side suspension bracket 12 or the seawater side suspension bracket 13 utilize the inertia (is fulcrum with another suspension bracket (for example seawater side suspension bracket 13)) of another suspension bracket (for example seawater side suspension bracket 13) to stop at target location (" loaded " position).
In this way, can be easily, promptly suspension bracket 12,13 is positioned, thus can improve the operability of container handling crane 1, can shorten the loadingunloading time simultaneously.
In addition, even unskilled operating personal also can be easily, promptly suspension bracket 12,13 is positioned, thereby can reduce because of the difference on the loadingunloading time that difference caused of operating personal skill level.
[the 2nd embodiment]
Below, by Fig. 3 to Fig. 6 the 2nd embodiment of container handling crane of the present invention is described.
Fig. 3 relates to the front view of the lap siding suspension bracket of present embodiment, Fig. 4 relates to the birds-eye view of the lap siding suspension bracket of present embodiment, and Fig. 5 and Fig. 6 are respectively and are used to illustrate that container handling crane is at the diagram of circuit that obtains (reception) concrete operation (operation) method when being loaded into freight container on the boats and ships that pull in to shore.
Relating to the container handling crane 20 of present embodiment and the difference of above-mentioned the 1st embodiment is: replace lap siding suspension bracket 9, be provided with lap siding suspension bracket 21.Other structure important document is all identical with above-mentioned the 1st embodiment, so omitted the explanation of these constitutive requirements herein.
In addition, identical with above-mentioned the 1st embodiment parts have adopted identical label.
As shown in Figures 3 and 4, lap siding suspension bracket 21 is that primary member constitutes with land side suspension bracket (the 1st suspension bracket) 22, seawater side suspension bracket (the 2nd suspension bracket) 23 and actuator 24.
Top at land side suspension bracket 22 and seawater side suspension bracket 23 is provided with lifting pulley 18 respectively, the winch rope 10 of having reeled on each lifting pulley 18 simultaneously.In addition, in the bottom at four angles of land side suspension bracket 22 and seawater side suspension bracket 23 mechanism 17 that catches freight container is set respectively.And, the photographic camera (filming apparatus) 25 be used for photographic subjects position (" loaded " position) etc. also is installed on a side (being the side of quay side in the present embodiment) of land side suspension bracket 22, the photographic camera (filming apparatus) 26 that is used for photographic subjects position (" loaded " position) etc. is installed in the side (being the side of seawater side in the present embodiment) of seawater side suspension bracket 23.To export to after not shown controller (control setup) handles by these photographic camera 25,26 shot image data, export them to actuator 24 respectively.
On land side suspension bracket 22, arm 22a is set, on seawater side suspension bracket 23, arm 23a is set, simultaneously, an end of actuator 24 is linked to each other with arm 22a, another end of actuator 24 is linked to each other with arm 23a by pin 22b.The interval adjustment that land side suspension bracket 22 and seawater side suspension bracket are 23 can be by making actuator 24 action and making flexible the carrying out of bar 24a of this actuator 24.
The state that Fig. 3 shows is: utilize suspender reclining device 11 to carry out the balance adjustment, the mode that makes land side suspension bracket 22 be positioned at the top (that is, the mechanism 17 that catches the freight container of land side suspension bracket 22 when seawater side suspension bracket 23 is in place does not interfere with the upper surface of freight container) of seawater side suspension bracket 23 is operated.
Below, operation (operation) method when utilizing Fig. 5 and Fig. 6 that container handling crane 20 is obtained (reception) and is loaded in freight container on the boats and ships that pull in to shore describes.
At first, the actuating device that driving is advanced trol(l)ey (-lly) 7, trol(l)ey (-lly) 7 is moved along the long side direction of summer 4, drive winding drum (not shown) simultaneously and winch rope 10 volumes are fallen, lap siding suspension bracket 9 is whole to descend thereby make, so as to make land side suspension bracket 22 or seawater side suspension bracket 23 any (for example seawater side suspension bracket 23) be positioned at (arrival) targeted containers (target location (object point)) directly over and for example apart from the position of freight container upper surface 100cm.
Afterwards, as shown in Figure 5, by photographic camera 26 shot image data, according to the departure of seawater side suspension bracket 23 with targeted containers (target location (object point)), the direction that reduces along departure makes actuator 24 actions (action), promptly seawater side suspension bracket 23 utilize the inertia (is fulcrum with land side suspension bracket 22) of land side suspension bracket 22 stop at targeted containers directly over (it is interior promptly to enter allowed band in place).Afterwards, under this state, carry out the balance adjustment by suspender reclining device 11, so that land side suspension bracket 22 is positioned at seawater side suspension bracket 23 tops (promptly, the mechanism 17 that catches the freight container of land side suspension bracket 22 does not interfere with the upper surface of freight container) mode operate, and connect seawater side suspension bracket 23 and targeted containers by the mechanism 17 that catches freight container.
As shown in Figure 6, after a suspension bracket (for example seawater side suspension bracket 23) is controlled (catching: in place) targeted containers, again based on photographic camera 25 shot image data, according to the departure between land side suspension bracket 22 and targeted containers (target location (object point)), the direction that reduces to this departure makes actuator 24 actions (action), promptly land side suspension bracket 22 utilize the hold of seawater side suspension bracket 23 and the friction force of freight container (is fulcrum with seawater side suspension bracket 23) stop at targeted containers directly over (it is interior promptly to enter allowed band in place).Afterwards, under this state, carry out the balance adjustment, operate, connect land side suspension bracket 22 and targeted containers by the mechanism 17 that catches freight container in the mode that land side suspension bracket 22 and seawater side suspension bracket 23 are positioned at roughly the same height by suspender reclining device 11.
In addition, container handling crane 20 with container loading concrete operation (operation) method to the boats and ships that pull in to shore the time and container handling crane 20 to obtain (reception) concrete operating method when being loaded in freight container on the boats and ships that pull in to shore identical substantially, the Therefore, omited to its explanation.
Container handling crane in the land side with container loading to trailer the time and to obtain (reception) concrete operation (operation) method when being loaded in freight container on the trailer also identical substantially with said method, the Therefore, omited to its explanation.
The container handling crane 20 of present embodiment can carry out the location of suspension bracket 22,23 automatically, therefore, can further improve the operability of container handling crane 1, can further shorten the loadingunloading time simultaneously.
Other action effect is identical with above-mentioned the 1st embodiment, has omitted the explanation to them herein.
[the 3rd embodiment]
Below, by Fig. 7 to Fig. 9 the 3rd embodiment that relates to container handling crane of the present invention is described.
Fig. 7 and Fig. 9 are respectively the front view of the lap siding suspension bracket that relates to present embodiment, and Fig. 8 is the birds-eye view that relates to the lap siding suspension bracket of present embodiment.
Relating to the container handling crane 30 of present embodiment and the difference of above-mentioned the 2nd embodiment is: replace lap siding suspension bracket 21, be provided with lap siding suspension bracket 31.Other constitutive requirements are identical with above-mentioned the 2nd embodiment, so locate to have omitted the explanation to these constitutive requirements.
In addition, identical with above-mentioned the 2nd embodiment parts have adopted identical label.
To shown in Figure 9, lap siding suspension bracket 31 is that main important document constitutes with land side suspension bracket (the 1st suspension bracket) 12, seawater side suspension bracket (the 2nd suspension bracket) 13, cargo block 14 and actuator 32,33 as Fig. 7.
Land side suspension bracket 12 and seawater side suspension bracket 13 respectively by suspention rope 16 from cargo block 14 suspention, be provided for catching the mechanism 17 of freight container respectively in the bottom at four angles of land side suspension bracket 12 and seawater side suspension bracket 13.And, (being the side of land side in the present embodiment) gone up to install and is used for the photographic camera (not shown) that wait photographic subjects position (" loaded " position) in a side of land side suspension bracket 12, is used for the photographic camera (not shown) of photographic subjects position (" loaded " position) etc. in a side of seawater side suspension bracket 13 (being the side of seawater side in the present embodiment) installation.After the view data with these camera is delivered to not shown controller and handles, export them to actuator 32,33 respectively.
On the top of cargo block 14 lifting pulley 18 is set, and winch rope 10 is wound on each lifting pulley 18.
On land side suspension bracket 12, arm 12a is set, on seawater side suspension bracket 13, arm 13a is set.In addition, arm 14a, 14b are set below cargo block 14.One end of the actuator 32 of land side suspension bracket 12 work (action) is connected with arm 12a by pin 34, and the other end of actuator 32 is connected with arm 14a by pin 35.On the other hand, an end of the actuator 33 of seawater side suspension bracket 13 work (action) is connected by pin 36 with arm 13a, the other end of actuator 33 is connected with arm 14b.Interval that the height adjustment of the height adjustment of land side suspension bracket 12, seawater side suspension bracket 13 and land side suspension bracket 12 and seawater side suspension bracket are 13 is adjusted, by drive actuator 32 and/or actuator 33 and make bar 32,33 flexible the carrying out of these actuators 32,33.
Stretch out and make the state of the bar 33a contraction of actuator 33 as the bar 32a that makes actuator 32, Fig. 9 has shown with land side suspension bracket 12 and has been positioned at the state that the mode of seawater side suspension bracket 13 tops (that is, the mechanism that catches freight container 17 of land side suspension bracket 12 does not interfere with the upper surface of freight container) is operated.
Below, container handling crane 30 is obtained (reception) concrete operating method when being loaded in freight container on the boats and ships that pull in to shore describe.
At first, driving makes the actuating device that coaster 7 advances and coaster 7 is moved along the long side direction of summer 4, simultaneously, drive winding drum (not shown) and winch rope 10 volumes are fallen, lap siding suspension bracket 9 is whole to descend thereby make so that any of land side suspension bracket 12 or seawater side suspension bracket 13 (for example seawater side suspension bracket 13) arrive targeted containers (target location (object point)) directly over and the position of distance set vanning upper surface 100cm for example.
Afterwards, by by the view data that is installed in the camera on the seawater side suspension bracket 13, according to the departure between seawater side suspension bracket 13 and the targeted containers (target location (object point)), the direction that reduces along this departure makes actuator 33 work (action), even seawater side suspension bracket 13 utilize the inertia (is fulcrum with cargo block 14) of cargo block 14 stop at targeted containers directly over (that is, enter allowed band in place in).Afterwards, under this state, make bar 32a (fully) extension for example to greatest extent of actuator 32, the top that is positioned at seawater side suspension bracket 13 with land side suspension bracket 12 (promptly, the mechanism that catches freight container 17 of land side suspension bracket 12 does not interfere with the upper surface of freight container) mode operate, connect seawater side suspension bracket 13 and targeted containers by the mechanism 17 that catches freight container.
Herein, though in order to illustrate, carried out when the height place of 100cm, temporarily stopping to roll up the action of falling,, volume falls operation and can proceed.
After a suspender (for example seawater side suspension bracket 13) is controlled (catching: in place) targeted containers, based on by the view data that is installed in the camera on the land side suspension bracket 12, according to the departure between land side suspension bracket 12 and the targeted containers (target location (object point)), direction to this departure minimizing, make actuator 32 work (action), even land side suspension bracket 12 utilization control the friction force (is fulcrum with seawater side suspension bracket 13) of the hold of seawater side suspension bracket 13 of freight container in place and freight container stop at targeted containers directly over (that is, entering in the allowed band in place).Afterwards, under this state,, operate in the mode that land side suspension bracket 12 and seawater side suspension bracket 13 roughly are positioned at sustained height with bar 32a (fully) contraction for example to greatest extent of actuator 32, by the mechanism 17 that catches freight container, land side suspension bracket 12 is connected with targeted containers.
In addition, container handling crane 30 with container loading the concrete operating method to the boats and ships that pull in to shore the time and container handling crane 30 to obtain (reception) concrete operating method when being loaded in freight container on the boats and ships that pull in to shore identical substantially, the Therefore, omited but to its omission.
In this way, can improve the operability and the reactivity of container handling crane 1, simultaneously, can further shorten the loadingunloading time.
Other action effect is identical with above-mentioned the 2nd embodiment, so locate to have omitted the explanation to them.
[the 4th embodiment]
Below, utilize Figure 10 that the 4th embodiment that relates to container handling crane of the present invention is described.Figure 10 is the front view that relates to the lap siding suspension bracket of present embodiment.
Relating to the container handling crane 40 of present embodiment and the difference of above-mentioned the 1st embodiment is: replace lap siding suspension bracket 9, lap siding suspension bracket 41 is set.Other constitutive requirements are identical with above-mentioned the 1st embodiment, so locate to have omitted the explanation to these constitutive requirements.
In addition, identical with above-mentioned the 1st embodiment parts have adopted identical label.
As shown in figure 10, lap siding suspension bracket 41 is that main important document constitutes with land side suspension bracket (the 1st suspension bracket) 42, seawater side suspension bracket (the 2nd suspension bracket) 43, cargo block 44 and actuator 45,46.
Land side suspension bracket 42 and seawater side suspension bracket 43 suspend in midair from cargo block 44 by not shown guide rail and deflector roll respectively, and can move with respect to the long side direction round (slip) of cargo block 44 along summer 4.In addition, be provided for catching the mechanism 17 of freight container respectively in the bottom at four angles of land side suspension bracket 42 and seawater side suspension bracket 43.
On the top of cargo block 44 lifting pulley 18 is set, winch rope 10 is wound on each lifting pulley 18.
On land side suspension bracket 42, arm 42a is set, on seawater side suspension bracket 43, arm 43a is set.An end of the actuator 45 of land side suspension bracket 42 work (action) links to each other with arm 42a by pin 47, and the other end of actuator 45 links to each other with the side (face parallel with the long side direction of summer 4) of cargo block 44 by pin 48.On the other hand, an end of the actuator 46 of seawater side suspension bracket 43 work (action) is linked to each other with arm 43a by pin 49, the other end of actuator 46 links to each other with the side (face parallel with the long side direction of summer 4) of cargo block 44 by pin 50.Interval adjustment between land side suspension bracket 42 and the seawater side suspension bracket 43 is by drive actuator 45 and/or actuator 46 and make flexible the carrying out of bar 45a, 46a of actuator 45,46.
Below, container handling crane 40 is obtained (reception) concrete operation (operation) method when being loaded in freight container on the boats and ships that pull in to shore describe.
At first, the actuating device that driving is advanced trol(l)ey (-lly) 7, and trol(l)ey (-lly) 7 is moved along the long side direction of summer 4, drive winding drum (not shown) simultaneously and winch rope 10 volumes are fallen, lap siding suspension bracket 41 is whole to descend thereby make, though any one of land side suspension bracket 42 or seawater side suspension bracket 43 (for example land side suspension bracket 42) arrive targeted containers (target location (object point)) directly over and the position of the top 100cm of distance set vanning for example.
Afterwards, by making actuator 45 work and make the bar 45a of this actuator 45 flexible, thus make land side suspension bracket 42 or seawater side suspension bracket 43 any one (for example land side suspension bracket 42) utilize the inertia (is fulcrum with cargo block 44) of cargo block 44 stop at targeted containers directly over.Afterwards, under this state, drive winding drum (not shown) once more, and winch rope 10 further volumes are fallen, thereby make the 41 whole further declines of lap siding suspension bracket, and, by the mechanism 17 that catches freight container, connect a suspension bracket (for example, land side suspension bracket 42) and targeted containers.
Herein, though in order to illustrate, carried out highly locating to make volume to fall the action that temporarily stops at 100cm,, can proceed volume and fall process.
For after a suspension bracket (for example land side suspension bracket 42) is controlled (catching: in place) targeted containers, make again another suspension bracket (for example seawater side suspension bracket 43) utilize the friction force (is fulcrum with land side suspension bracket 42) of the hold of a manned suspension bracket (for example land side suspension bracket 42) and freight container stop at targeted containers directly over (promptly, enter in the allowed band in place), and make actuator 46 actions and make the bar 46a of this actuator 46 flexible, another suspension bracket (for example, seawater side suspension bracket 43) is connected by the mechanism 17 that catches freight container with targeted containers.
At this moment, even more ideal is operating as: utilize suspender reclining device 11 to carry out the balance adjustment, make top that another suspension bracket (for example seawater side suspension bracket 43) is positioned at a suspension bracket (for example land side suspension bracket 12) (promptly, the mechanism that catches freight container 17 of another suspender (for example, seawater side suspension bracket 13) does not interfere with the upper surface of freight container).
Since container handling crane 40 with container loading the concrete operating method to the boats and ships that pull in to shore the time and container handling crane 40 to obtain (reception) operation (operation) method cardinal principle when being loaded in freight container on the above-mentioned boats and ships that pull in to shore identical, the Therefore, omited to their explanation.
Like this, can be easily, promptly suspension bracket 42,43 is positioned, thus can improve the operability of container handling crane 40, can shorten the loadingunloading time simultaneously.
In addition, though since unskilled operating personal also can be easily, promptly suspension bracket 42,43 is positioned, thereby can reduce because of the difference on the loadingunloading time that difference caused of operating personal skill level.
Certainly, the present invention is not limited to the scope of above-mentioned embodiment, even more ideal is, the lap siding suspension bracket 21 that illustrates in above-mentioned the 2nd embodiment is provided with direct of travel mobile device 60, this device can in land side suspension bracket 22 or the seawater side suspension bracket 23 any one (for example, land side suspension bracket 22) (for example utilizes another suspension bracket, seawater side suspension bracket 23) inertia (with another suspension bracket (for example, seawater side suspension bracket 23) be fulcrum), come and go mobile along the direction (direct of travel of container handling crane 20) parallel with track R bearing of trend.
Direct of travel mobile device 60 is by frame 61, actuator (the 2nd actuator) 62 to be the staple formation.
An end of actuator 62 links to each other with arm 61a by pin 63, and the other end of actuator 62 links to each other with seawater side suspension bracket 23 top set arms 65 by pin 64.
Like this, even lap siding suspension bracket 21 is swung on the direction parallel with track R bearing of trend, any one that still can make land side suspension bracket 22 or seawater side suspension bracket 23 (for example, land side suspension bracket 22) (for example utilizes another suspension bracket, seawater side suspension bracket 23) inertia (is fulcrum with another suspension bracket (for example, seawater side suspension bracket 23)), stop at targeted containers directly over, thereby can further improve the operability and the reactivity of container handling crane 20, can further shorten the loadingunloading time simultaneously.
In addition, in the above-described embodiment, be preferably in the above-mentioned controller and the autofitting control program also be housed (for example, control program shown in Figure 12), in the action of actuator, surplus at actuator range diminishes, thereby any one that can not make land side suspension bracket or seawater side suspension bracket in the part oscillation period stops under the situation directly over the targeted containers, when the stroke of actuator does not have surplus and during causing may misplacing in regard to bit time, this program can contrast arbitrary suspension bracket in place of land side suspension bracket or seawater side suspension bracket, afterwards, in the part oscillation period, the surplus of actuator range increase and make land side suspension bracket or seawater side suspension bracket any one can stop at directly over the targeted containers during, the winch rope volume is fallen and in place.
In this way, can make suspension bracket safety, in place reliably, thereby can guarantee to carry out the surface work personnel or the shipboard operation personnel's of loading and unloading operation safety, simultaneously, can prevent that freight container and other freight container that suspension bracket or suspension bracket are controlled from bumping.
In addition, preferably also be provided with the function that arouses attention, if in the action of actuator, the stroke surplus of actuator diminishes, any one that can't make land side suspension bracket or seawater side suspension bracket in the part oscillation period stops under the situation directly over the targeted containers (perhaps in the part oscillation period, any one of land side suspension bracket or seawater side suspension bracket depart from objectives significantly freight container directly over situation under), then this function by to the operator carry out the ground staff of handling labor or ship on the staff sound or alarm sound, to cause their attention.
In this way, can more safely make suspension bracket in place, and, can further guarantee to carry out the ground speech operating personal of loading and unloading operation or shipboard operation personnel's safety.
And in the above-described embodiment, though be provided with actuator 15,24,32,33,45,46 in pairs along the direction parallel with the long side direction of above-mentioned summer 4, the present invention is not limited thereto, and also can make any one actuator is connecting rod mechanism.
Certainly, in any one example, all can by parallel 2 actuators that are provided with of individual drive (Fig. 4 24, Fig. 8 32,33, Figure 11 24 etc.) solve the rotary oscillation of freight container, suspension bracket.
In addition, though in the above-described embodiment, have the container handling crane of arranging the lap siding suspension bracket of the land side suspension bracket that is provided with and seawater side suspension bracket along the bearing of trend of summer 4 and be illustrated being provided with, but the present invention is not limited thereto, and it also is applicable to the hoisting crane of the suspender that is provided with many lifting cargos of lifting.
Claims (9)
1. hoisting crane, be provided with the goods of target location and lifting cargo or suspender the sling detecting device that detects of position deviation of part, the actuator that can in the suspender that can lift by crane many lifting cargos, change relative distance between lifting cargo and carry out the control setup that described actuator is controlled according to described position deviation, wherein
Described control setup has control program, this control program is by the position deviation amount of the part of slinging according to the goods of target location and lifting cargo or suspender, drive described actuator, thereby utilize the remainder of suspender and the inertia of remaining lifting cargo, make by the goods of lifting cargo of described suspender lifting or the suspender part aligned position on the target location of slinging.
2. hoisting crane according to claim 1, wherein, described control setup is provided with device or the device that receives altitude information that detects the target location height and detects the detector that volume hangs height, and, be provided with the autofitting control program, this program stops under the state on the target location in the goods that makes lifting cargo or the suspender part of slinging, and volume is reduced to the target location height, realizes in place thus or controls lifting cargo.
3. hoisting crane according to claim 2, wherein, described autofitting control program is set at, swing or dislocation at suspender are bigger, during driving described actuator according to described automatic control program, stroke at actuator described in the part of oscillation period does not have surplus, stop under the situation on the target location up to the goods that can't make lifting cargo or the suspender in place part of slinging, be used in volume in place fall the operation stop, when returning in the actuator range according to oscillation period, according to described automatic control program the goods of lifting cargo or suspender being sling partly stops on the target location, be used for hoisting crane in place volume and fall operation, make thus the goods of lifting cargo or suspender sling part stop under the state of target location in place.
4. according to claim 2 or 3 described hoisting cranes, wherein, described autofitting control program is set at, the goods that makes a lifting cargo or suspender sling part in place after, for the goods of suspender is sling partly, after controlling lifting cargo, with the goods of described lifting cargo or suspender sling the part friction force or hold be fulcrum, the restriction propulsive effort is so that it is no more than described friction force or hold, the part aligned position on the target location that drives described actuator on this basis so that the innage of residue lifting cargo or suspender is sling.
5. according to any described hoisting crane in the claim 1～4, wherein, described suspender is the lap siding suspension bracket, and it is provided with the 1st suspension bracket and the 2nd suspension bracket that lifting cargo is sling side by side along 2 short-axis directions.
6. hoisting crane according to claim 5, wherein, in described the 1st suspension bracket and/or described the 2nd suspension bracket, be respectively equipped with the filming apparatus of photographic subjects position, after will being delivered to control setup and handling by this filming apparatus shot image data, again it be delivered to described actuator.
7. hoisting crane that is provided with the lap siding suspension bracket, this pair suspension bracket can come and go the trol(l)ey (-lly) that moves from the bearing of trend along summer up or down and suspend in midair, and be provided with the 1st suspension bracket and the 2nd suspension bracket that dispose side by side along the bearing of trend or the direction vertical of described summer with described summer bearing of trend, wherein
Described the 1st suspension bracket and described the 2nd suspension bracket link to each other by being provided with along the actuator of the flexible bar of the bearing of trend of described summer or being provided with along the actuator with the flexible bar of the vertical direction of the bearing of trend of described summer.
8. hoisting crane that is provided with the lap siding suspension bracket, this lap siding suspension bracket comes and goes the cargo block that moves from the bearing of trend along summer with trol(l)ey (-lly) and suspends in midair, and have the 1st suspension bracket and the 2nd suspension bracket that dispose side by side along the bearing of trend or the direction vertical of described summer with described summer bearing of trend, wherein
Described the 1st suspension bracket and described cargo block and described the 2nd suspension bracket and described cargo block link to each other by being provided with along the actuator of the flexible bar of described summer bearing of trend or being provided with along the actuator with the flexible bar of the vertical direction of described summer bearing of trend respectively.
9. according to any described hoisting crane in the claim 5～8, wherein, the 2nd actuator is set, the 2nd actuator is provided with along the direction flexible bar vertical with the flexible direction of the bar of described actuator, and an end of the 2nd actuator links to each other with described the 1st suspension bracket, and the other end links to each other with described the 2nd suspension bracket.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006349573A JP4295784B2 (en) | 2006-12-26 | 2006-12-26 | crane |
| JP2006349573 | 2006-12-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101209803A true CN101209803A (en) | 2008-07-02 |
Family
ID=39227011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710167489 Pending CN101209803A (en) | 2006-12-26 | 2007-10-29 | Crane |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1939131A3 (en) |
| JP (1) | JP4295784B2 (en) |
| CN (1) | CN101209803A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008046154A1 (en) * | 2008-09-06 | 2010-03-18 | Gottwald Port Technology Gmbh | Bridge or gantry crane, in particular for handling ISO containers |
| US9303473B2 (en) | 2010-04-29 | 2016-04-05 | National Oilwell Varco, L.P. | Videometric systems and methods for offshore and oil-well drilling |
| GB201210058D0 (en) * | 2012-06-07 | 2012-07-25 | Jaguar Cars | Crane and related method of operation |
| GB201210057D0 (en) * | 2012-06-07 | 2012-07-25 | Jaguar Cars | Crane and related method of operation |
| JP6519065B2 (en) * | 2016-03-29 | 2019-05-29 | 株式会社三井Ｅ＆Ｓマシナリー | crane |
| EP3583062A1 (en) * | 2017-02-17 | 2019-12-25 | Blok Container Systems Limited | Lifting shipping containers |
| CN109250624B (en) * | 2018-11-23 | 2023-08-22 | 新乡市豫新起重机械有限公司 | Anti-swing electromagnetic butt-joint goods shelf device for crane |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4423797C2 (en) * | 1994-07-01 | 2001-03-15 | Noell Stahl Und Maschb Gmbh | Device for the precise positioning and stacking of containers |
| DE10023756A1 (en) * | 2000-05-15 | 2001-11-22 | Tax Technical Consultancy Gmbh | Method for correcting the position of a load bearer, especially for carrying containers onto or off ships, etc, in which the load bearer is moved to a desired corrected position prior to being moved to its final position |
| SE0002351D0 (en) * | 2000-06-22 | 2000-06-22 | Bromma Conquip Ab | Double lift and procedure |
| JP3785061B2 (en) * | 2000-10-27 | 2006-06-14 | 三菱重工業株式会社 | Container position detection method and apparatus for cargo handling crane, container landing and stacking control method |
-
2006
- 2006-12-26 JP JP2006349573A patent/JP4295784B2/en not_active Expired - Fee Related
-
2007
- 2007-10-16 EP EP07020201A patent/EP1939131A3/en not_active Withdrawn
- 2007-10-29 CN CN 200710167489 patent/CN101209803A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| EP1939131A2 (en) | 2008-07-02 |
| JP4295784B2 (en) | 2009-07-15 |
| EP1939131A3 (en) | 2009-12-16 |
| JP2008156094A (en) | 2008-07-10 |
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Application publication date: 20080702 |