JP2002137887A - Travel device of transfer crane and method for changing travel direction of transfer crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve perpendicular steering without requiring a special device for perpendicular steering. SOLUTION: This travel device comprises travel wheel supports 24 and 25 provided at the lower ends of four legs of a crane body in such a manner as to be rotatable about a vertical axis; travel wheels 28 and 29, and 30 and 31, supported at positions on both sides of the axis of rotation of each of the supports 24 and 25 in such a manner that they can be individually rotated about a horizontal axis from the supports 24 and 25; and tire drive motors 32 and 34 provided for driving and rotating only the travel wheel located on one side of the axis of rotation of the supports 24 and 25, of the two travel wheels provided at the respective supports 24 and 25.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a traveling device of a transfer crane and a traveling direction changing method of the transfer crane, and more particularly to a traveling device of a transfer crane having a right-angle steering mechanism and a traveling direction changing method of the transfer crane. .

[0002]

2. Description of the Related Art A traveling apparatus of a transfer crane such as a bridge type crane for a tire type yard used in a trackless container yard or the like includes a tire (traveling wheel) in a stopped state.
Some have a right-angle steering mechanism that can turn 90 degrees, and can travel in a direction perpendicular to the normal traveling direction (longitudinal direction of the yard) when moving between yards.

A right-angle steering mechanism incorporated in a traveling device of a conventional transfer crane is provided at a lower end of each leg of the crane body so as to be rotatable around a vertical axis and supports a tire to rotate and support a tire around a horizontal axis. A support is provided so as to be rotatable about a vertical axis, and the running wheel support is rotated by 90 degrees about the vertical axis by a hydraulic cylinder device dedicated to right-angle steering.

[0004]

Since the conventional right-angle steering mechanism as described above requires a hydraulic cylinder device dedicated to right-angle steering, the hydraulic cylinder device, hydraulic Units and hydraulic piping must be installed.

As a result, the cost is increased, the structure of the crane traveling section is complicated, and the maintenance cost is also increased.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and does not require a dedicated device for right-angle steering such as a hydraulic cylinder device. It is an object of the present invention to provide a transfer device of a transfer crane that performs right-angle steering using the same, and a method of changing the transfer direction of the transfer crane.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, a traveling device of a transfer crane according to the present invention is provided in a traveling device of a transfer crane having a portal crane body constructed by four legs. A traveling wheel support rotatably provided at the lower end of each of the four legs of the crane body around a vertical axis, and at both sides of the rotation center axis of the traveling wheel support in each of the traveling wheel supports At least two traveling wheels individually rotatably supported by the traveling wheel support around a horizontal axis at a position, and at least two traveling wheels provided on each of the traveling wheel supports, A rotation driving means for rotationally driving only the traveling wheel on one side of the rotation center axis of the traveling wheel support.

According to this configuration, of the at least two traveling wheels provided on each of the traveling wheel supports, only the traveling wheel on one side of the rotation center axis of the traveling wheel support is rotated by the rotation driving means. Due to the rotational drive, a rotational moment is generated in the traveling wheel support around its own rotation center axis, and the traveling wheels together with the traveling wheel support become 90
Right-angle steering is performed. An electric motor for driving the traveling of the crane body can be commonly used as the rotational drive means for the traveling wheels.

In the traveling apparatus for a transfer crane according to the present invention, the traveling wheel support is attached to each of the four legs by two.
Each of the two running wheel supports for each leg is connected to each other in a parallel link manner by a link member, and the running is stopped by a combination of the rotating directions of the running wheels of the running wheel support. In this state, it is possible to perform right-angle steering in which the running wheel rotates 90 degrees together with the running wheel support.

In the traveling device for a transfer crane according to the present invention, in order to mechanically secure the straight traveling property during normal traveling, rotation inhibiting lock means for selectively inhibiting the rotation of the traveling wheel support around the vertical axis. Is provided.

According to another aspect of the present invention, there is provided a transfer crane having a traveling device according to the present invention. Only the running wheels on one side of the running center axis of the running wheel support are rotationally driven so that a rotating moment about the center axis is generated, and each of the running wheel supports is turned 90 degrees about its own rotating center axis. It is to let.

[0012]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 shows an example of use of a transfer crane to which the traveling device according to the present invention is applied. The transfer crane is generally indicated by reference numeral 10 and travels vertically and horizontally in a container yard Cy to transship containers C. In FIG. 1, reference numeral 100 denotes a quay container crane that performs container handling of the container ship 200.

The reason why the transfer crane 10 needs to perform right-angle steering is that the transfer crane 10
Is moved from the yard A to the adjacent yard B by walking the crab.

FIG. 2 shows the overall configuration of a transfer crane 10 having a traveling device according to the present invention. The crane 10 is a tire-type yard bridge crane for stacking containers, and has a gate-shaped crane body 12 built with four legs 11. A tire-type traveling device 13 is provided at the lower end of each of the four legs 11, and the crane body 12 can travel on a trackless surface by the tire-type traveling device 13.

A horizontal trolley 15 that moves horizontally along the upper beam 14 is provided on a horizontal upper beam 14 of the crane body 12.
Is provided. A hoisting device 16 is mounted on the traversing trolley 15, and a hoisting device (spreader) 18 for a container is suspended by a suspending wire 17 that hoists and unwinds the hoisting device 16. The hanging tool 18 holds the container C, which is a suspended load, in a detachable manner.

Next, the structure of the tire-type traveling device 13 provided at the lower end of each of the four legs 11 will be described with reference to FIGS. In the following description, when it is necessary to express the tire-type traveling device 13 attached to the four front, rear, left, and right legs 11 separately for each leg 11, the right front portion is used. Tire-type traveling device 13
May be referred to as RF, the tire-type traveling device 13 in the left front portion may be referred to as LF, the tire-type traveling device 13 in the right rear portion may be referred to as RA, and the tire-type traveling device 13 in the left rear portion may be referred to as LA.

The tire type traveling device 13 has a yoke member 20 attached to the lower end of the leg 11 by a mounting shaft 21 so as to be able to swing slightly. At both ends of the yoke member 20, vertical shafts 22 and 23 are provided, respectively, and the running wheel supports 24 and 25 are respectively mounted on the vertical shafts 22 and 23 around the vertical axis (around the center axis of the vertical shafts 22 and 23). It is provided rotatably. Some cranes do not have a yoke, but can be applied in this case.

The running wheel supports 24 and 25 have shaft bearings 24A and 25A, respectively.
Axles 26, 27 extending in the horizontal direction are attached to each of them. The axles 26 and 27 are respectively provided with shaft bearings 24A,
25A protrudes on both sides. The axle 26 has both ends 26
A and 26B respectively support tires 28 and 29 so as to be individually rotatable around a horizontal axis (around a central axis of the axle 26). The axle 27 supports the tires 30 and 31 at both ends 27A and 27B so as to be individually rotatable around a horizontal axis (around a central axis of the axle 27).

In other words, the tires 28 and 29 are located on both sides of the rotation center axis of the traveling wheel support 24 (the center axis of the vertical shaft 22) and can be individually rotated around the horizontal axis by the traveling wheel support 24. It is supported by. Tires 30, 31
Are located on both sides of the rotation center axis of the traveling wheel support 25 (the center axis of the vertical axis 23), and are individually rotatably supported by the traveling wheel support 25 around a horizontal axis.

The traveling wheel support 24 has a tire drive motor 3
2 is mounted. The tire drive motor 32 is driven by a belt-type or chain-type transmission mechanism 33 to drive the tire 2.
It is drivingly connected to one of the tires 8 and 29, and rotationally drives only one tire. A tire drive motor 34 is mounted on the running wheel support 25. The tire drive motor 34
A driving mechanism 35 of a belt type or a chain type is drivingly connected to one of the tires 30 and 31 to rotate only one of the tires.

The tires driven by the motor are the tires 29 and 30 for the tire type traveling devices RF and LA, and the tires 28 and 31 for the tire type traveling devices LF and RA.
As shown in FIG. 7, the arrangement is staggered as a whole. In FIG. 7, the tires on the driving side are shown in black, and the tires on the non-driving side (driven side) are shown in white.

An electric linear actuator 134 for locking is attached to the yoke member 20. The movable engagement element 36 is attached to the plunger 135 of the electric linear actuator 134. Running wheel support 25
The engagement recess 37 with which the movable engagement element 36 can be removably engaged when the traveling wheel support 25 is in the normal traveling rotation position as shown in the drawing, and the traveling wheel support 25 is moved 90 degrees from the normal traveling rotation position. An engagement recess 38 is provided in which the movable engagement element 36 is removably engaged when in the crab walking traveling position rotated by a degree.

The running wheel supports 24 and 25 are connected to the link member 3
9 are connected to each other in a parallel link manner.

Next, the operation of the crane traveling device having the above configuration will be described. During normal running, the movable engagement element 36 of each tire-type traveling device 13 is
And the traveling wheel support 2 of each tire-type traveling device 13
As shown in FIG. 6, each of the tire-type traveling devices 13 and 25 is locked in the normal traveling rotation position.
Are driven in the same rotation direction. Thereby, the crane body 12 travels in the normal traveling direction (Y-axis direction).

At the time of right-angle steering, the movable engagement element 36 in each tire type traveling device 13 is disengaged from the engagement with the engagement concave portion 37 by the operation of the electric linear actuator 134 and unlocked. The rotation directions of the tire drive motors 32 and 34 are made opposite to each other.

In the example shown in FIG. 6 and FIG. 7, the tire driving motor 3 is used for the tire type traveling devices RF and LA.
2 and 34 are rotated counterclockwise, and the tire driving motors 32 and 34 are rotated clockwise in the tire type traveling devices LF and RA.

Thus, the tire type traveling devices RF, LA
A counterclockwise rotation moment acts on each of the traveling wheel supports 24, 25 around the vertical axis, and the traveling wheel supports 24, 25 rotate 90 degrees counterclockwise around the vertical axis. Along with this, the tires 28 to 31 of the tire type traveling devices RF and LA also rotate 90 degrees.

A clockwise rotational moment acts on each of the traveling wheel supports 24, 25 of the tire type traveling devices LF, RA to rotate around the vertical axis.
5 rotates 90 degrees clockwise around the vertical axis. Accompanying this, the tires 28 to 31 also rotate 90 degrees.

Thus, the right-angle steering in the stopped state is completed. When the crane body 10 is moved by crab walking (traveling in the X-axis direction), each of the tire-type traveling devices 13
Is engaged with the engagement recess 38 by the operation of the electric linear actuator 134, and in a state where the traveling wheel supports 24 and 25 of each tire type traveling device 13 are locked at the 90-degree turning position, The motors 32 and 34 are driven so as to drive all the tires in each tire-type traveling device 13 in the same rotation direction. As a result, the crane body 10 travels in the crab walking direction (X-axis direction).

[0030] Tire-type traveling device RF, LF, RA, LA
Is returned to the original normal traveling state, the above-described right-angle steering operation may be performed in reverse.

[0031] Tire-type traveling devices RF, LF, RA, LA
The selection of the driving-side tire and the combination of the tire rotation driving directions at the time of right-angle steering in each of the above are not limited to those described above, and various variations are conceivable as illustrated in FIGS. Can be

Further, the tire type traveling devices RF, LF, R
A and LA are of a four-wheel type provided with two traveling wheel supports 24 and 25, respectively, but may be of a two-wheel type only with the traveling wheel support 25. Also, tire 28
Each of -31 may be a double tire.

[0033]

As will be understood from the above description, according to the traveling apparatus of the transfer crane and the traveling direction changing method of the transfer crane according to the present invention, at least two traveling wheels provided on each traveling wheel support are provided. Of the wheels, only the running wheel on one side of the rotation center axis of the running wheel support is rotationally driven by the rotation drive means, so that the running wheel support generates a rotational moment about its own rotation center axis, When the traveling is stopped, the right-angle steering in which the traveling wheel rotates 90 degrees together with the traveling wheel support is performed. Therefore, an electric motor (tire driving motor) for driving the crane body traveling can be shared as the rotation driving means of the traveling wheel, and the hydraulic cylinder device is used. No special equipment for right-angle steering such as is required, and the right-angle steering can be performed using a drive device for ordinary crane travel. It can be carried out immediately.

As a result, the cost can be reduced, the structure of the crane traveling section can be simplified, and the maintenance cost can be reduced.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an example of use of a transfer crane to which a traveling device according to the present invention is applied.

FIG. 2 is a perspective view showing an overall configuration of a transfer crane having a traveling device according to the present invention.

FIG. 3 is a side view showing one embodiment of the traveling device of the transfer crane according to the present invention.

FIG. 4 is a longitudinal sectional view of one embodiment of the traveling device of the transfer crane according to the present invention as viewed from the front.

FIG. 5 is a plan view of a lock mechanism portion of one embodiment of the traveling device of the transfer crane according to the present invention.

FIG. 6 is a plan view showing an entire traveling crane traveling apparatus according to an embodiment of the present invention;

FIG. 7 is an explanatory diagram showing a combination of a driving-side tire and a tire rotation driving direction at the time of right-angle steering in one embodiment of the traveling device of the transfer crane according to the present invention.

FIG. 8 is an explanatory diagram showing another example of a combination of a driving-side tire and a tire rotation driving direction during right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 9 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 10 is an explanatory diagram showing another example of a combination of a driving-side tire and a tire rotation driving direction at right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 11 is an explanatory view showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 12 is an explanatory view showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 13 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 14 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 15 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 16 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 17 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 18 is an explanatory view showing another example of a combination of a driving-side tire and a tire rotation driving direction at right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 19 is an explanatory diagram showing another example of a combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 20 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 21 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 22 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 23 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 24 is an explanatory view showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 25 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 26 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 27 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 28 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 29 is an explanatory diagram showing another example of the combination of the driving-side tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

FIG. 30 is an explanatory diagram showing another example of the combination of the driving tire and the tire rotation driving direction at the time of right-angle steering in the traveling device of the transfer crane according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Transfer crane 11 Leg 12 Crane body 13 Tire type traveling device 15 Traversing trolley 18 Hanging tool 24, 25 Traveling wheel support 28, 29, 30, 31 Tire 32, 34 Tire drive motor 36 Movable engaging element 37, 38 Engagement Recess 39 link member

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Nobuyuki Yamashita 4-6-22 Kannonshinmachi, Nishi-ku, Hiroshima Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Hideki Tanokami 6-4-1 Minamikannon, Nishi-ku, Hiroshima-shi F-term in Ryosen Engineers Co., Ltd. (reference) 3F202 AA04 CE01 3F203 DA05 EB05 EB07 EB18

Claims (5)

[Claims] 1. A traveling device for a transfer crane having a gate-shaped crane body built with four legs, wherein a lower end of each of the four legs of the crane body is rotatably provided around a vertical axis. And at least two of the running wheel supports each rotatably supported by the running wheel support around a horizontal axis at positions on both sides of a rotation center axis of the running wheel support. And at least two running wheels provided on each of the running wheel supports.
And a rotation drive means for rotating only one of the traveling wheels on one side of the rotation center axis of the traveling wheel support, and a driving device for a transfer crane, comprising: 2. The transfer crane traveling device according to claim 1, wherein two traveling wheel supports are provided on each of four legs. 3. The traveling apparatus according to claim 2, wherein the two traveling wheel supports for each leg are connected to each other in a parallel link manner by a link member. 4. The transfer according to claim 1, further comprising a rotation prohibition lock unit for selectively prohibiting rotation of the traveling wheel support around a vertical axis. Crane traveling equipment. 5. The transfer crane having the traveling device according to claim 1, wherein each of the traveling wheel supports has a rotational moment about its own rotation center axis. A traveling direction change of a transfer crane, characterized in that only the traveling wheel on one side of the rotation center axis of the traveling wheel support is rotationally driven, and each of the traveling wheel supports is turned by 90 degrees around its own rotation center axis. Method.