JP5330283B2 - 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 port or an inland container terminal is provided with an earthquake countermeasure.

  Container terminals such as harbors and inland areas handle containers between ships and trailers by quay cranes, portal cranes, and container trailers. FIG. 6 shows a state of a quay crane (hereinafter referred to as a low profile crane or a crane) 1X having a leg structure 31 and a sliding boom (hereinafter referred to as a boom) 2 at the time of cargo handling.

  The crane 1 </ b> X lifts a container 41 mounted on a container ship 40 with a trolley 33 and performs a cargo handling operation for mounting on a trailer 36 waiting on a quay 35. Alternatively, the crane 1X performs a cargo handling operation for loading the container 41 from the trailer 36 onto the container ship 40. In this loading / unloading operation, the crane 1X moves along the quay 35 (in the back of the page in FIG. 6 or in the front direction) with the traveling device 34, and performs the loading / unloading operation while changing the unloading or loading position. .

  Next, the structure of the low profile crane 1X will be described. The crane 1X has a frame-shaped upper structure 30 on top of a leg structure 31 having a sea side leg 32a and a land side leg 32b. A sliding boom (hereinafter referred to as a boom) 2 is arranged inside the upper structure 30. The upper structure 30 includes a slide roller (hereinafter referred to as a roller) 3. On this roller 3, the boom 2 is arrange | positioned so that a movement is possible. The boom 2 can move in the left-right direction in FIG. The upper structure 30 is C-shaped with the lower part opened, and the trolley 33 can pass through this open part.

  In addition, a wire rope drum (hereinafter referred to as a drum) 4 is installed in the upper structure 30. The first wire rope 6a and the second wire rope 6b are fed out or wound up from the drum 4. The first wire rope 6 a comes out of the drum 4 and is fixed to the tip of the boom 2. Similarly, the second wire rope 6 b comes out of the drum 4 and is fixed to the tip of the boom 2.

  When the gap between the upper structure 30 and the boom 2 is small and the first wire rope 6a and the second wire rope 6b interfere with the upper structure 30, the sea side fixed sheave 5a and the land side fixed are attached to the upper structure 30. A sheave 5b or a rotating body is provided to prevent interference. Further, the drum 4 is configured so that, for example, when the first wire rope 6a is wound up, the second wire rope 6b having the same length is fed out.

  Next, the operation of the low profile crane 1X will be described. When handling the container 41, the crane 1X moves the boom 2 to above the container ship 40 on the sea side as shown in FIG. Moreover, the crane 1X moves the boom 2 to the land side as shown in FIG. 7 at the time of a stop.

  This is to avoid interference between the bridge of the container ship 40 and the boom 2 when the container ship 40 is berthing or leaving the berth. Some quay cranes are constructed so as to dodge bridges and the like by jumping up the boom upward in order to avoid interference with the container ship 40. However, in areas where there are height restrictions, such as container terminals near airports, the low profile crane 1X is used because the boom cannot be raised.

  The boom 2 is moved by winding the wire rope 6 (6a and 6b) with the drum 4. For example, when the boom 2 is moved to the sea side (when the boom 2 is in the state shown in FIGS. 7 to 6), the first wire rope 6a is fed out by the rotation of the drum 4, and the second wire rope 6b having the same length is moved. Wind up. By the operation of the drum 4, a force in the sea side direction acts on the boom 2, and the boom 2 moves. As the boom 2 moves, the roller 3 is configured to passively rotate.

  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. This seismic isolation structure is configured such that an isolator or a damper is installed on the upper leg of the traveling wheel and a crane structure is installed thereon so that the crane does not follow the ground shaking. As a specific example, there is a structure in which thin rubber sheets and steel plates are alternately laminated and an isolator such as a laminated rubber is installed between a traveling wheel and a leg portion of a crane.

  However, as in the invention described in Patent Document 1, the seismic isolation structure using an isolator has a problem that earthquake countermeasures are insufficient. In other words, the current isolator can absorb horizontal deformation of about ± 300 mm in the sea-land direction, but a recent request is to absorb horizontal deformation of about ± 1000 mm in the sea-land direction. It has become. Also, considering the use of an isolator that absorbs horizontal deformation of about ± 1000 mm, this isolator is expensive, and further, there is no space for installation between the traveling device and the leg structure, or the traveling device and the leg structure. There is a problem that an excessive falling moment is generated in the traveling device due to the misalignment of the object.

  On the other hand, in addition to the seismic isolation structure, there is a damping structure (also called a damping structure) as a countermeasure against earthquakes. This vibration damping structure is a structure that seismic motion is regarded as energy, and this energy is attenuated by an energy absorption structure incorporated in the structure. This damping structure is effective for repeated earthquakes because it can suppress the shaking of the structure and reduce the damage to the structure. Furthermore, it can be realized at a lower cost than the seismic 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 can be 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.

  However, it has been difficult to apply the above-described vibration control structure to a quay crane. That is, when applying a damping structure to a crane, it is necessary to newly install a damping mass, a damper, or the like, which causes a problem that the weight of the crane increases. The weight of the crane is limited by the strength of the quay where the crane is installed. And on most wharves, it is impossible to increase the weight of the crane.

JP-A-2005-75608

The present invention has been made in view of the above problems, and an object of the present invention is to suppress an increase in the weight of the crane in a quay crane (low profile crane) having a leg structure and a sliding boom and to reduce the weight The purpose is to provide a crane with a vibration control structure at low cost. It is another object of the present invention to provide a crane having a vibration control structure that exhibits a high vibration control effect and has high responsiveness and stability.

  A quay crane according to the present invention for achieving the above object includes a leg structure, an upper structure installed on an upper part of the leg structure, a roller installed on the upper structure or the leg structure, A quay crane having a sliding boom slidably installed on the roller and used for cargo handling of a container for marine transportation, wherein the upper structure or the leg structure and the sliding boom are relative to the quay crane. A vibration damping mechanism for damping movement is installed, and a support mechanism for supporting the sliding boom is installed on the upper structure or the leg structure. Under the first condition, the sliding boom is supported by the support mechanism. And controlling to prohibit contact between the sliding boom and the roller, and under the second condition, releasing the support of the sliding boom by the support mechanism. The sliding boom and brought into contact with the rollers, and performs a control to freely oscillating the sliding boom.

  With this configuration, the vibration control structure can be applied with almost no increase in the crane's own weight, so that the crane can be subjected to earthquake countermeasures at low cost. Since a sliding boom that is a super heavy object (for example, 300 to 400 t) of a low profile crane can be used as a damping mass, a high damping effect can be obtained. Here, the first condition assumes a normal time when the crane performs a cargo handling operation of the container, and the second condition assumes an earthquake occurrence.

  The vibration damping mechanism is a mechanism that attenuates relative movement between the swingable boom and the leg structure or the upper structure. For example, when the sliding boom moves to the sea side, the vibration damping mechanism generates a force that pulls back the movement of the sliding boom. Specifically, the leg structure or the upper structure and the sliding boom can be connected by a spring mechanism and a damper mechanism, respectively.

  In addition, since the whole weight of a low profile crane is about 1500-1600t, it can be said that the slide-type boom which occupies about 25% of the crane whole weight is a super-large vibration control mass.

  In the above quay crane, the roller and the support mechanism are installed on the upper structure or the leg structure, and the sliding boom is disposed above the roller and the support mechanism. Under the condition of 1, the support mechanism is protruded upward from the roller, the slide boom is supported, the contact between the slide boom and the roller is prohibited, and under the second condition The support mechanism is lowered below the roller, the support of the slide boom is released, the slide boom is brought into contact with the roller, and the slide boom is swingably controlled. Features.

  With this configuration, the sliding boom that is normally supported (fixed) by the support mechanism can be opened when an earthquake occurs. Specifically, only by lowering the support mechanism by its own weight or the weight of the slide boom, the slide boom can be placed on a rotatable roller and can be swung. In other words, if the movement direction of the support mechanism is downward, especially vertically downward, no power is required for movement, and even if a power failure occurs due to an earthquake, a highly responsive and stable vibration control effect is obtained. be able to.

In the above quay crane, the support mechanism is installed in the upper structure or the leg structure via a hydraulic cylinder, and is configured to release the pressure of the hydraulic cylinder under a second condition. And With this configuration, since the vibration damping effect of the crane is generated by using the pressure release of the hydraulic cylinder as a switch, a highly responsive vibration damping structure can be obtained. That is, immediately after the occurrence of the earthquake, the sliding boom can swing as a damping mass.

  In the above quay crane, a motor is installed on the roller, and when the sliding boom moves, the roller is controlled to rotate by driving the motor. When an earthquake occurs, the sliding boom is swung. The rotational force of the roller rotating by movement is attenuated by the motor.

  With this configuration, the motor installed on the roller acts as a drive device that applies power to the sliding boom when the sliding boom moves. Further, when the sliding boom swings due to an earthquake, it acts as a vibration damping mechanism that attenuates the swinging of the sliding boom. That is, the motor acts as a generator and absorbs the rotational force of the rollers.

  In order to achieve the above object, a method for controlling a quay crane according to the present invention includes a leg structure, an upper structure installed on an upper part of the leg structure, and the leg structure or the upper structure. A quay crane having a roller and a sliding boom slidably installed on the roller, and used for cargo handling of a container for marine transportation, the leg structure or the upper structure on the quay crane, and the slide In the control method of a quay crane in which a vibration damping mechanism for damping relative movement of a boom is installed and a support mechanism for supporting the sliding boom is installed on the leg structure or the upper structure, the marine transportation container When unloading, the slide boom is supported by the support mechanism, and the slide boom and the roller are prevented from contacting each other. When sliding the boom, the support of the sliding boom by the support mechanism is released, the sliding boom and the roller are brought into contact, and the sliding boom is controlled to slide, and when an earthquake occurs Is configured to release the support of the slide-type boom by the support mechanism, bring the slide-type boom into contact with the roller, and perform control to make the slide-type boom swingable. With this configuration, it is possible to obtain the same effect as that of the aforementioned quay crane.

  According to the quay crane according to the present invention, it is possible to provide a crane that suppresses an increase in the weight of the crane and introduces a vibration control structure at a low cost. In addition, it is possible to provide a crane having a vibration control structure that exhibits a high vibration control effect and has high responsiveness and stability.

It is the figure which showed the outline of the wharf crane of embodiment which concerns on this invention. It is the figure which showed the state which supported the slide type boom of the quay crane of embodiment which concerns on this invention. It is the figure which showed the state of the movement of the sliding boom of the quay crane of embodiment which concerns on this invention. It is the figure which showed the circuit of the support mechanism of the quay crane of embodiment which concerns on this invention. It is the figure which showed one example of the vibration damping mechanism of the quay crane of embodiment which concerns on this invention. It is the figure which showed the conventional quay crane. It is the figure which showed the conventional quay crane.

Hereinafter, a quay crane (hereinafter referred to as a low profile crane or a crane) according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an outline of the low profile crane 1.

  The crane 1 shown in FIG. 1 has a roller 3 on a leg structure 31 or an upper structure 30 and is configured to have a support mechanism 8 in the vicinity of the roller 3. Further, the support mechanism 8 is configured to protrude from the upper end of the roller 3, and the slide boom 2 is supported by the support mechanism 8.

  2 and 3 schematically show the support mechanism 8. The support mechanism 8 is configured to protrude upward from between the rollers 3 and is configured to move up and down by power such as hydraulic pressure or electric power. As shown in FIG. 2, when the support mechanism 8 protrudes upward, the upper end of the support mechanism 8 is higher than the roller 3 and can support the sliding boom 2 without touching the roller 3. . Furthermore, as shown in FIG. 3, when the support mechanism 8 is lowered downward, the sliding boom 2 can be placed on the roller 3 next to a position where the upper end is lower than the roller 3.

  In addition, the structure of the support mechanism 8 which concerns on this invention is not limited above, What is necessary is just the structure which can control the contact and isolation | separation of the slide type boom 2 and the roller 3 substantially.

  Next, the operation of the support mechanism 8 will be described. The support mechanism 8 is configured to be raised and lowered by, for example, hydraulic pressure or electric power. FIG. 2 shows a state of the support mechanism 8 when the crane 1 performs cargo handling (hereinafter referred to as normal time). At this time, the support mechanism 8 protrudes upward and is in a state of supporting the sliding boom 2. That is, the sliding boom 2 is fixed to the upper structure 30 and the leg structure 31.

  FIG. 3 shows the state of the support mechanism 8 when an earthquake occurs. At this time, the support mechanism 8 is lowered and the support of the sliding boom 2 is released. Since the sliding boom 2 is placed on the roller 3, the sliding boom 2 can swing in the sea-land direction (left and right direction in FIG. 3) by the rotation of the roller 3. That is, the sliding boom 2 that swings due to the earthquake motion can freely move on the rotatable roller 3 (non-powered).

  Here, the movement of the sliding boom 2 accompanying the berthing of the container ship 40 (see FIGS. 6 and 7) can be realized by lowering the support mechanism 8 and rotating the roller 3 by the power of a motor or the like.

  2 and 3, the roller 3 and the support mechanism 8 are installed on the upper structure 30, but may be installed on the leg structure 31. Further, the roller 3 and the support mechanism 8 may be disposed so as to be suspended from the upper structure 30.

  With the above configuration, the following operational effects can be obtained. That is, when the leg structure 31 and the upper structure 30 vibrate due to an earthquake, the boom 2 swings at a different period from this vibration, and the vibration generated in the crane 1 can be attenuated. That is, since the crane 1 can use the sliding boom 2 that is a super-heavy object (300 to 400 t) as a damping mass, a high damping effect can be obtained without increasing the weight of the crane 1.

  Further, since the opening (fixing release) of the sliding boom 2 is realized by the lowering of the support mechanism 8, it can be realized only by lowering the support mechanism 8 by its own weight or the weight of the sliding boom 2. That is, if the moving direction of the support mechanism 8 is downward, particularly vertically downward, power for lowering the support mechanism 8 is not necessary, and even if a power failure occurs due to an earthquake, responsiveness and stability are improved. A high damping effect can be obtained.

  In addition, the vibration attenuate | damped by the damping structure using the boom 2 mainly becomes a vibration of the sea-land direction (left-right direction of FIG. 3). The vibration in the direction parallel to the quay (from the front side to the back side in FIG. 3) may be configured to be attenuated by the sliding movement of the traveling device 34 (see FIG. 1) of the crane 1 as in the conventional case.

  FIG. 4 shows a hydraulic circuit in the case where a hydraulic cylinder 11 of both rods is installed as power for the support mechanism 8. As shown in FIG. 4, hydraulic pressure is applied to a hydraulic cylinder 11 constituting the support mechanism 8 by a hydraulic pump 14 via a control valve 13 that controls the flow direction of fluid (oil). A relief valve 12 is installed in parallel with the hydraulic cylinder 11. The relief valve 12 and the control valve 13 are preferably constituted by solenoid valves.

  Next, control of the hydraulic circuit will be described. In normal times, a voltage is applied to the relief valve 12 constituted by a solenoid valve to control the hydraulic circuit to be closed. Further, the direction in which the fluid flows can be controlled by the control valve 13 constituted by a solenoid valve. By this control, the raising and lowering of the support mechanism 8 can be actively controlled and adjusted. That is, in this hydraulic circuit, the pressure in the hydraulic cylinder 11 (the lower chamber in the cylinder 11 in FIG. 4) is controlled to be constant in order to keep the sliding boom 2 supported by the support mechanism 8. . When this pressure is reduced (when the support mechanism 8 is lowered), the control valve 13 automatically moves downward in FIG. 4 and controls to increase this pressure. When the internal pressure reaches a predetermined value, the control valve 13 is controlled to be in a closed state (the state shown in FIG. 4). Further, for the purpose of reducing the cost, the control valve 13 may move upward in FIG. 4 when the internal pressure is excessively increased, and the circuit (cross circuit) for reducing the internal pressure may not be provided.

  When an earthquake occurs, the relief valve 12 is opened to control the hydraulic pressure applied to the hydraulic cylinder 11 to be released. As the relief valve 12 is opened, the hydraulic cylinder 11 can be freely lowered by an external force (such as the weight of the sliding boom 2). That is, when an earthquake occurs, the state in which the sliding boom 2 is supported by the support mechanism 8 is released, and the sliding boom 2 becomes a vibration-suppressing mass and can swing on the roller 3.

  The relief valve 12 is preferably a solenoid valve that can be automatically controlled to the open side by the action of a spring or the like when no voltage is applied. With this configuration, the relief valve 12 can be opened even when a power failure occurs with an earthquake. Further, when the crane 1 is restored after the earthquake occurs, the control valve 13 is controlled so that the support mechanism 8 is raised and the slide boom 2 is supported.

  In addition, the detection of an earthquake can be performed with an accelerometer or a seismometer installed in the crane 1. Based on this earthquake detection signal, control of stopping the electricity flowing through the relief valve 12 and releasing the fixation of the sliding boom 2 can provide a highly responsive vibration damping effect. Further, the relief valve 12 may be mechanically fixed by a shear pin, and when the earthquake occurs, the relief valve may be opened by breaking the shear pin.

  FIG. 5 shows an example (partially perspective view) of the vibration damping mechanism 9 that attenuates the relative motion between the upper structure 30 or the leg structure 31 and the sliding boom 2. The vibration damping mechanism 9 is incorporated in the roller 3, and a clutch mechanism 17, a spring mechanism 18, and a damper mechanism 19 are installed on the rotating shaft 21 of the slide roller 3.

  The spring mechanism 18 is configured to accumulate the rotational force of the roller 3 via the rotation shaft 21. The damper mechanism 19 is configured such that the resistance blade 20 rotates in a case filled with oil or the like.

  Next, the operation of the vibration damping mechanism 9 will be described. As shown in FIG. 3, the sliding boom 2 swings on the roller 3 when an earthquake occurs. At this time, the roller 3 shown in FIG. 5 receives the force from the sliding boom 2 and rotates. This rotational force is accumulated in the torsion spring (spring mechanism 18) via the rotation shaft 21. Due to the force of the torsion spring to return, the slide roller 3 rotates in the reverse direction, and the slide boom 2 receives the pull back force. Further, the rotary damper (damper mechanism 19) attenuates the rotational energy of the slide roller 3 via the rotary shaft 21.

  Here, when an earthquake occurs, the clutch mechanism 17 is in a connected state. The clutch mechanism 17 is configured to be released only when the sliding boom 2 is actively moved by the rotation of the roller 3 (see FIG. 7 at the time of berthing at the container ship, etc.). For example, using a relief valve or the like, the clutch mechanism 17 can be disconnected only when voltage is applied, and in other cases, the clutch mechanism 17 can be controlled to be connected.

  With the configuration described above, the relative movement of the swingable slide boom 2 and the upper structure 30 and the leg structure 31 can be damped. That is, it is possible to obtain a damping effect using the sliding boom 2 as a damping mass.

  The configuration of the vibration damping mechanism 9 is not limited to the above, and other configurations can be realized as long as the spring mechanism and the damper mechanism are installed between the sliding boom 2 and the upper structure 30. be able to. For example, a configuration in which a spring mechanism and a damper mechanism are installed between the sliding boom 2 and the upper structure 30 or the leg structure 31 along the moving direction of the sliding boom 2 may be employed.

  Moreover, it is good also as a structure which incorporated the motor and the generator in the roller 3. FIG. Specifically, when the sliding boom 2 is actively moved, electricity is supplied to the motor, and the rotation of the roller 3 moves the sliding boom 2 to the sea side or the land side (see FIGS. 6 and 7). . When an earthquake occurs, the motor is used as a generator, and the rotational force of the roller 3 accompanying the swing of the sliding boom 2 is converted into electricity and attenuated.

  As described above, even if a power failure occurs due to the occurrence of an earthquake, the low-profile crane having a vibration control structure that efficiently attenuates the vibration of the crane 1 by using the sliding boom 2 as a vibration control mass. 1 can be provided.

  In addition, it is also possible to apply the conventional seismic isolation apparatus to the crane 1, and it can also be set as the extremely high earthquake-resistant crane which has both the seismic isolation mechanism and the damping mechanism. Here, the seismic isolation mechanism employed at the same time as the vibration damping mechanism can employ an isolator that is smaller and less expensive than the conventional one.

1 Quay crane (low profile crane)
2 Sliding boom (boom)
3 Slide roller (roller)
8 Support mechanism 9 Vibration damping mechanism 11 Hydraulic cylinder 12 Relief valve 13 Control valve 14 Hydraulic pump 30 Upper structure 31 Leg structure

Claims (5)

A leg structure, an upper structure installed on the upper part of the leg structure, a roller installed on the upper structure or the leg structure, and a sliding boom installed slidably on the roller, In quay cranes used for cargo handling of marine transportation containers,
A vibration damping mechanism for damping relative movement of the upper structure or the leg structure and the sliding boom is installed in the quay crane, and the sliding boom is supported by the upper structure or the leg structure. Install a support mechanism,
Under the first condition, the slide mechanism is supported by the support mechanism, and control for prohibiting contact between the slide boom and the roller is performed.
Under the second condition, the support of the slide boom by the support mechanism is released, the slide boom and the roller are brought into contact with each other, and the slide boom is swingably controlled. Quay crane to do. The roller and the support mechanism are installed on the upper structure or the leg structure, and the sliding boom is positioned above the roller and the support mechanism.
Under the first condition, the support mechanism protrudes above the roller, supports the sliding boom, and performs control to prohibit contact between the sliding boom and the roller,
Under the second condition, the support mechanism is lowered below the roller, the support of the sliding boom is released, the sliding boom and the roller are brought into contact, and the sliding boom is swingable. The quay crane according to claim 1, wherein control is performed as follows.   3. The support mechanism according to claim 2, wherein the support mechanism is installed in the upper structure or the leg structure via a hydraulic cylinder, and the pressure of the hydraulic cylinder is released under a second condition. The described quay crane. A motor is installed on the roller;
When the sliding boom moves, the roller is rotated by driving the motor,
4. The quay crane according to claim 1, wherein, when an earthquake occurs, the rotational force of the roller that is rotated by swinging of the sliding boom is attenuated by the motor. 5. A leg structure, an upper structure installed on the upper part of the leg structure, a roller installed on the leg structure or the upper structure, and a slide-type boom slidably installed on the roller, It is a quay crane used for cargo handling of marine transport containers,
A vibration damping mechanism for damping relative movement of the leg structure or the upper structure and the sliding boom is installed in the quay crane, and the sliding boom is supported by the leg structure or the upper structure. In the control method of a quay crane installed with a support mechanism,
When handling the marine shipping container, the sliding boom is supported by the support mechanism, and control to prohibit contact between the sliding boom and the roller is performed.
When sliding the sliding boom, release the support of the sliding boom by the support mechanism, bring the sliding boom and the roller into contact, and control to slide the sliding boom,
When an earthquake occurs, the support of the slide type boom by the support mechanism is released, the slide type boom is brought into contact with the roller, and the slide type boom is controlled to be swingable. To control the quay crane.

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