JP2536054B2 - Quay position detector - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a quayside position detecting device used when unloading a load on a quayside by a ship-mounted crane.

[Prior Art] For example, when loading a unitized load such as a container on a truck on the quay by a crane installed on a ship, conventionally, the operator of a ship-mounted crane has considered that the tide level and loading The quay that moves relative to a ship that moves in a complicated direction due to volume, wind, waves, etc. is visually observed, and the trolley is operated to land.

Further, as shown in FIG. 4, a lever c for detecting the position of the quay, which can rotate in a vertical plane, is pivotally attached to the leg b of the ship-mounted crane a,
A roller e, which is provided at the tip of the lever c so as to be able to roll in the lengthwise direction of the ship d, is placed on the quay wall f and made to follow the relative vertical movement of the quay wall f. The relative height position of f is detected and the trolley g is driven.

[Problems to be Solved by the Invention] However, despite the fact that the driver's visual operation requires considerable skill, positioning takes time on a day with strong wind and waves, or the load destroys the onshore equipment due to an erroneous operation. It can happen.

Further, in the lever c shown in FIG. 4, when the tide level fluctuates greatly, the height of the ship d also fluctuates greatly, and the fluctuation of the height of the ship d due to the increase / decrease in the loading amount is added to it. In some cases, the variation in height becomes large and the amount of rotation of the lever c cannot be followed.

Further, not only the relative movement of the quay wall f accompanying the movement of the ship d in the width direction cannot be detected, but also the roller e at the tip of the lever c may be damaged by the relative movement in the width direction.

Furthermore, if the ship d rolls sideways, the distance between the trolley g and the quay f may be different from the height detected by the lever c, depending on the position of the trolley g of the ship-mounted crane a. is there.

The present invention solves the above-mentioned conventional technical problems, and detects the relative height of the quay due to the vertical movement of the ship, the movement in the width direction, and the lateral sway, so that the relative height of the quay can be sequentially grasped. The purpose is to

[Means for Solving the Problem] The present invention provides a guide beam in the vertical direction on the crane side on a ship, attaches a horizontal arm to a lifting body that moves up and down along the guide beam, and attaches it to the tip of the arm. Abut the tip of the working leg pivotally installed so that it hangs on the ship,
A position detector that detects the height of the lifting body, an angle detector that detects the angle of the working leg with respect to the arm, and a roll detector of the ship, and further a predetermined quay based on the detection signal from each detector. It is characterized in that it is provided with a calculation controller for calculating the position of and controlling the cargo handling section of the crane.

[Operation] Relative vertical movement of the quay due to vertical movement of the ship is detected by the position detector as the position of the lifting body that moves up and down via the operating legs and arms.

The relative movement of the quay due to the movement of the ship in the width direction is detected by the angle detector as the inclination angle of the working leg, and the movement amount in the width direction is calculated from the angle value by the arithmetic controller.

The roll of the ship is detected by a roll detector, and is corrected by the arithmetic controller with respect to the detected movement amount in the vertical direction and the width direction of the quay.

As a result, the relative position of the quay is always accurately grasped.

[Examples] Examples of the present invention will be described below with reference to the drawings.

1 to 3 show an embodiment of the present invention, in which the pedestal 4 of various ship-borne mobile cranes such as a container crane 3 traveling on a rail 2 laid on a vessel such as a container vessel 1.
Then, a pair of guide beams 5 having a U-shaped cross section are vertically attached via brackets 6. The length of the guide beam 5 is the largest vessel or container vessel 1 that can berth on the quay 7.
It is recommended that the length be equal to or longer than the sum of the difference in water depth between when the item is fully loaded and when it is not loaded and the difference in ebb and flow during the high tide.

In each of the guide grooves 8 facing each other of the guide beam 5,
The roller 10 of the lift 9 is fitted so as to be movable in the vertical direction, and the arm 11 is attached to the lift 9 in the horizontal direction. The elevating body 9 is also moved up and down by a rope 14 unwound from a torque motor 13 supported by brackets 12 provided on the pillars 4 above and below the guide beam 5. Further, the arm 11 may be attached to the lifting body 9 so as to be vertically or horizontally rotatable. In the case of the horizontal rotation, as shown in FIG. The parts are connected by a hinge 15 so that the arm 11 can be swung between an operating position and a retracted position by a fluid pressure cylinder 16 or the like.

An operating leg 17 having a required length is pivotally attached to a lower end of the arm 11 by a hinge 18 so as to be freely rotatable in a vertical plane including the arm 11, and a lower end portion of the operating leg 17 is Each roller 19 is attached so that each roller 19 can roll in the length direction of the container ship 1.

As a means for detecting the amount of vertical movement of the elevating / lowering body 9, the torque motor 13 is provided with a rotation speed detector 20, or a non-contact position sensor such as an ultrasonic wave or a laser is provided at the upper or lower end of the guide beam 5. To provide. Actuating leg on the hinge 18
An angle detector 21 for detecting the rotation angle of the roller 17 is provided, and a rotation speed detector 22 for detecting the rotation speed of the roller 19 is attached to the supporting portion of the roller 19.

The detection signals of the roll detector 23 and each of the detectors 20, 21, 22 provided in the container ship 1 are sent to the arithmetic and control unit 24, respectively, and the arithmetic and control unit 24 calculates the container from the roll angle signal. The height of the tip of the beam of the crane 3 on the quay side is calculated, the movement amount of the lifting body 9 is calculated from the rotation speed signal of the rotation speed detector 20 of the torque motor 13, and is calculated from the roll angle signal. The height of the quay side tip of the beam of the container crane 3 is corrected, and the angle detector 21 of the working leg 17 is corrected.
The amount of lateral movement of the container ship 1 is calculated from the rotation angle θ ₁ by the, and the relative movement amount of the quay in the length direction of the container ship 1 is further calculated by the rotation direction and the rotation amount of the rollers 19. There is.

In the figure, 25 is a trolley, 26 is a rail, 27 is a guide carriage frame, 28 is a guide carriage, 29 is a land guide carriage, 30 is a container, and 31 is a vehicle.

With the above configuration, when the address of the predetermined hold of the container ship 1 is designated and input to the arithmetic and control unit 24, the container crane 3 and the guide carriage frame 27 move on the rails 2 and 26, respectively. It stops at the same phase as the hold 28, and the guide carriage 28 moves above a predetermined hold. The position of the quay 7 is detected while the container 30 in the hold is automatically lifted by the trolley 25. That is, the relative movement in the vertical direction of the quay 7 accompanying the vertical movement of the container ship 1 is caused by the roller 19, the operating leg 17, and the arm 11.
Is transmitted to the lifting / lowering body 9 via the guide beam 5, the lifting / lowering body 9 moves downward or upward, and the rotation speed of the torque motor 13 rotated by the rope 14 connected to the lifting / lowering body 9 rotates. Detected by the number detector 20, and the rotation number detector 20
The rotation speed signal is sent from the operation controller 24 to the operation controller 24.
The movement amount of the rope 14 calculated by 24 becomes the movement amount of the container ship 1 in the vertical direction, and becomes the relative movement amount of the quay 7.
The vertical movement amount signal is sent to the trolley 25,
The cargo handling section that carries 30 increases the descent length of the container 30 when the hull rises, decreases the descent length of the container 30 when the hull descends, and transfers the container 30 via the land guide truck 29. 31 is loaded and unloaded.

When the container ship 1 moves in the width direction, the quay 7 and rollers
Since 19 does not slide in the width direction of the hull, the operating leg 17 tilts following the movement of the container ship 1 in the width direction, and the tilt angle θ
₁ is detected by the angle detector 21, the movement amount of the container ship 1 in the width direction is calculated by the arithmetic controller 24, and the traveling distance of the trolley 25 is increased or decreased by the movement amount. As the amount of movement in the width direction increases, the inclination of the operating leg 17 increases and the arm
Since the 11 and the lifting body 9 descend, the descending amount of the lifting body 9 and the like is detected and calculated as described above. Therefore, the container lowering amount by the cargo handling device of the trolley 25 is determined by the calculation controller 24 by the angle θ ₁ It is corrected by the descending distance of the arm 11 or the like calculated based on

When the container ship 1 moves in the longitudinal direction, the roller 19 in contact with the quay 7 rotates, the rotation speed of the roller 19 is detected by the rotation speed detector 22, and signals of the rotation direction and the rotation speed are sent to the arithmetic controller 24. The amount of movement of the container ship 1 in the longitudinal direction is calculated, and the arithmetic operation controller 24 operates the container crane 3
Are moved the same distance in the direction opposite to the moving direction of the container ship 1.

Further, even if the movements of the container ship 1 in the above three directions are overlapped, they are individually detected and a control signal is sent to the container crane 3 and the trolley 25 so as to follow the movement of the hull.

Furthermore, when the container ship 1 rolls, the roll detector 23 detects the direction of roll and the angle θ ₂ , and the arithmetic controller 24 determines the height of the tip of the beam of the container crane 3 on the quay side. The position in the width direction is calculated and the roller 19
The height and the position in the width direction of the contact portion are calculated, and the difference between the heights of the positions of these two points is added as a correction value to the actually detected movement amount in the three directions. For example, when the elevating body 9 relatively descends due to the rolling of the hull, the elevating body 9 is corrected by extending the descending distance of the container 30 by the trolley 25 by the difference in height between the two points. When the container 30 relatively rises, the descending distance of the container 30 is corrected by the difference between the heights of the two points.

In this way, the positional relationship between the hull and the prescribed location on the quay is detected moment by moment, and the container crane 3
The 30 is automatically and accurately loaded onto the vehicle 31.

The quay position detecting device of the present invention is not limited to the above-described embodiment, and the present invention deviates from the gist of the present invention such that cargo handling can be performed without detecting relative movement with respect to longitudinal movement of a ship. It goes without saying that various changes can be made within the range not covered.

[Effects of the Invention] As described above, according to the quay wall position detection device of the present invention, relative movement of the quay wall due to movement due to changes in the tide level, wind wave, load capacity, etc. of the ship is detected, and the target position for the crane is detected. Since it is possible to accurately control the cargo handling section and to control the cargo handling section, it is possible to safely and quickly unload a ship from a ship whose position changes due to changes in various conditions to a vehicle on the quay side, etc. It also has various excellent effects.

[Brief description of drawings]

FIG. 1 is an explanatory view of an embodiment of the device of the present invention, FIG. 2 is a view taken in the direction of arrows II-II in FIG. 1, and FIG. 3 is an explanation of a detection arithmetic control circuit in the device shown in FIG. FIG. 4 and FIG. 4 are views showing an example of a conventional quay wall position detector. 3 is a container crane, 4 is a pedestal, 5 is a guide beam,
7 is a quay, 9 is a lifting body, 11 is an arm, 13 is a torque motor, 14 is a rope, 17 is a working leg, 19 is a roller, 20 and 22 are rotational speed detectors, 21 is an angle detector, and 23 is a horizontal roll. A detector and 24 are arithmetic and control units.

Claims (1)

(57) [Claims] 1. An operation in which a vertical guide beam is provided on the crane side of a ship, a horizontal arm is attached to an elevating body that moves up and down along the guide beam, and the arm is hung down at the tip of the arm. The tip ends of the legs are brought into contact with the quay, and a position detector that detects the height of the lifting body, an angle detector that detects the angle of the working leg with respect to the arm, and a roll detector of the ship are provided, and A quayside position detecting device comprising an arithmetic controller for calculating a predetermined position on the quayside based on a detection signal from each detector and controlling a cargo handling section of a crane.