EP1380534B1 - Mobile harbour crane as a mobile transfer device for piece goods - Google Patents

Abstract

Mobile harbor crane comprises a superstructure (5) connected to a chassis (4) via a rotating mechanism and forming the base for a pivoting extension arm (7) having a load-holding device (10) and supporting a fixed tower (6), drive aggregate and counterweight. The extension arm is pivotably hinged on the steel construction in the lower region of the superstructure and supports on its end an extension arm head (9) which is attached to the load-holding device by lifting cables. Preferred Features: The extension arm head is attached to the end of the extension arm by a parallelogram guide (8) and on pivoting remains vertically and horizontally aligned in every extension arm position by holding rods (8.1, 8.2) or holding cables.

Description

The invention relates to a mobile harbor crane as a mobile handling device for piece goods, in particular for handling ISO containers from smaller container ships, consisting of an undercarriage with multiaxial steerable tire suspension and austeleskopierbaren side supports and a base for the rocking boom with arranged thereon load-carrying superstructure, the carries the fixed tower, the drive units and the counterweight and is connected to the undercarriage via a slewing gear.

Mobile harbor cranes are generally used in sea and inland ports for the handling of general cargo, in particular ISO containers, and are often used in stand-by mode alongside gantry cranes. The mobility of these mobile harbor cranes requires environmental conditions, which are usually given on the manually operated container terminals.

The transport width of a known mobile harbor crane is determined by the extent of the telescoped outriggers, the transport height is determined by the angular position of the boom. When moving the device with the boom erected, it stands in an angle which is necessary for a uniform axle load distribution to the tower which is fixed on the superstructure. For changing the position of the device, the method is known with stored boom, which is supported with a mounted on the jib tip wheel on the quay. Even with the boom down, in this type of process, the headroom set by the height of the fixed tower is very large, so that e.g. the passage through the portal of a container bridge is not possible. In this case, there must be a separate lane next to the rail lane of the container bridge.

As a matter of principle, mobile harbor cranes should be able to approach their assigned positions quickly and extremely mobile with minimum space requirements. Devices that fulfill these conditions could be used particularly economically for loading and unloading even small container ships, such as barges and feeders (capacity up to approx. 400 TEU). Above all, they could be an integral part an automatic container terminal, ie the parent terminal logistics guarded the loading and unloading, the mobile home crane can settle its load automatically on predetermined parking spaces in defined orientations.

Currently known mobile harbor cranes currently do not meet the criteria described, in particular the possibility of automation. Since the load handling device for the ISO container, the so-called spreader, is usually coupled to the load hook of a pivoting beam and the pivoting traverse is in turn struck on two hoisting ropes, this type of suspension is very susceptible to the oscillation and twisting of the load, especially in asymmetric loads the container or the "Twin-Lift" operation (two 20ft containers). Since the exact and fast positioning of the load depends above all on the skill of the crane driver, an automated deployment is not possible with the known mobile harbor cranes. The use of ancillary equipment, such as a spreader suspension with center of gravity compensation and / or an electronic pendulum damping support the crane operator, but cause additional costs and increase the inefficiency.

FR 2 655 967 A1 discloses a mobile slewing crane with a crane carrier vehicle and a superstructure rotatably mounted thereon about a vertical axis, a tower on the superstructure and a main boom pivoted on the tower in a vertical boom-and-tilt plane. At the head of the main boom a head link in the boom-rocking plane is pivotally articulated, which projects beyond its articulation on both sides. Furthermore, the head link is pulled at its end facing the tower by means of a Zuglenkers against the upper end of the tower and carries at its other end a head roller for the supporting cable. In addition, a rope is attached to the head link between linkage and the head roller, on which deflected over a tower-fixed pulley deflection a counterweight is deflected.

Object of the present invention is based on the problems and disadvantages described in the prior art to provide a novel handling equipment for general cargo, which builds on the known technology of mobile harbor cranes with tire suspension and economically enables the loading and unloading of particular smaller container ships. The new device should be there integrated component of an automated container terminal and be able to interact with driverless transport systems to connect different areas of the container terminal with each other. The device should be able to approach its position quickly and extremely mobile with minimal space requirements and be able to settle the load automatically on predetermined parking spaces in a precisely defined orientation.

To solve the object of the invention, a mobile harbor crane is proposed, which is characterized in that the boom is pivoted in the lower region of the superstructure on the steel construction. In known per se construction of the undercarriage, unlike conventional generic mobile harbor cranes, in which the boom is articulated on the tower, the steel construction of the superstructure forms the basis for the boom mounting. The superstructure continues to carry the nacelle with the drive unit, the slewing with the rolling joint, the two double winches, the double-tipping winch, the fallback support, the e-space, the counterweight and the known, connected via a flange rigidly connected to the superstructure tower , Due to the articulation of the boom in the lower area of the superstructure of the rigid tower can be designed lower, so that the maximum, through the top of the tower and the stored there pulleys certain headroom of the mobile harbor crane can be much lower. This allows for appropriately lowered boom driving through the portal of a container bridge without a separate additional lane next to the rail track of the container bridge must be present. The adjustment of the cantilever mounted deep on the superstructure steel structure is made by a rope-driven luffing; a pre-tensioned hydraulic spring-loaded system provided between the jib foot and superstructure serves as a fallback support and ensures a controlled damped rocking action, in particular when the jib is in an upright position. Alternatively, if a hydraulic luffing mechanism is provided, the fallback support is eliminated.

According to a further feature of the invention it is provided that the boom head is connected by means of a parallelogram on the jib tip and by means of support rods or tethers when rocking in each boom position remains vertically and horizontally aligned.

In a particular embodiment of the invention, the boom head is split in two in the horizontal direction and consists of an upper, connected via the parallelogram with the tiltable boom first part and a connected to this upper part via a horizontal rotary connection lower second part. This design of the boom head makes it possible to pivot the lower part of the boom head in relation to the vertical upper part of the boom head oriented horizontally in each swivel position of the boom, so that the load handling device attached thereto can turn the article into the desired position, for example at and unloading a container whose doors or to bring the cooling units of Kühlcontainem in a defined orientation.

Preferably, the pivotable about a vertical axis of rotation lower part of the jib head relative to the fixed upper part of the jib head by means of rotary actuators by up to +/- 135 ° pivot.

According to a particularly advantageous feature of the invention it is provided that for lifting and lowering of the load receiving means a total of four hoisting ropes are guided centrally on four preferably mounted on the jib tip pulleys to two in the upper part of the boom head mounted pulley pairs after preferably fivefold Einscheren between tower and jib tip of where a pair to the other pair is arranged offset over the other pair such that the four hoisting ropes are parallel and equidistant from each other perpendicularly centrally through the rotary connection to the load receiving means, where the hoisting ropes over four vertically rotating pulleys in a star shape outwards to each one of four other pulleys are passed, which lead the respective hoist rope vertically upwards back to the pivotable lower part of the boom head, where the four hoisting ropes are firmly struck.

The fivefold shearing of the hoisting ropes between the tower and jib tip serves to achieve a horizontal load path when the jib is rocked. The four hoist ropes are guided so that the vertical rope sequence in the horizontal section image of the hoisting ropes results in a square with the side length "z". The four running in the direction of the load traverse hoists first follow the four arranged on the load cross inner x-shaped arranged vertically rotating pulleys and are then horizontally running over four also on the load beam x-shaped arranged, vertically rotating outer pulleys guided vertically back to the rotatable part of the boom head, where the rope fixed points are. The four x-shaped mounted inner pulleys on the load crossmember are mounted so that here form the vertical approaching hoisting ropes in their vertical section image a square with the side lengths "z". This arrangement allows a pivoting of the boom head by about +/- 135 °.

As an alternative to the above-described solution, it is proposed that a total of four hoisting ropes are guided centrally over four pulleys mounted on the jib tip to two rope pulley pairs mounted in the upper part of the jib head, preferably one triple hoop, of which one pair to the other Pair is arranged offset over the other pair such that the four hoisting rope run parallel and at equal distances from one another vertically centrally through the rotary joint into the lower part of the boom head, where the hoisting ropes over four vertically rotating pulleys in a star shape outwards to one in four further deflection rollers are passed, which lead the respective hoist rope vertically down to one of the vertices of the load-carrying means.

The triple reeving of the hoisting ropes to achieve a horizontal load path when rocking the boom belongs to the prior art. The four hoisting ropes are guided in such a way that the vertical rope run in the horizontal section of the ropes results in a square with the side length "z". On two superimposed levels follow a total of eight x-shaped arranged pulleys in the rotatable lower part of the boom head. The four hoist ropes run on a first plane in the middle of the four x-shaped pulleys, which are mounted so that here form the vertical approaching ropes in their horizontal cross-sectional image square with the lateral distance "z". This arrangement and a sufficiently large distance of the pulleys in the upper rocker to the pulleys in the lower rotatable part also allows a pivoting of the boom head to about +/- 135 °.

In one embodiment of the invention it is provided that the distance between the lower of the two mounted in the upper part of the boom head pulley pairs and the four mounted in the lower part of the boom head vertically encircling Deflection rollers is chosen such that the permissible rope deflection during rotation of the lower part of the boom head does not exceed ≤ 4 °. This permissible rope deflection is specified for example in DIN 15020 sheet 1.

If according to a further feature of the invention, the boom with the articulated boom head is pivotable in a lower transport position, in which the jib tip is disposed below an imaginary horizontal plane, which touches the tower top of the mobile home crane, although the spire provides the measure for the maximum clearance height The device is there, but it is much lower than conventional devices. Since even when lowering the boom of the boom head remains in a defined working position, the device can drive through, for example, container bridges and thus has an extreme mobility.

To increase the support base in the process of the device is provided according to a further feature of the invention that the axes of the tire suspension to the undercarriage, based on the center of the slewing gear, are arranged asymmetrically. In the direction of travel of the device is such an orientation that those axes or that axis of the device, in the direction of the boom is lowered, further protrudes beyond the superstructure, as the remaining axes.

Conveniently, eight axes are provided, which are divided in the ratio four to two + two, and for moving the device of the boom in the direction of the axle group two + two can be lowered.

The new Mobile Harbor Crane has a number of advantages. Thus, the new device, because it is not rail-bound, can change its location on the wharf at any time, and can be integrated into the operation of an automated container terminal. Since the device according to the invention in comparison with the conventional mobile harbor crane in transport position has a relatively small clearance height, it requires no separate lane next to the rail track of the container bridge. In particular, the design of the boom head and the lifting device allow a controlled load management with a defined load transfer. The mobile harbor crane of the proposed type can be automated and can be easily integrated into an automatic container terminal.

Fig. 1

die Seitenansicht eines automatischen Hafenmobilkrans nach der Erfindung,

Fig. 2

eine Draufsicht auf den Hafenmobilkran nach Fig. 1,

Fig. 3

einen vergrößerten Ausschnitt des Auslegers und des Auslegerkopfes nach der Erfindung,

Fig. 4

den Auslegerkopf in einer Verdrehstellung des Lastaufnahmemittels,

Fig. 5

eine Draufsicht auf den Auslegerkopf aus Fig. 3,

Fig. 6

eine Draufsicht auf den Auslegerkopf aus Fig. 4,

Fig. 7

eine Seitenansicht des Hafenmobilkrans in Transportstellung,

Fig.8

eine Rückansicht des Hafenmobilkranes ebenfalls in Transportstellung und

Fig. 9

eine alternative Seilführung an einem erfindungsgemäßen Hafenmobilkran.

An embodiment of the invention is illustrated in the drawing and will be described below. It shows:

Fig. 1

the side view of an automatic mobile harbor crane according to the invention,

Fig. 2

a top view of the mobile harbor crane of FIG. 1,

Fig. 3

an enlarged detail of the boom and the boom head according to the invention,

Fig. 4

the boom head in a rotational position of the lifting device,

Fig. 5

a top view of the boom head of Fig. 3,

Fig. 6

a top view of the boom head of Fig. 4,

Fig. 7

a side view of the mobile harbor crane in transport position,

Figure 8

a rear view of the mobile harbor crane also in transport position and

Fig. 9

an alternative cable guide on a mobile harbor crane according to the invention.

1 shows a mobile harbor crane 1 according to the invention in front of two barges 3 lying on the quay 2, in a side view. The main components of the mobile harbor crane are the undercarriage 4 with the tire suspension 4.1 and the support 4.2, the superstructure 5 with the hoist winch 5.1. and 5.2 and the tipping jack 5.3, the tower 6 with the pulleys 6.1 and the cabin 6.2, the boom 7 with the fallback support 7.1, the parallelogram 8 with the support rods 8.1, the rocking head 9 with the tiltable upper part 9.1 and the opposite rotatable lower Part 9.2 and the load-carrying means 10 with the load spreader 10.1 and the spreader 10.2. In Fig. 2, the working area of the mobile harbor crane 1 is indicated by the dash-dotted lines in plan view. The device rests on the at the Front side of the undercarriage 4 mounted support 4.2. on the quay 2 off. The mounted on the steel structure of the superstructure 5 boom 7 is positioned so that the spreader 10.2 record the predetermined container 11 of the barge 3 and, after pivoting the boom in the direction quay, this on a predetermined pitch 12 in a defined orientation, parallel or perpendicular to the wharf, can settle.

In the drawing figure 3, a detail of the boom 7 shown in Fig. 1 is shown in its head area in an enlarged view. The boom is in the up position, also the parallelogram 8, the pair of handrails 8.1 and 8.2, the rocking head 9 with the tilting upper part 9.1 and the rotatable lower part 9.2, the slewing 9.3 and the load-carrying means 10 with the spreader 10.1 and the spreader shown. About the four pulleys 7.1 - 7.4, the four hoisting ropes 13.1. - 13.4 guided over the two pairs of pulleys 14.1 and 14.2 and 14.3 and 14.4 vertically downwards in the direction of the load traverse 10.1 and there passed over the there fixed x-shaped, inner pulleys 15.1 - 15.4. From there, the hoisting ropes are guided horizontally over the in the same plane on the load beam 10.1 x-shaped outer pulleys 16.1 - 16.4 and vertically to the attachment points 17.1 - 17.4 on the rotatable lower part 9.2 of the boom head 9 back. In the illustration of FIG. 3, the rotatable lower part 9.2 of the boom head 9 is in the zero-degree position, ie without rotational offset to the tiltable upper part of the boom head 9.1.

The drawing Figure 4 shows the same situation as shown in Fig. 3, but now the lower rotatable part 9.2 of the boom head 9 is shown with a rotational displacement of 90 ° to the tiltable upper part 9.1. The rope groove distance "z" of the pulleys 14.1 and 14.2 and the center distance "y" between the pulleys 14.1 and 14.2 in the upper part of the boom head 9.1 and the pulleys 15.1-15.2 on the load traverse 10.1 of the lifting device are structurally chosen so that the rope deflection of the hoisting ropes 13.1 and 13.2 is within the permissible range. The telescoped in the maximum 45 ft position spreader 10.2 has at the maximum lifting height still enough free space to the boom 7 in its upright position.

In Figure 5, the guide of the hoisting ropes is shown schematically in a plan view of the rocking head of Figure 3. The four pulleys 7.1 - 7.4 become the four Hoisting ropes 13.1 - 13.4 over the two pairs of pulleys 14.1 and 14.2 and 14.3 and 14.4 vertically (perpendicular to the plane) in the direction of the load beam 10.1 out, then on the x-shaped pulleys 15.1-15.4, from there via the in the same plane x-shaped arranged pulleys 16.1 - 16.4 out. The drawing shows the lower part 9.2 of the boom head 9 without rotational offset to the fixed upper part 9.1 in the 0 ° position.

Figure 6 shows the top view of the boom head of Fig. 4 also in a schematic representation. The cable guide corresponds to the description of the drawing figure 5. The drawing figure shows in principle the same situation as in Fig. 3, but now is the rotary part 9.2 with a rotational offset of 90 ° to the rocker 9.1. shown.

Figure 7 shows the mobile harbor crane according to the invention in transport position in a side view when driving on the quay 2 through the gantry of a container bridge 18. For uniform axle load distribution, the axles in the tire chassis 4.1 of the undercarriage 4 in the ratio "four to two + two" divided and balanced. The boom 7 with its tiltable boom head 9 is lowered to the level of the top of the tower 6 in the direction of the axle group "two + two", the support 4.2 is retracted or telescoped.

As can be seen in the drawing figure 8, the dimensioning of the mobile harbor crane according to the invention also allows the passage of the device between the supports of the container bridge, even if there are ship hatch covers are stored there. Additional lanes next to the container bridge are not required.

An alternative Hubseilführung on a mobile harbor crane according to the invention is shown in the drawing FIG. The cable guide corresponds in cross section substantially to the illustration in Figure 4, however, hoisting ropes 13.1 and 13.2 between the tower and jib tip are reeved here three times. About the four sheaves 7.1 - 7.4 the hoisting ropes 13.1. - 13.4 guided over the two pulley pairs 14.1 and 14.2 and 14.3 and 14.4 and then passed over the x-shaped in the upper plane pulleys 15.1 - 15.4. From there, the hoisting ropes are guided over the rope pulleys 16. 1 - 16. 4 arranged in the lower plane in an x-shape to the attachment points 17. 1 - 17. 4 of the load traverse 10.

Claims (10)

1. Mobile harbour crane (1) as a mobile cargo handling apparatus for unit loads, in particular for the handling of ISO containers from smaller container ships, consisting of a lower carriage (4) with a multi-axle steerable tyre-borne travelling mechanism (4.1) and struts (4.2) which can telescope laterally outwards and an upper carriage (5) which forms the base for the jib (7) which is able to move up and down and has load-receiving means disposed thereon, which upper carriage supports the fixed tower (6), the driving units and the counterweight and is connected to the lower carriage (4) via a rotational mechanism, and which on the tip of its jib carries a jib head (9) to which the load-receiving means (10) is attached via lifting cables (13.1 to 13.4),
   characterised in that in the lower region of the upper carriage (5) the jib (7) is articulated to the steel structure thereof so as to be able to move up and down.
2. Mobile harbour crane as claimed in claim 1, characterised in that the jib head (9) is connected to the tip of the jib by means of a parallelogram linkage (8) and, by means of holding rods or holding cables (8.1 and 8.2), retains its vertical and horizontal orientation in every jib position during the up and down movement.
3. Mobile harbour crane as claimed in claim 1 and 2, characterised in that the jib head (9) is divided in two in the horizontal direction and consists of an upper first part (9.1), which is connected to the upward and downwardly moving jib via the parallelogram linkage, and of a lower second part (9.2) which is connected to this upper part via a horizontal rotational connection (9.3).
4. Mobile harbour crane as claimed in claim 3, characterised in that the lower part (9.2) of the jib head (9), which can pivot about a vertical rotational axis, can be pivoted by up to ±135° with respect to the fixed upper part (9.1) of the jib head (9) by means of rotational drives.
5. Mobile harbour crane as claimed in claim 1 to 4, characterised in that in order to raise and lower the load-receiving means (10) a total of four lifting cables (13.1 to 13.4) are passed, after preferably having been reeved five times between the tower (6) and jib tip, centrally over four cable rollers (7.1 to 7.4) mounted on the jib tip to two cable roller pairs (14.1 to 14.4) mounted in the upper part of the jib head (9), one pair (14.1 and 14.2) of which cable roller pairs is disposed offset with respect to the other pair (14.3 and 14.4) and above the other pair in such a way that the four lifting cables (13.1 to 13.4) extend in parallel and at equal distances (z) with respect to each other, passing vertically and centrally through the rotational connection (9.3) to the load-receiving means (10) where the lifting cables (13.1 to 13.4) are fed via four vertically rotating deflecting rollers (15.1 to 15.4), which are attached at that location, in a star shape towards the outside to a respective one of four further deflecting rollers (16.1 to 16.4) which are attached to the load-receiving means, which deflecting rollers guide the respective lifting cable (13.1 to 13.4) vertically upwards back to the pivotable lower part (9.2) of the jib head (9) where the four lifting cables (13.1 to 13.4) are fixedly attached.
6. Mobile harbour crane as claimed in claim 1 to 4, characterised in that in order to raise and lower the load-receiving means (10) a total of four lifting cables (13.1 to 13.4) are passed, after preferably having been reeved three times between the tower (6) and jib tip, centrally over four cable rollers (7.1 to 7.4) mounted on the jib tip to two cable roller pairs (14.1 to 14.4) mounted in the upper part of the jib head (9), one pair (14.1 and 14.2) of which cable roller pairs is disposed offset with respect to the other pair (14.3 and 14.4) and above the other pair in such a way that the four lifting cables (13.1 to 13.4) extend in parallel and at equal distances (z) with respect to each other, passing vertically and centrally through the rotational connection (9.3) into the lower part of the jib head (9.2) where the lifting cables (13.1 to 13.4) are fed via four vertically rotating deflecting rollers (15.1 to 15.4) in a star shape towards the outside to a respective one of four further deflecting rollers (16.1 to 16.4) which guide the respective lifting cable (13.1 to 13.4) vertically downwards to one of the corner regions of the load-receiving means (10).
7. Mobile harbour crane as claimed in claim 6, characterised in that the distance (y) between the lower of the two cable roller pairs (14.3 and 14.4) mounted in the upper part (9.1) of the jib head (9) and the four vertically rotating deflecting rollers (15.1 to 15.4) mounted in the lower part of the jib head (9) is selected in such a way that the permissible cable deviation during rotation of the lower part of the jib head does not exceed ≤4°.
8. Mobile harbour crane as claimed in any one or several of the preceding claims, characterised in that the jib (7) is able to pivot with the articulated jib head (9) into a lower transportation position in which the jib tip is disposed below a theoretical horizontal plane which forms a tangent with the tip of the tower (6) of the mobile harbour crane (1).
9. Mobile harbour crane as claimed in any one or several of the preceding claims, characterised in that in order to enlarge the support base of the [sic] during travel of the mobile harbour crane (1) in one direction the axles of the tyre-borne travelling mechanism (4.1) of the lower carriage (4) are disposed asymmetrically with respect to the middle of the rotational mechanism between the upper carriage (5) and lower carriage (4) of the mobile harbour crane (1).
10. Mobile harbour crane as claimed in claim 9, characterised in that a total of eight axles of the tyre-borne travelling mechanism (4.1) are provided which are distributed in an arrangement of "4 to 2 plus 2" and in order to move the mobile harbour crane (1) the jib (7) can be lowered in the direction of the "2 plus 2" axle group.

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