JP4854755B2 - Quay crane - Google Patents

Description

  The present invention relates to a quay crane in which a crane or the like used for container handling at a harbor or an inland container terminal or the like is subjected to earthquake countermeasures.

  At container terminals such as harbors and inland areas, containers between ships and trailers are handled by quay cranes and portal cranes. FIG. 6 shows a state when a quay crane (hereinafter referred to as a low profile crane) 1X having a leg structure 3 and a sliding boom 4 is loaded. The low profile crane 1X includes a leg structure 3 and a boom 4. The trolley 25 and the traveling wheel 29 are installed on the quay 28 of the container terminal so as to be able to travel. The crane 1 </ b> X is responsible for cargo handling operations such as unloading the container 24 mounted on the container ship 23 and placing it on the trailer 26. Reference numeral 22 denotes the sea surface, and 27 denotes a wire rope.

  FIG. 7 shows a state in which the low profile crane 1X is at rest, and the boom 4 has been moved to the land side. This is to avoid interference between the bridge of the container ship 23 and the boom 4 when the container ship 23 is berthing or leaving the berth. In order to avoid this interference, some quay cranes are constructed so that the boom is lifted upward to dodge the bridge, but there are total height restrictions such as container terminals near the airport. Then, since the boom cannot be raised, the low profile crane 1X is employed.

  The boom 4 is moved by the boom moving device 20 installed on the leg structure 3, and the boom 4 is lifted by the boom moving device 20 having the driving roller 21 and moved by the rotation of the driving roller 21. It is configured. In the low profile crane 1X, the leg structure 3 has a width of 30 to 45 m, an overall height of 50 to 60 m, and the boom 4 protruding from the leg structure 3 has a length of about 50 to 60 m.

  By the way, in recent years, a quay crane adopting a seismic isolation structure has been proposed as an earthquake countermeasure (see, for example, Patent Document 1). This seismic isolation structure prevents the crane from receiving seismic force by insulating the ground and the crane. Install an isolator or damper on the upper leg of the traveling wheel, and install a crane structure on it. Thus, the crane is configured not to follow the shaking of the ground. As a specific example, there is a structure in which thin rubber sheets and steel plates are alternately laminated, and an laminated isolator such as laminated rubber is installed between the traveling wheels and the legs of the crane. There are cases where there is a demand and the current isolator cannot handle it. In other words, the current isolator can absorb horizontal deformation of about 300 mm, but in order to satisfy recent requirements, it must absorb horizontal deformation of about 1000 mm. There is a problem that the installation space between the ring and the leg cannot be taken.

  In addition to seismic isolation structures, there are also damping structures (also called seismic structures) as earthquake countermeasures. Here, the vibration control structure is a technology that seismic motion is regarded as energy, and this energy is attenuated by the energy absorption structure built into the structure, which suppresses shaking of the structure and reduces damage to the structure. It is effective for repeated earthquakes and can be realized at a lower cost than the base isolation structure. Specifically, for example, in the case of a building such as a building, a weight (vibration control mass) called a mass damper is installed on the roof to attenuate the vibration of the building. A water tank or the like is used as the damping mass, and the greater the weight, the higher the effect of damping. There is also a method of installing a damper that absorbs seismic energy in the building between the pillars of the building.

  That is, when considering adopting the above-mentioned vibration control structure for a crane, it is necessary to newly install a vibration control mass and a damper. Especially, in a quay crane whose weight is limited by the strength of the quay 28, In many cases, the weight cannot be increased, and it is difficult to adopt the vibration control structure.

JP-A-2005-75608

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a damping device in place of a vibration isolator in a quay crane (low profile crane) having a leg structure and a sliding boom. The purpose is to provide a quay crane that realizes earthquake countermeasures at low cost. Another object of the present invention is to provide a quay crane with extremely high earthquake resistance by combining a seismic isolation device and a vibration control device.

  In order to achieve the above object, a quay crane according to the present invention has a leg structure and a slide-type boom that is slidably supported by the leg structure, and is used for cargo handling of a container for marine transportation. In the above, a vibration control device is installed between the leg structure and the boom, and the vibration control device is a mechanism for damping a relative motion generated between the leg structure and the boom.

In the above quay crane, the vibration control device has a swing mechanism and a vibration damping mechanism, and the vibration damping mechanism generates a force proportional to the displacement of the position, and a force proportional to the speed. In the above quay crane, the swing mechanism has a carriage and is connected to the passive vibration damping mechanism. And

  In the above quay crane, the vibration damping device has a laminated rubber obtained by alternately laminating and bonding rubber sheets and steel plates, and the damper structure connected to the laminated rubber.

  In the above quay crane, the vibration control device has an active vibration damping mechanism having a hydraulic cylinder or an electric actuator and a control device, and a swing mechanism having a carriage, and the control device has the leg structure. It has the structure which controls the movement of the said trolley | bogie in the direction opposite to the moving direction of an object.

  According to the quay crane according to the present invention, it is possible to adapt the vibration control structure without increasing the crane's own weight so much, and it is possible to take earthquake countermeasures at a low cost. Since a slide-type boom which is a super-heavy object (for example, 300 to 400 t) of a low profile crane can be used as a vibration suppression mass, a high vibration suppression effect can be obtained. In addition, since the whole weight of a low profile crane is about 1500-1600t, it can be said that the boom which occupies about 25% of the crane whole weight is a super-large damping mass.

Further, the vibration damping device is composed of a rocking mechanism and a vibration damping mechanism for damping the rocking of the rocking mechanism, and the vibration damping mechanism generates a force proportional to the amount of displacement of the spring or the like. And a passive vibration damping mechanism consisting of a damper structure that exerts a force proportional to the speed of oil dampers, gas dampers, etc. Therefore, the force acts on the leg structure from the boom through the passive vibration damping mechanism, and the swing of the entire crane can be suppressed. That is, the vibration control effect by passive control can be obtained.

  Furthermore, the configuration in which the swing mechanism is a cart having a roller can suppress the boom from swinging together with the leg structure when an earthquake occurs, so that a greater vibration damping effect can be obtained.

  In addition, the structure using the damping rubber consisting of the laminated rubber that functions as both the spring structure and the swinging mechanism and the damper structure connected to the laminated rubber can simplify the structure of the damping device and reduce the cost. Down and durability improvement can be realized. In addition, since the weight of the boom is supported by the laminated rubber having excellent load resistance, the boom can be sufficiently supported even when the weight of the boom increases with an increase in the size of the crane.

  In addition, the vibration damping mechanism is an active vibration damping mechanism having a hydraulic cylinder or an electric actuator and a control device, so that active control is performed to move the swing mechanism in the direction opposite to the direction in which the leg structure moves in the event of an earthquake. As compared with the case of passive control, the crane can be stopped in a short time.

It is the figure which showed the quay crane of embodiment which concerns on this invention. It is the figure which showed the quay crane of embodiment which concerns on this invention. It is the figure which showed the wharf crane of different embodiment which concerns on this invention. It is the figure which showed the wharf crane of different embodiment which concerns on this invention. It is the figure which showed the shape of the shear pin. It is the figure which showed the conventional low profile crane. It is the figure which showed the conventional low profile crane.

  Hereinafter, a quay crane according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a state in which the vibration control device 2 is installed between the leg structure 3 and the boom 4 of the low profile crane 1 and the seismic isolation device 30 is installed between the leg structure 3 and the traveling wheel 29. Yes.

  FIG. 2 shows a vibration damping device 2 installed between the leg structure 3 and the boom 4 in the low profile crane 1. The vibration damping device 2 includes a cart 5 as a swing mechanism, a spring 15 and a damper 17 as a passive vibration damping mechanism 6A, and the cart 5 is configured to be movable on the leg structure 3 by a roller 10. Moreover, the fixing portion 14 fixed to the boom 4 is supported by the cradle 9. Further, the carriage 5 is fixed to the leg structure 3 by a lashing member 12, and a shear pin 13 is installed on the lashing member 12. When an earthquake occurs, the shear pin 13 is broken, and the carriage 5 swings while supporting the boom 4. The swing is attenuated by the spring 15 and the damper 17 to obtain a damping effect. . Further, the carriage 5 is restrained from displacement in the traveling direction of the crane by the collar of the roller 10 or a guide fixed to the leg structure 3. Here, the traveling direction is a direction along the quay line, and indicates a direction from the front of the page of FIG.

  The passive vibration damping mechanism 6A configured by the spring 15 and the damper 17 is passively controlled. With this configuration, the entire vibration damping device 2 can be simply configured. Therefore, the vibration damping device is low in cost and has few failures. 2 can be provided.

  In addition, by the structure which fixes the securing member 12 with the shear pin 13, since the trolley | bogie 5 is fixed to the leg structure 3 at the time of the normal cargo handling of the crane 1, swing of the boom 4 is prevented and cargo handling is performed. The trolley 25 and the container 24 can be prevented from shaking. When the earthquake occurs, the shear pin 13 is broken and the carriage 5 can swing, so that the vibration control device 2 operates and the swing of the crane 1 can be suppressed.

  Next, a method for moving the boom 4 will be described below. As shown in FIGS. 6 and 7, the boom 4 is configured to be movable in the left-right direction, and the movement of the boom 4 is realized by the boom moving device 20. When moving the boom 4, the boom moving device 20 shown in FIG. 2 is raised as indicated by the arrow to lift the boom 4, and the boom 4 is supported by the drive roller 21. The drive roller 21 rotates while supporting the boom 4, moves the boom 4 in the lateral direction, and lowers the boom moving device 20 to complete the movement of the boom 4.

  At this time, the fixed portion 14 is configured to be installed on the vibration control device 2, more precisely on the cradle 9, even in the cargo handling state shown in FIG. 6 or the resting state shown in FIG. 7. is doing. That is, when one damping device 2 is installed on the leg structure 3, the two fixing portions 14 corresponding to the cargo handling state and the resting state are installed on the boom 4. Further, when two or more vibration control devices 2 are installed, the fixing portion 14 is installed so as to correspond to this. With this configuration, the low profile crane 1 can obtain a vibration damping effect when an earthquake occurs, whether in a cargo handling state or a resting state. Note that the fixing portion 14 and the cradle 9 may be mechanically fixed by a lock pin or a latch.

  FIG. 3 shows a vibration damping device 2A in which a cart 5 as a rocking mechanism is connected to an active vibration damping mechanism 6B in which a hydraulic cylinder 16, a control device 7 for controlling the hydraulic cylinder 16, and an acceleration sensor 8 are installed. ing. The control device 7 and the acceleration sensor 8 may be installed along the frame of the leg structure 3 or may be installed inside the frame.

  When the vibration is generated in the leg structure 3 due to the occurrence of an earthquake, the vibration damping device 2A detects the vibration with the acceleration sensor 8 so that the boom 4 moves in the direction opposite to the direction of the vibration of the leg structure 3. Active control for controlling the hydraulic cylinder 16 is employed. With this active control, it is possible to stop the vibration of the crane 1 in a shorter time compared to the passive control.

  Further, the hydraulic cylinder 16 can be controlled so that the carriage 5 does not move during container handling, and can be controlled to operate when an earthquake occurs. This control eliminates the need for the securing member 12 shown in FIG. It is also possible to use the lashing member 12 in combination. For detecting the occurrence of an earthquake, the acceleration sensor 8 is used. When the acceleration sensor 8 detects an acceleration equal to or higher than a predetermined threshold, the control device 7 determines that an earthquake has occurred and operates the vibration control device 2A. Can be configured.

  FIG. 4 shows a vibration damping device 2B having a passive vibration damping mechanism 6A in which a laminated rubber 11 and a damper 17 are connected as an example of a spring structure that generates a force proportional to the displacement amount of the position. The laminated rubber 11 is restrained from moving in the traveling direction of the crane by a guide (not shown) fixed to the leg structure 3. Here, the traveling direction is a direction along the quay line, and indicates a direction from the front of the page of FIG.

  Further, since the laminated rubber 11 is deformed in the horizontal direction, the laminated rubber 11 also has a function as a swinging mechanism, which eliminates the need for a swinging mechanism such as the roller 10 and the carriage 5 shown in FIGS. Since the loadability is excellent, it is easy to support the load of the boom 4 even if the number of vibration damping devices 2B is small. Therefore, earthquake countermeasures can be realized at low cost.

  In addition, the boom 4 is lifted by the boom moving device 20 and shows a state when moving. Further, the tying member 12 is configured so that the laminated rubber 11 is secured so that the laminated rubber 11 does not oscillate during normal handling of the container, and the laminated rubber 11 can oscillate due to the breaking of the shear pin 13 when an earthquake occurs. Has been.

  FIG. 5 shows the shape of the shear pin 13. The shear pin 13 has a shearing portion d, and the load at which the shearing pin 13 breaks can be determined by changing the diameter of the shearing portion d. it can.

  As described above, the vibration damping device 2 includes the swing mechanism and the vibration damping mechanism 6. The swing mechanism includes a roller between, for example, two plate-like objects in addition to the carriage 5. The structure can be configured as follows. In connection with the vibration damping mechanism 6, the passive vibration damping mechanism 6A can be constituted by a spring 15, a damper 17, and the like, and the active vibration damping mechanism 6B can be constituted by a hydraulic cylinder 16 or the like. Moreover, the laminated rubber 11 can implement | achieve the function of the trolley | bogie 5 and the spring 15 by one as a spring structure which has a rocking | fluctuating function. Moreover, it becomes possible to provide a quay crane with high earthquake resistance by installing both the seismic isolation device 30 conventionally used for a quay crane and the above-described seismic control device.

1 Quay crane (low profile crane)
2, 2A, 2B Damping device 3 Leg structure 4 Boom 5 Bogie 6 Vibration damping mechanism 6A Passive vibration damping mechanism 6B Active vibration damping mechanism 7 Controller 8 Accelerometer 9 Base 10 Roller 11 Laminated rubber 12 Tightening member 13 Shear pin 14 Fixing part 15 Spring 16 Hydraulic cylinder 17 Damper

Claims (5)

In a quay crane having a leg structure and a sliding boom that is slidably supported by the leg structure, and used for cargo handling of a container for marine transportation,
A quay crane, wherein a damping device is installed between the leg structure and the boom, and the damping device is a mechanism for attenuating relative motion generated between the leg structure and the boom.   The vibration control device has a swing mechanism and a vibration damping mechanism, and the vibration damping mechanism generates a force proportional to the amount of displacement of the position and a damper structure that exerts a force proportional to the speed. The quay crane according to claim 1, wherein the quay crane is a passive vibration damping mechanism.   The quay crane according to claim 2, wherein the swing mechanism has a carriage and is connected to the passive vibration damping mechanism. The vibration damping device has a laminated rubber obtained by alternately laminating and adhering rubber sheets and steel plates, and a damper structure that exerts a force proportional to a speed connected to the laminated rubber. The quay crane according to 1.   The vibration control device has an active vibration damping mechanism having a hydraulic cylinder or electric actuator and a control device, and a swing mechanism having a carriage, and the control device is opposite to the moving direction of the leg structure. The quay crane according to claim 1, wherein the trolley crane is configured to control movement of the carriage in a direction.

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