JP2003026388A - Bridge type crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bridge type crane device capable of preventing a hoisting container from coming into contact with a sill beam when the hoisting height of the container is insufficient. SOLUTION: In this bridge type crane device, leg members 7 are erected on a pair of front and rear sill beams 4a, 4b supported by a running device 3, a girder member 8 is provided between the upper parts of both front and rear leg members 7, the girder member 8 is provided with a crab 10 capable of freely traversing in the longitudinal direction A, the crab 10 is provided with a spreader device 12 hoisting the container 2 to freely elevate, and a height detecting sensor is provided to detect the height h1 from the ground to the spreader device 12. The apparatus is further provided with a control means for stopping traversing of the crab 10 when the relationship expressed by h1 -h2 <=h3 (wherein h2 is height of the container 2, and h3 is height from the ground to the sill beams 4a, 4b) is established.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bridge type crane device used for loading and unloading containers at a harbor or the like.

[0002]

2. Description of the Related Art Conventionally, as a bridge type crane device of this type, there is one disclosed in, for example, Japanese Patent Application Laid-Open No. 10-250982. That is, a pair of front and rear sill beams (horizontal members) are supported by a plurality of bogie trucks having tires, and columns are provided upright at each end of both sill beams. A girder is provided between the upper ends of the columns facing each other in the front-rear direction, and a club that is supported and guided by the girder and can traverse in the front-rear direction is provided. This club has a container
A spreader device for hoisting is provided so as to be able to move up and down via a hanging rope.

In the bridge type crane apparatus constructed as described above, as shown in FIG. 11, the front end portion of the girder 71 projects above the front sill beam 72a and projects outward to the front, and the rear end of the girder 71 is The sill beam 72b on the rear side
There is a structure that protrudes outward beyond the upper part of the rear.

For example, when a container 73 unloaded on a yard and stacked is transported by being loaded on a chassis 74 (truck), the chassis 74 is made to stand by outside the front sill beam 72a, and a spreader device 75 is used to hold the container 2 And the club 76 is made to traverse to the front end portion of the girder 71, and then the spreader device 75 is lowered to load the container 73 on the chassis 74. And
The spreader device 75 is removed from the container 73, the chassis 74 is started, and the container 2 is transported.

[0005]

SUMMARY OF THE INVENTION In the above conventional format,
When loading the container 73 into the chassis 74, the container 73 suspended by the spreader device 75 is
It passes above 2a and laterally moves above chassis 74. At this time, if the hoisting height of the container 73 is insufficient, the hoisted container 73 may come into contact with the sill beam 72a as shown by the phantom line in FIG.

[0006] The present invention provides a bridge type crane device capable of preventing the hoisted load from coming into contact with the cross member (sill beam) when the hoisting height of the load (container) is insufficient. The purpose is to

[0007]

To achieve the above object, in a bridge type crane device according to the first aspect of the present invention, leg members are erected on a pair of front and rear cross members supported by a traveling device and both front and rear leg members are provided. A girder material is provided between the upper parts of the girders, and the girder material is provided with a traverse body that can traverse in the front-rear direction beyond the upper part of the traverse material. , When the load is hoisted by the hoisting device,
When the height from the ground to the suspended load is less than or equal to the height from the ground to the cross member, the traverse of the transverse body is restricted.

According to this, when a load is hoisted by the hoisting device and the height from the ground to the hoisted load is less than the height from the ground to the cross member, the traverse of the traverse body is restricted (stopped). Therefore, it is possible to prevent the suspended load from contacting the cross member.

Further, in the bridge crane apparatus according to the second aspect of the present invention, the traverse body traverses a traverse path formed along the girder member, and the traverse path is a cross member from above between a pair of front and rear cross members. A height detecting means for detecting the height from the ground to the hanging device is provided over the upper part of the front and rear to the outside, and the height of the hanging device detected by the height detecting means is h ₁ , Assuming that the height is h ₂ and the height from the ground to the cross member is h ₃ , if the relationship h ₁ −h ₂ ≦ h ₃ is established, a control means for restricting the crossing of the crossing body is provided. There is something.

[0010] According to this, the control means, based on the height h ₃ of the height h ₂ and ground preset load and height h ₁ of the detected suspension device to the crosspiece, h ₁ -H ₂ value and h ₃
When the relationship h ₁ −h ₂ ≦ h ₃ is established, it is determined that the lifting height of the load is insufficient,
Limit (stop) the traversal of the rampant body. This can prevent the suspended load from coming into contact with the cross member.

Further, in the bridge type crane device according to the third aspect of the present invention, the crossing restriction target range is set above the cross member, and h ₁
When the relationship −h ₂ ≦ h ₃ is established, the control means limits the transverse movement of the transverse body within the transverse limitation target range.

According to this, the control means has h ₁ -h ₂ ≤h
_When the relation of ₃ is established, it is determined that the lifting height of the load is insufficient, and the traverse of the traverse body within the range of the traverse limitation is restricted (stopped). This can prevent the suspended load from coming into contact with the cross member.
Even when the relationship of h ₁ −h ₂ ≦ h ₃ is established, there is no concern that the load will contact the transverse member outside the above range of transverse limitation, so the transverse body can traverse. Become.

Further, in the bridge type crane device according to the fourth aspect of the present invention, the control means is h ₁ within the traverse restriction target range.
The lifting / lowering of the suspension device is controlled so that the relationship −h ₂ > h ₃ is established.

According to this, when the load is hoisted by the hoisting device and the traversing body is traversed, the hoisting device automatically operates so that the relationship h ₁ −h ₂ > h ₃ is satisfied within the range of the traverse restriction. Since the object is lifted up and down, the hoisting height of the load is sufficiently secured within the above-mentioned traverse restriction target range, which can prevent the hoisted load from contacting the cross member.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 1 and 2, reference numeral 1 denotes a bridge-type crane device used for loading and unloading a container 2 (an example of a load), and a pair of front and rear sill beams 4 a and 4 b supported by a plurality of traveling devices 3.
It has (an example of a cross member). The traveling device 3 is composed of a bogie truck 6 having a plurality of wheels 5.

Leg members 7 are erected on the left and right ends of the sill beams 4a and 4b. A girder member 8 is provided between the upper ends of the leg members 7 facing each other in the front-rear direction A. still,
The front and rear end portions of both girder members 8 project above the sill beams 4a and 4b, respectively, and project outward in the front and rear directions. Double girder material 8 above
Is provided with a club 10 (an example of a traverse body) that can traverse in the front-rear direction A on the traverse path 9 formed along the beam member 8. In addition, the traverse path 9 is provided on both front and rear sill beams 4
From the upper part between a and 4b, it extends beyond the upper part of the sill beams 4a and 4b to the front and rear outward. Also, the above club 10
Is configured to traverse by a traverse motor 22 provided in the traverse drive unit 11.

The club 10 is provided with a spreader device 12 (an example of a hanging device) for hoisting the container 2 via a hanging rope 13. Further, a hoisting machine 14 for raising and lowering the spreader device 12 by hoisting and sending the hanging rope 13 around the club 10.
Is provided. The hoisting machine 14 includes a lifting drive unit 15
It is configured to be rotationally driven by a lifting motor 23 provided in the.

The club 10 is provided with a driver's cab 16. Inside the driver's cab 16, as shown in FIGS. 3 and 4, a traverse control lever 17 for traversing the club 10 and a spreader device 12 are raised and lowered. An elevating operation lever 18 and an alarm lamp 19 that informs the operator that the lifting height of the container 2 is insufficient are provided. By switching the traverse operation lever 17 to the forward position Pa, the forward switch 17a is switched on, and
By switching the traverse operation lever 17 to the reverse position Pb, the reverse switch 17b is turned on,
Further, by returning the traverse operation lever 17 to the neutral position Pc, both the switches 17a and 17b are switched off.

The raising / lowering operation lever 18 is moved to the raised position Qa.
The switch 18a is turned on when the switch 18b is turned on, and the switch 18b is turned down when the operating lever 18 for raising and lowering is switched to the lowered position Qb.
Is switched on, and further, the lifting operation lever 18
By switching the switch to the neutral position Qc, both of the switches 18a and 18b are switched off.

As shown in FIGS. 1 and 4, the hoisting machine 14
In addition, the number of rotations of the lifting motor 23 is counted, and the height h from the ground to the spreader device 12 is calculated based on this number of rotations.
Height detection sensor 20 (an example of a height detecting means) is provided for detecting _one. A pulse encoder or the like is used as the height detection sensor 20.

In the cab 16, both levers 17 and 18 are provided.
And operation signal from, the height h ₁ which is detected by the height detection sensor 20, the height of the container 2 which are input in advance h ₂
And the sill beams 4a and 4b from the ground that are input in advance.
Based on the height h ₃ to the upper end of the
There is provided a control means 24 for controlling the Nos. 2 and 23.
The heights h ₂ and h ₃ are previously input from a ten-key switch (not shown) or the like provided in the operator's cab 16 and stored in the control means 24.

That is, the control means 24 has a subtracter for subtracting the height h ₂ from the height h ₁ to obtain the height h ₄ (= h ₁ −h ₂ ) from the ground to the lower end of the container 2. 26,
A comparator 27 that compares the value of the height h ₄ obtained by the subtractor 26 with the value of the above h ₃ , and the forward switch 17a.
The first AND circuit 2 that outputs a forward drive signal to the transverse drive unit 11 when it is determined that the switch is on and h ₄ > h ₃
8 and the reverse switch 17b is on and h ₄ > h ₃
And a comparator 27 that outputs a backward drive signal to the transverse drive unit 11 when it is determined that
Therefore, a negative (NOT) circuit 30 for turning on the alarm lamp 19 when h ₄ is not judged to be larger than h ₃ (that is, when h ₁ −h ₂ ≦ h ₃ ) is built in.

The operation of the above structure will be described below.
For example, as shown in FIG. 1, when the chassis 32 (truck or the like) is made to stand by outside the front side sill beam 4a and the containers 2 in the yard are loaded on the chassis 32, the movements are as follows.

When the operator in the cab 16 switches the raising / lowering operation lever 18 to the lowering position Qb, the lowering side switch 18b is turned on, the raising / lowering motor 23 of the hoisting machine 14 rotates forward, and the spreader device 12 is turned on. Descends and joins the container 2.

After that, the raising / lowering operation lever 18 is switched to the raising position Qa to raise the raising side switch 18a.
Is turned on, the lifting motor 23 rotates in the reverse direction, the spreader device 12 rises, and the container 2 is lifted by the spreader device 12.

Then, the raising / lowering operation lever 18 is set to the neutral position.
By returning to the position Qc, both switches 18a, 18b
It is turned off and the spreader device 12 stops moving up and down. This
At this time, the control means 24 controls the
Height h to the bottom edge of antenna 2 _Four(= H₁-H₂) Subtractor
26, this h_FourValue of and h₃Value of and comparator 2
Compare by 7.

On the other hand, the operator operates the traverse control lever 1
The forward switch 17a is turned on by switching 7 to the forward position Pa. At this time, if the comparator 27 determines that h ₄ > h ₃ , the control means 24
Outputs a forward drive signal from the first AND circuit 28 to the transverse drive unit 11. As a result, as shown in FIG. 1, the traverse motor 22 rotates forward and the club 10 advances, so that the container 2 suspended by the spreader device 12 traverses above the front sill beam 4a to reach above the chassis 32. Moving.

At this time, since the relationship of h ₄ > h ₃ is satisfied as described above, the suspended container 2 does not come into contact with the front sill beam 4a. Then, the traverse operation lever 17 is returned to the neutral position Pc to stop the club 10, the elevating operation lever 18 is switched to the lower position Qb, and the container 2 is lowered onto the chassis 32.

In the above, the comparator 27
If h ₄ > h ₃ is not determined in (
In the case of h ₁ −h ₂ ≦ h ₃ ), even if the operator switches the traverse operation lever 17 to the forward position Pa, the control means 24 outputs the forward drive signal from the first AND circuit 28 to the transverse drive section 11. Therefore, the traverse motor 22 remains stopped, the traverse of the club 10 stops (cannot traverse), and the alarm lamp 19 lights up to notify the operator of the insufficient height of lifting of the container 2.

When h ₁ -h ₂ ≤h ₃ as described above, the hoisting height of the container 2 is insufficient. Therefore, if the container 2 is laterally moved forward as it is, the front sill beam 4a is moved.
However, by stopping the traverse of the club 10 (limiting the traverse) as described above, the suspended container 2 can be prevented from coming into contact with the front sill beam 4a. Further, in such a case, since the alarm lamp 19 is turned on as described above, the operator notices that the lifting height of the container 2 is insufficient. Then, the operator switches the raising / lowering operation lever 18 to the raised position Qa to lift the container 2 to a higher position and increase the height h ₄ from the ground to the lower end of the container 2 so that the relationship of h ₄ > h ₃ is satisfied. When the above condition is established, the alarm lamp 19 is turned off and the club 10 can be traversed.

In the above embodiment, as shown in FIG.
The transverse limitation control is shown in the case where the chassis 32 is made to stand by outside the front sill beam 4a and the traverse operation lever 17 is switched to the forward movement position Pa to move the club 10 forward. The chassis 32 is made to stand by outside and the traverse control lever 17 is moved to the reverse position Pb.
When the club 10 is moved to the reverse direction to move the club 10 backward, the traverse limitation control is similarly performed.

Next, a second embodiment will be described with reference to FIGS. The club 10 is provided with a position detection sensor 36 (see FIG. 6) that counts the number of revolutions of the traverse motor 22 and detects the position of the club 10 in the front-rear direction A on the traverse path 9 based on the number of revolutions. There is. A pulse encoder or the like is used as the position detection sensor 36. Further, as shown in FIG. 5, above the sill beams 4a and 4b, the traverse restriction target range 37 is provided.
a and 37b are set in the front-rear direction A within a certain range.
Further, the range other than the above-described traverse limitation target ranges 37a and 37b is set as a non-traverse limitation target range 38. The front end position of the traverse path 9 (column member 8) is X ₀ , the rear end position of the traverse path 9 is X ₅ , and the boundary positions of the traverse restriction target ranges 37 a and 37 b and the traverse restriction target range 38 are X, respectively. _{1 to} X ₄
And the position of the club 10 detected by the position detection sensor 36 is X. Incidentally, the above-mentioned respective positions X, X _{1 to} X ₅
Is based on the front end position X ₀ .

Further, as shown in FIG. 6, the control means 24 determines whether the position X of the club 10 detected by the position detection sensor 36 is located within the non-traverse restriction range 38 (that is, X). <X ₁ , or X ₂ <X <X ₃ ,
Alternatively, a judgment unit 39 for judging whether X ₄ <X is satisfied or not, and it is judged that the position X of the club 10 is located within the range 38 not subject to the transverse limitation and h ₁ −h ₂ ≤ h ₃
And the first and second AND circuits 40 and 41 that output a signal when it is determined that
From the first logical sum (OR) circuit 42 which outputs a signal when 0 outputs a signal or at least when it is judged that h ₄ > h ₃ and the second AND circuit 41 A second logical sum (O) that outputs a signal when a signal is output or at least when it is judged that h ₄ > h ₃
R) circuit 43 and a third logical product (A) for outputting a forward drive signal to the transverse drive unit 11 when the forward switch 17a is on and a signal is output from the first OR circuit 42.
ND) circuit 44 and a fourth logical product (AND) circuit 45 that outputs a reverse drive signal to the traverse drive section 11 when the reverse drive switch 17b is on and a signal is output from the second OR circuit 43. Then, when the position X of the club 10 is not located within the traverse restriction target range 38 by the judgment unit 39 (that is, X ₁ ≦ X ≦ X ₂ or X ₃ ≦ X ≦ X _4).
Other NOT (NOT) circuit 46 that outputs a signal
And a fifth logical product (AND) circuit 47 for turning on the alarm lamp 19 when signals are output from the both negating circuits 30 and 46.

The operation of the above structure will be described below. The operator operates the lifting operation lever 18 to lift the container 2. At this time, the control means 24 controls the height h from the ground to the lower end of the suspended container 2.
₄ (= h ₁ −h ₂ ) is obtained by the subtractor 26, and the value of h _{4 and} the value of h ₃ are compared by the comparator 27.

On the other hand, the operator operates the traverse control lever 1
By switching the 7 to the forward position Pa, but the forward-side switch 17a is to turn on, this time, h _4> If it is determined that h ₃ in the comparator 27, the signal from the first OR circuit 42 Then, the third AND circuit 44 outputs the forward drive signal to the transverse drive unit 11. As a result, the traverse motor 22 rotates forward to move the club 10 forward, and the container 2 suspended by the spreader device 12 laterally moves above the front sill beam 4a and above the chassis 32. At this time, since the relationship of h ₄ > h ₃ is satisfied as described above, the suspended container 2 does not come into contact with the front sill beam 4a.

In the above, the comparator 27
If h ₄ > h ₃ is not determined in (
When h ₁ −h ₂ ≦ h ₃ )), the determination unit 39 determines that the position X of the club 10 is located within the non-traverse restriction target range 38, and outputs a signal from the first AND circuit 40. And the signal is output from the first logical sum circuit 42, and thus the forward drive signal is output from the third logical product circuit 44 to the traverse driving unit 11. As a result, the club 10 advances, but at this time, as shown in FIG. 7, since the club 10 is located within the range 38 that is not subject to the traverse restriction, h ₁ −h ₂
Even if ≦ h ₃ (that is, even if the hoisting height is insufficient), there is no concern that the hoisted container 2 will come into contact with the front sill beam 4a.

Further, in the above, the comparator 27
Is not judged as h ₄ > h ₃ (that is, h ₁ −h ₂ ≦
h ₃ ) and the club 10 is located in the front side lateral travel restriction target range 37a (or the rear side lateral travel restriction target range 37b), X ₁ ≦ X ≦ X ₂ (or X ₃ ≦ X ≦ X). ₄ ), the determination unit 39 determines that the position X of the club 10 is not located within the crossing restriction target range 38,
No signal is output from the first AND circuit 40. As a result, no signal is output from the first OR circuit 42, so that the operator moves the traverse operation lever 17 to the forward position Pa.
Even when switched to, the forward drive signal is not output from the third AND circuit 44 to the transverse drive unit 11. Therefore, as shown in FIG. 8, when the hoisted container 2 is located in the front side traverse restriction target range 37a (or the rear side traverse restriction target range 37b) in which the suspended container 2 may come into contact with the front side sill beam 4a. (That is, X ₁ ≤X ≤X ₂ or X ₃ ≤
If X ≦ X ₄ ), the traverse motor 22 remains stopped, and the traverse of the club 10 stops (cannot traverse).
At the same time, a signal is output from both negating circuits 30 and 46, and the alarm lamp 19 is turned on to notify the operator of the insufficient height of lifting of the container 2. This can prevent the suspended container 2 from coming into contact with the front sill beam 4a.

In the above embodiment, as shown in FIG.
The transverse limitation control is shown in the case where the chassis 32 is made to stand by outside the front sill beam 4a and the traverse operation lever 17 is switched to the forward movement position Pa to move the club 10 forward. The chassis 32 is made to stand by outside and the traverse control lever 17 is moved to the reverse position Pb.
When the club 10 is moved to the reverse direction to move the club 10 backward, the traverse limitation control is similarly performed.

In the above embodiment, the position detecting sensor 36
As the pulse encoder, a plurality of magnets are arranged along the traverse path 9, and a magnetic detector for detecting the magnetism of these magnets is provided in the club 10, and the magnetic detector detects the magnetism of the magnets. It may be of a type that specifies the position of the club 10.

Next, a third embodiment will be described with reference to FIGS. In the second embodiment, h ₁ −
When h ₂ ≦ h ₃ , the club 10 is the crossing restriction target range 37a.
If it is located inside (or in the range 37b of the transverse limitation on the rear side), the transverse motor 22 is stopped and the club 10 cannot be traversed. However, in the third embodiment, the control means 24 After stopping the traverse motor 22, the elevating motor 23 is driven to elevate the spreader device 12, and when the h ₁ -h ₂ > h ₃ is satisfied, the elevating motor 2 is moved.
Stop 3.

According to this, as shown in FIG. 9, when the container 2 is hoisted by the spreader device 12 to cause the club 10 to traverse, within the traverse restriction target range 37a (or the traverse restriction target range 37b), as shown in FIG. As indicated by the phantom line, the control means 24 controls the lifting motor 23 so that h ₁ −h ₂ > h ₃ is satisfied. Therefore, the front side traverse restriction target range 37 a (or the rear side traverse restriction target) is provided. In the range 37b), the hoisting height of the container 2 is automatically ensured sufficiently, so that the hoisted container 2 can be prevented from coming into contact with the front sill beam 4a (or the rear sill beam 4b). . In addition, the target range 3
Within the range of 7a (or the range 37b subject to the transverse limitation), h ₁
When −h ₂ > h ₃ , the traverse restriction of the club 10 is released, the traverse motor 22 is driven according to the operation of the traverse operation lever 17, and the club 10 can traverse in the front-rear direction A.

According to the control as described above, FIGS.
As shown in FIG. 4, the suspended container 2 has a proximity prohibition area 50 formed around each sill beam 4a, 4b.
(A range indicated by the one-dot chain line) is automatically avoided to move up and down and move laterally in the front-rear direction A.

In each of the above-mentioned embodiments, the alarm lamp 19 is used as the alarm means, but a buzzer or the like may be used, or an announcement may be output from the speaker to inform that the height of the container 2 has been lifted.

In each of the above embodiments, the container 2 is handled as an example of the load, but the load is not limited to the container 2.

[0045]

As described above, according to the present invention, when a load is hoisted by the hoisting device and the height from the ground to the hoisted load is less than the height from the ground to the cross member, the traverse body is Since the traverse of is restricted (stopped), it is possible to prevent the suspended load from contacting the cross member.

[Brief description of drawings]

FIG. 1 is a side view of a bridge crane device according to a first embodiment of the present invention.

FIG. 2 is a perspective view of the bridge crane device.

[Fig. 3] Fig. 3 is a diagram of each operation lever of the bridge crane device.

FIG. 4 is a block diagram of a control system of the bridge crane device.

FIG. 5 is a side view of a bridge type crane device according to a second embodiment of the present invention.

FIG. 6 is a block diagram of a control system of the bridge crane device.

[FIG. 7] FIG. 7 is a side view of the bridge type crane device, showing a case where the club is located in a range not subject to the transverse restriction.

[Fig. 8] Fig. 8 is a side view of the bridge type crane device, showing a case where the club is located in a range subject to transverse limitation.

FIG. 9 is a diagram showing a control method for a bridge crane device according to a third embodiment of the present invention.

FIG. 10 is a side view of the bridge type crane device.

FIG. 11 is a side view of a conventional bridge crane device.

[Explanation of symbols]

1 bridge type crane device 2 container (load) 3 traveling device 4a, 4b sill beam (transverse member) 7 leg member 8 girder material 9 traverse path 10 club (transverse body) 12 spreader device (hanging device) 20 height detection sensor (high) 24) Control means 37a, 37b Traverse restriction target range A Front-rear direction h ₁ Height from ground to spreader device h ₂ Height of container h ₃ Height from ground to sill beam h ₄ Container suspended from ground Up to

Claims (4)

[Claims] 1. A leg member is erected on a pair of front and rear cross members supported by a traveling device, and a girder member is provided between upper portions of both the front and rear leg members. The girder member is provided above the cross member. A traverse body that can traverse in the front-rear direction is provided, and a lifting device that hoists a load is provided on the traverse body so that the hoisting device can be lifted and lowered. A bridge-type crane device characterized by limiting the traverse of a traversing body when the height is below the height from the ground to the cross member. 2. The traverse body traverses on a traverse path formed along the girder material, and the traverse path projects from above between a pair of front and rear cross members to above and beyond the cross member to the front and rear outwards, Height detection means for detecting the height from the ground to the suspension device is provided, and the height of the suspension device detected by the height detection means is h ₁ , the height of the load is h ₂ , from the ground to the cross member. The height of h
_3. The bridge crane device according to claim 1, further comprising control means for limiting the traverse of the traversing body when the relationship of h ₁ −h ₂ ≦ h ₃ is satisfied. 3. When the transverse limitation target range is set above the transverse member and the relationship h ₁ −h ₂ ≦ h ₃ is established, the control means causes the transverse body to traverse within the transverse limitation target range. The bridge-type crane device according to claim 2, wherein: 4. The bridge type according to claim 3, wherein the control means controls the lifting / lowering of the suspension device so that the relationship of h ₁ -h ₂ > h ₃ is satisfied within the range of crossing restriction. Crane equipment.