JP6380870B2 - crane - Google Patents

Description

  The present invention relates to a crane that includes a trolley that has a drum and moves on a girder, and that suspends a hanging tool by a rope hanging structure in which a rope drawn from the drum is wound between the hanging tool and the trolley. .

  In container terminals such as harbors and inland areas, containers (carrying materials) between ships, railways, and trailers are handled by quay cranes and portal cranes. The quay crane and the portal crane move the trolley to a target position when handling and lift the lifting tool.

  When raising and lowering the hanging tool, there is a problem that the hanging object and the transported object held by the hanging tool swing in the longitudinal direction, the lateral direction, and the turning direction (hereinafter referred to as skew) of the hanging tool.

  Therefore, one of the inventors of the present invention has a rope-hanging structure in which a plurality of ropes that are drawn out and wound up by a single drum provided on the trolley are wound between the suspension and the trolley so as to form a truss structure. Proposed a device (see, for example, Patent Document 1) that suppresses swinging of a suspended object and a transported object held by the suspended tool.

  In this device, eight ropes (two by four pairs) included in the four rope-wrapping virtual planes assumed around the hanger, or eight triangles formed by four ropes constitute a truss structure. Therefore, the rocking suppression force that suppresses the rocking of the hanger is extremely high. In particular, since the two ropes are hung so that the sheaves of the same axis are sandwiched from both sides at the center of the end in the longitudinal direction of the hanger, a higher restraining force that suppresses the swing of the hanger in the transverse direction is exhibited. To do.

By the way, when a cargo truck is loaded on a tilted ground or when a cargo truck is loaded on a driver truck that is tilted, the crane described in Patent Document 1 is hung only by a drum winding and unwinding operation. The tool cannot be tilted with respect to the horizontal plane. Therefore, it is necessary to install a hydraulic device separately, which increases the weight of the device and requires maintenance work.

JP 2010-126289 A

This invention is made | formed in view of said problem, The objective is to provide the crane which can incline a hanging tool with respect to a horizontal surface .

Crane of the present invention to solve the above object, the rotation axis in the same direction, feeding the rope and winding pair of drums, the trolley having a plurality of sheaves, and comprises a suspender having a plurality of sheaves, Gate A crane body formed in a mold has a girder in which the trolley traverses and a plurality of legs extending downward from both ends of the girder, and the pair of drums are driven independently of each other A plurality of drums arranged on a sill beam that joins the legs facing the traveling direction of the crane at the lower ends of the legs , and one of the pair of drums extends and winds up. One end of the rope is fixed to one of the drums, the middle is wound around each sheave between the trolley and the hanging tool, and the other end is fixed to the trolley. One end of a plurality of ropes that the other drum pays out and winds up is fixed to the other drum, the middle is wound around each sheave between the trolley and the hanging tool, and the other end is fixed to the trolley One rope hanging structure composed of a plurality of ropes that the one drum extends and winds up on one side with respect to a vertical plane located in the center in the longitudinal direction of the hanging tool in plan view, and the vertical plane The other rope hanging structure comprising a plurality of ropes that the other drum extends and winds up on the opposite side to the one direction with respect to the boundary is arranged in plane symmetry.

According to the present invention, since one rope hanging structure and the other rope hanging structure are independent, the hanging tool can be inclined with respect to the horizontal plane by driving each of the pair of drums separately. As a result, when a transported object is lowered to a load carrier with respect to a transport cart with a tilted load platform or a stationary cart with a tilted ground, Since the transported object gripped by the hanging tool can be tilted and the four corners of the transported object can be simultaneously landed on the loading platform of the transport cart, the handling efficiency can be improved and the safety can be improved.

It is a perspective view which shows the crane of 1st embodiment which concerns on this invention. It is a perspective view which shows the rope hanging structure of FIG. It is the front view which showed the rope hooking structure of the arrow III direction of FIG. It is the side view which showed the rope hooking structure of the arrow IV direction of FIG. FIG. 3 is a top view in the direction of arrow V in FIG. 2. It is a schematic diagram which shows the moving amount | distance and moving direction of each drum of FIG. 5 and the unwinding winding position of the rope wound up around each drum. It is the side view which showed the operation | movement which inclines the hanging tool of the crane of FIG. 1 to a perpendicular direction. It is the front view which showed the operation | movement which slides the hanging tool of the crane of FIG. 1 to a transverse direction. It is the side view which showed the operation | movement which slides the hanging tool of the crane of FIG. 1 to a longitudinal direction. It is the top view which showed the operation | movement which turns the hanging tool of the crane of FIG. 1 in a turning direction. It is a perspective view which shows the crane of 2nd embodiment which concerns on this invention.

  Hereinafter, a crane according to an embodiment of the present invention will be described with reference to the drawings. Note that the dimensions of the drawings are changed so that the configuration can be easily understood, and the ratios of the thicknesses, widths, lengths, and the like of the respective members and parts do not necessarily match the ratios of actually manufactured parts.

  Further, the x direction in the drawing in FIG. 1 is the longitudinal direction of the hanging tool, the y direction in the drawing is the transverse direction of the hanging tool, and the z direction in the drawing is the vertical direction. In addition, in FIG. 2, the figure seen from the arrow direction indicated by III in the figure is a front view, the figure seen from the arrow direction indicated by IV in the figure is a side view, and from the arrow direction indicated by V in the figure The viewed view is a top view. In addition, a vertical plane at a position where the length in the longitudinal direction (x direction) of the hanging tool is halved is VF1, and a vertical surface at a position where the length in the transverse direction (y direction) of the hanging tool is halved is VF2. To do.

In the following embodiments, like traveling container terminal, it grips the containers Co in hanging ingredients such as spreader, that describes the portal crane for handling example.

First, a portal crane (hereinafter referred to as a crane 1) that is an example of a crane according to a first embodiment of the present invention will be described with reference to FIGS. A crane 1 shown in FIG. 1 has a crane main body 2 formed in a gate shape, and travels in a container storage zone by a traveling device 4 provided on a leg portion 3 thereof. In addition, the crane 1 includes a trolley 6 that traverses the girder 5 on the upper part of the crane body 2 in the y direction, and forms a rope hanging structure 10 by a plurality of ropes W drawn from the drums 7 a and 7 b on the trolley 6. The rope 8 is hung by the rope hanging structure 10. In addition, the code | symbol 9 has shown the power chamber in which the motive power apparatus of the crane 1 was accommodated, the code | symbol C has shown the container which is a conveyed product, and the code | symbol S has shown the sheave which is a pulley.

  As shown in FIG. 2, the trolley 6 (not shown) includes a drum 7a and a drum 7b in addition to a pair of drums 7a and 7b in which the rotation axis is in the y direction and the rope W is unwound and wound up in the opposite directions when viewed from the y direction The first rope group Wa (Wa1 to Wa4) 7a that is unwound and wound up, the second rope group Wb (Wb1 to Wb4) that the drum 7b is unwound and wound up, and the first provided at the four corners of the trolley 6 in the x direction. Sheave group S10 (sheaves S11 to S14; trolley bottom sheave), second sheave group S20 (sheaves S21 to S24; trolley apex sheave) provided in the center of trolley 6 with the rotation axis in the y direction, and the rotation axis is z Direction and the third sheave group S30 (sheaves S31 to S34) provided in the center of the trolley 6, and both connected to the rope ends of the rope groups Wa and Wb The actuator is provided with a (mobile device) 11-14.

  In addition, the hanging tool 8 has a fourth sheave group S40 (sheaves S41 to S44; hanging tool apex sheave) provided at the center of both ends in the longitudinal direction of the hanging tool 8 in the x direction and the rotation axis. A fifth sheave group S50 (sheaves S51 to S54; suspension bottom sheave) provided in the four corners of the hanging tool 8 with the axis in the y direction is provided.

  Next, the rope hanging structure 10 will be described in detail. Here, the wrapping surface of the rope assumed at both ends in the x direction of the hanger 8 is a longitudinal virtual surface (not shown), and the rope wrapping surface assumed at both ends of the hanger 8 in the y direction. Is defined as a lateral direction virtual plane (not shown).

  As shown in FIGS. 2 and 3, the rope Wa1 is connected to one end portion of the first bidirectional actuator (transverse direction moving device) 11 via the sheave S41 and the sheave S11, and the hanging tool 8 and the trolley (see FIG. 2). A triangle A is formed with the not shown. Similarly, the rope Wa2 is connected to the other end portion of the first bidirectional actuator 11 via the sheave S42 and the sheave S12, and forms a triangle B between the hanger 8 and the trolley.

  2 and 4, the rope Wa3 is connected to one end of the third bidirectional actuator (longitudinal movement device) 13 through the sheave S51, the sheave S21, and the sheave S31. A triangle C is formed between the trolleys. Similarly, the rope Wa4 is connected to one end portion of the fourth bidirectional actuator (longitudinal movement device) 14 through the sheave S52, the sheave S22, and the sheave S32, and a triangle D is formed between the hanging tool 8 and the trolley. Form.

  As shown in FIGS. 2 and 3, the rope Wb1 is connected to one end of the second bidirectional actuator (lateral movement device) 12 via the sheave S43 and the sheave S13, and the rope 8 and the trolley are connected to each other. A triangle E is formed between them. Similarly, the rope Wb2 is connected to the other end portion of the second bidirectional actuator 12 via the sheave S44 and the sheave S14, and forms a triangle F between the hanger 8 and the trolley.

  2 and 3, the rope Wb3 is connected to the other end of the third bidirectional actuator 13 via the sheave S53, the sheave S23, and the sheave S33, and is triangular between the hanger 8 and the trolley. G is formed. Similarly, the rope Wb4 is connected to the other end portion of the fourth bidirectional actuator 14 via the sheave S54, the sheave S24, and the sheave S34, and forms a triangle H between the hanger 8 and the trolley.

  Here, the triangle A to the triangle H will be described in detail.

FIG. 3 shows a longitudinal virtual surface (not shown) that is a rope winding surface assumed at one end of the hanging tool 8 in the x direction, and a first rope hanging structure formed on the longitudinal virtual surface. 10
The 1st longitudinal surface rope hanging structure 10c (2nd longitudinal surface rope hanging structure 10d) which is a part of a (2nd rope hanging structure 10b) is shown. In addition, the parenthesis of the code | symbol here shows the other end part of the x direction of the hanging tool 8.

  As shown in FIG. 3, the triangle A (triangle F) and the triangle B (triangle E) are formed so that their hypotenuses face away from each other. Triangle A, triangle B, triangle F, and triangle E are all formed congruently.

  FIG. 4 shows a lateral imaginary surface (not shown), which is a rope wrapping surface assumed at one end of the hanger 8 in the y direction, and a first rope hanging structure formed on the lateral imaginary surface. 10a and a first side rope surface hanging structure 10e (second side surface rope hanging structure 10f) which is a part of the second rope hanging structure 10b. In addition, the parenthesis of the code | symbol here shows the other end part of the y direction of the hanging tool 8. FIG.

  As shown in FIG. 4, the triangle C (triangle D) and the triangle G (triangle H) are formed so that their hypotenuses face each other, and the triangle C (triangle G) and the triangle D (triangle H) are It is formed so as to be plane symmetric. Triangle C, triangle D, triangle G, and triangle H are all formed congruently.

  Furthermore, it is preferable to form all the triangles A to H in a congruent manner because a high restraining force that suppresses the swing of the hanging tool 8 in the x direction and the y direction is exhibited.

  With the rope hanging structure 10 described above, eight pieces (two × 2) included in each longitudinal virtual plane and each lateral virtual plane (not shown) that are wound surfaces of the four ropes assumed around the suspension 8. Since the eight triangles A to H formed by the four sets of ropes W constitute a truss structure, the swing suppressing force that suppresses swing of the hanging tool 8 is extremely high.

  In particular, at the center of the end of the hanger 8 in the y direction, the two ropes Wa1 and Wa2 (ropes Wb1 and Wb2) sandwich the sheaves S41 and S42 (the sheaves S43 and S44) of the same axis from both sides. Since it is hung, it exhibits a higher suppression force that suppresses the swing of the hanger 8 in the y direction.

  Moreover, the diameters of the first sheave group S10 and the second sheave group S20 that are located at both ends of the hypotenuses of all the triangles A to H formed by the rope W spanned between the trolley 6 and the hanging tool 8 are the same. And the diameters of the fourth sheave group S40 and the fifth sheave group S50 are the same, and the diameters of the fourth sheave group S40 and the fifth sheave group S50 are the same as those of the first sheave group S10 and the second sheave group S20. If the diameter is smaller than or the same as the diameter, the length of the rope W will not be unbalanced even when the hanging tool 8 is fed out and wound up, and high steady rest performance and weight reduction can be achieved. .

  In addition to the above-described configuration, in order to suppress further skew deflection of the hanging tool 8, as shown in the top view of FIG. 5, the crane 1 of the first embodiment according to the present invention includes a first drum 7a. The reeling-up positions Pa1 to Pa4 of the rope group Wa and the feeding and winding positions Pb1 to Pb4 of the second rope group Wb of the drum 7b are arranged symmetrically with respect to the vertical plane VF1 that is the yz plane, A first rope hanging structure 10a formed by the first rope group Wa that the drum 7a is fed and wound up, and a second rope hanging structure 10b that is formed by the second rope group Wb that the drum 7b is fed and rolled up are represented by yz. It is configured to be symmetrical with respect to a vertical plane VF1 that is a plane.

Further, as shown in FIG. 6, when the crane 1 is driven in the vertical direction by driving both the drum 7a and the drum 7b at the same rotational speed and in mutually opposite rotational directions, On the other hand, the reeling-up position Pa1 of the drum 7a and the reeling-up position Pb of the drum 7b arranged symmetrically with respect to the plane (the feeding-up position Pa2 and the feeding-up position Pb2, the feeding-up position Pa3 and the feeding-up position Pb3, In addition, the movement amount ΔL and the movement direction Di are the same between the feeding winding position Pa4 and the feeding winding position Pb4).

  The drum 7a and the drum 7b are grooved drums, and are provided with grooves (not shown). When the ropes W enter the grooves, the ropes W can be prevented from winding up and getting loose. When the groove 8 is formed so that when the lifting tool 8 is moved up and down, the movement amount ΔL and the movement direction Di between the feeding and winding positions Pa1 to Pa4 and the feeding and winding positions Pb1 to Pb4 are the same. Even when the tool 8 is moved up and down, it is possible to maintain a state in which the feed-up position Pa1 to Pa4 and the feed-up position are symmetrical with respect to the vertical plane.

  In this first embodiment, even if the fleet angle is 2 degrees or more, the grooved drum is used in order to prevent the rope W from being twisted and missing, but the fleet angle is within 2 degrees. A grooveless drum can be used as long as it can be accommodated.

  Preferably, when the groove provided in the drum 7a and the groove provided in the drum 7b are arranged symmetrically with respect to the vertical plane VF1, the respective reeling hoist positions Pa1 to Pa4 and the respective reeling hoist positions. The fleet angles at Pb1 to Pb4 can be more accurately set to the same angle, and the skew swing of the hanger 8 can be reliably prevented.

  Moreover, although the drum 7a was arrange | positioned on the one end part of the x direction of the hanger 8, and the drum 7b was arrange | positioned on the other end part of the x direction of the hanger 8, both are arrange | positioned at the center part side of the hanger 8. Also good. In addition, in this embodiment, the drums 7a and 7b whose rotation axis is in the y direction are used, but two drums whose rotation axis is in the x direction may be used. Further, in this embodiment, the drums 7 a and 7 b are disposed on the trolley 6, but may be disposed on the sill beam of the leg portion 3 in the same manner as the power chamber 9.

  As described above, the first rope hanging structure 10a and the second rope hanging structure 10b are configured to have a plane-symmetric structure with respect to the vertical plane VF1, as shown in FIGS. In this embodiment, as described above, eight (two) included in each longitudinal imaginary plane and each lateral imaginary plane (not shown), which are the wrapping surfaces of the four ropes assumed around the suspension 8. The four triangles A to H formed by the ropes W of the four pieces are formed so as to constitute a truss structure. The first rope hanging structure 10a and the second rope hanging are formed on the vertical plane VF1. The structure 10b may be configured to be plane-symmetric, and the present invention is not limited to the above configuration.

  According to this configuration, when the lifting tool 8 is supported substantially horizontally and moves up and down, the reeling and winding positions Pa1 to Pa4 of the drum 7a, the reeling and winding positions Pb1 to Pb4 of the drum 7b, and the first Since the rope hanging structure 10a and the second rope hanging structure 10b are arranged so as to be plane-symmetric with respect to the vertical plane VF1, the rope Wa1 at the unwinding winding position Pa1 and the rope at the unwinding winding position Pb1 The fleet angles of Wb1 (the rope Wa2 and the rope Wb2, the rope Wa3 and the rope Wb3, and the rope Wa4 and the rope Wb4) are made equal. Therefore, when each drum 7a and 7b unwinds and winds up the rope W, the tensile force applied to the ropes Wa1 to Wa4 and the tensile force applied to the ropes Wb1 to Wb4 that are symmetrical to the ropes Wa1 to Wa4 are Since the same state can be achieved by 7b, skew swinging (swinging in the turning direction) of the hanger 8 can be prevented. Thereby, time, such as waiting for the skew swing of the hanging tool 8, to stop, can reduce, and cargo handling efficiency can be improved.

Referring to FIG. 5, the reeling-up position Pa1 on the drum 7a of the rope Wa1 and the feeding-winding position Pb1 on the drum 7b of the rope Wb1 that are similarly wound on the left and right in the x direction of the hanging tool 8.
Are in a plane-symmetrical position with respect to the vertical plane VF1. Similarly, the feeding winding position Pa2 and the feeding winding position Pb2, the feeding winding position Pa3 and the feeding winding position Pb3, and the feeding winding position Pa4 and the feeding winding position Pb4 are also symmetrical with respect to the vertical plane VF1. In position.

  The reels Wa1 and Wb1 (Wa2 and Wb2, Wa3 and Wb3, and Wa4 and Wb4; hereinafter abbreviated) between the ropes Wa1 and Wb1 wound similarly on the left and right in the x direction of the hanging tool 8 (Pa2 and Wb2). When Pb2, Pa3 and Pb3, and Pa4 and Pb4 (hereinafter omitted) are in a plane-symmetrical position with respect to the vertical plane VF1, the fleet angles when the ropes Wa1 and Wb1 are drawn out and wound up are substantially the same angle. Therefore, if the rope Wa1 is along the groove of the drum 7a, the rope Wb1 is not deviated from the groove of the drum 7b, and the position is not shifted. Similarly, the rope Wa1 is along the groove of the drum 7b.

  FIG. 6 shows a state in which the ropes Wa1 to Wa4 are wound up by the drum 7a and the ropes Wb1 to Wb4 are similarly wound up by the drum 7b when the hanging tool 8 is raised. In this figure, the state of each rope W wound up by each drum 7a and 7b from a certain point of time is indicated by a dotted line.

  When the respective drums 7a and 7b are driven at the same rotational speed and in the rotation directions opposite to each other to wind up the ropes W, the respective reeling hoisting positions Pa1 to Pa4 and Pb1 to Pb4 are set to the respective reeling hoisting positions. It moves to Pa1 ′ to Pa4 ′ and Pb1 ′ to Pb4 ′. The amount of movement at this time is represented by ΔL. As shown in FIG. 6, the amounts of movement of the unwinding winding positions Pa1 and Pa2 and the unwinding winding positions Pb1 and Pb2 are ΔL1, which are equal to each other. Further, the moving amounts of the unwinding hoisting positions Pa3 and Pa4 and the unwinding hoisting positions Pb3 and Pb4 are ΔL2, which are equal to each other.

  Further, the moving direction at this time is represented by Di. The moving directions of the feed-up positions Pa1 and Pa4 and the feed-up positions Pb1 and Pb4 are Di1 and are in the same direction. Further, the moving direction of the unwinding winding positions Pa2 and Pa3 and the unwinding winding positions Pb2 and Pb3 is Di2, which is the same direction. In addition, since it is the same also when each rope W is let out, the description is abbreviate | omitted.

  In this way, when the lifting tool 8 is moved up and down while maintaining the horizontal state, the present invention feeds the ropes W with the drums 7a and 7b and feeds them to the unwinding positions Pa1 to Pa4 and Pb1. Since the movement amount ΔL of Pb4 and the movement direction Di are the same, even if each drum 7a and 7b is driven and each rope W is fed out or wound up, the degree of tensile force of each rope W becomes equal. The skew swing of the hanging tool 8 can be prevented.

  Moreover, although FIG. 6 demonstrated the state in which each rope W was wound up toward the center part of the drum 7a and the drum 7b, this invention is not limited to this, For example, it seems to wind up toward the outer side of a drum May be configured.

  On the other hand, the crane 1 is configured such that the drum 7a and the drum 7b can be driven independently, and each of the first rope hanging structure 10a and the second rope hanging structure 10b is configured independently. When each of the drums 7b is driven at a different rotational speed or in the same rotational direction, the hanging tool 8 is configured to be inclined with respect to the horizontal direction.

  Next, the operation of the crane 1 will be described with reference to FIG. In addition, although demonstrated here as an example of the operation | movement which loads the container Co with respect to the conveyance trolley T comprised so that the loading platform Ta may incline, it stops at the place where the ground is inclined, and the loading platform inclined. Containers can be handled similarly to the transport cart.

  As shown in FIG. 7, when the crane 1 loads the container Co on the transport cart T with the loading platform Ta inclined, the crane 1 lowers the container Co to a predetermined height.

  Next, the crane 1 drives only the drum 7b and feeds only the second rope group Wb. Since the second rope group Wb is fed out and the state of the first rope group Wa is not changed, the rear side of the carriage T of the hanging tool 8 is lowered with respect to the horizontal plane, and has the same inclination as the inclination of the loading platform Ta. Then, the drum 7a and the drum 7b are driven so that the four corners of the container Co supported by the hanging tool 8 are simultaneously lowered onto the loading platform Ta of the transportation cart T, and the container Co is loaded on the transportation cart T while maintaining its inclination. Taken down to Ta.

  As a result, when the container Co is lowered to the loading platform Ta, the hanging tool 8 and the container Co grasped by the hanging tool 8 are tilted and the four corners of the container Co are transported at the same time as the loading platform Ta is tilted. Since it can be made to land on the loading platform Ta of the trolley | bogie T, safety | security can also be improved with the improvement of cargo handling efficiency. This effect is also effective when cargo handling is carried out on a transport cart that is parked on an inclined ground.

  At this time, if the rope hooking structure 10 is formed so as to constitute a truss structure on each longitudinal virtual plane and each lateral virtual plane, when the hanging tool 8 is inclined in the horizontal direction, This is preferable because shake can be suppressed. For example, as shown in FIG. 7, when the hanging tool 8 is tilted with respect to the horizontal direction, in the first embodiment, the first lateral surface rope hanging structure is provided on each lateral direction virtual surface (not shown). Since 10e and the second lateral surface rope hooking structure 10f are formed, it is possible to prevent the hanging tool 8 from swinging in the x direction.

  In addition to the above-described configuration, the crane 1 according to the first embodiment of the present invention is shown in FIG. As shown in FIGS. 2 to 4, a pair of first ropes Wa <b> 1 and Wa <b> 2 are paired on a virtual virtual surface (not shown) that is a winding surface of the rope W assumed at both ends in the longitudinal direction of the hanging tool 8. (Rope Wb1 and Wb2) are connected to the ends, the rope Wa1 (rope Wb1) is fed out in the x direction, the rope Wa2 (rope Wb2) is pulled in the x direction, and the rope Wa1 (rope Wb1) is pulled in the x direction and the rope A first bidirectional actuator 11 (second bidirectional actuator 12) that feeds Wa2 (rope Wb2) in the x direction is provided. Further, two sheaves S11 and S12 (sheaves S13 and S12) of sheaves S11 to S14 (trolley bottom sheaves) provided at the four corners of the trolley 6 and a central portion of the hanging tool 8 are provided on the longitudinal virtual plane. Two sheaves S41 and S42 (sheaves S43 and S44; sheave apex sheaves) having the same rotation axis are arranged in an isosceles triangle having the sheaves S41 and S42 (sheaves S43 and S44) as apexes, and are wound around them. The first pair of ropes Wa1 and Wa2 (ropes Wb1 and Wb2) connected by the first bidirectional actuator 11 (second bidirectional actuator 12) to be hung is an isosceles triangle I (isosceles triangle J). Formed and configured.

In addition, in order to shift the lifting tool 8 in the x direction by the amount of displacement required when handling the lifting tool 8, the crane 1 is provided with a rope W wound around both ends of the lifting tool 8 in the lateral direction. It is connected to the end of the second pair of ropes Wa3 and ropes Wb3 (rope Wa4 and ropes Wb4) as a pair in the lateral direction virtual plane that is the hanging surface, and the rope Wa3 (rope Wa4) is fed out in the y direction and the rope Wb3 ( A third bidirectional actuator 13 (fourth bidirectional actuator 14) is provided that pulls the rope Wb4) in the y direction, pulls the rope Wa3 (rope Wa4) in the y direction, and extends the rope Wb3 (rope Wb4) in the y direction. Further, two sheaves S21 and S23 (sheaves S22 and S24; trolley apex sheaves) provided at the center of the trolley 6 and having the same rotation axis and provided at the four corners of the hanging tool 8 on the imaginary plane in the transverse direction. The sheaves S51 and S53 (the sheaves S52 and S54) of the sheaves S51 to S54 (the sheave bottom sheave) are arranged in an isosceles triangle having the sheaves S21 and S23 (the sheaves S22 and S24) as apexes, and are wound around them. The second pair of ropes Wa3 and Wb3 (rope Wa4 and rope Wb4) connected by the third bidirectional actuator 13 (fourth bidirectional actuator 14) is an isosceles triangle K (isosceles triangle L). Is formed and configured.

  In addition, as shown in FIG. 4, the crane 1 has a pair of second pair of ropes Wa3 and ropes Wb3 (rope Wa4 and ropes Wb4) arranged at the center of the lateral imaginary plane, Based on the position (vertical surface VF1) of the third bidirectional actuator 13 (fourth bidirectional actuator 14) provided on the virtual surface in the lateral direction, the first lateral surface rope hanging structure 10e (second lateral surface rope hanging structure) The one side and the other side of 10f) are configured symmetrically in a side view from the y direction of the hanger.

  Further, as shown in FIGS. 2 to 4, the crane 1 is configured such that the first pair of ropes Wa <b> 1 and Wa <b> 2 (ropes Wb <b> 1 and Wb <b> 2) form a part of the first rope hanging structure 10 a. At the same time, the second pair of ropes Wa3 and Wb3 includes a rope Wa3 that forms part of the first rope hanging structure 10a and a rope Wb3 that forms part of the second rope hanging structure 10b.

  As shown in FIG. 3, the first bidirectional actuator 11 connects the ends of the first pair of ropes Wa1 and Wa2 that are paired in the longitudinal virtual plane at the central portion of the longitudinal virtual plane, and is an electric motor (not shown). ) To slide the bidirectional cylinder back and forth, and slide the end of the rope Wa1 and the end of the rope Wa2 in the y direction and in the same direction. In this embodiment, the one driven by the electric motor is used. However, the present invention is not limited to this, and for example, a hydraulic actuator may be used. Since the second bidirectional actuator 12 has the same configuration, the description thereof is omitted.

  As shown in FIG. 4, the third bidirectional actuator 13 connects the ends of a second pair of ropes Wa3 and ropes Wb3, which are paired on the lateral imaginary plane, at the center of the lateral imaginary plane, No.), the bidirectional cylinder is slid back and forth, and the end of the rope Wa3 and the end of the rope Wb3 are slid in the x direction and in the same direction. Since the fourth bidirectional actuator 14 has the same configuration, the description thereof is omitted.

  When each of the bidirectional actuators 11 to 14 moves the hanging tool 8 in the x direction, the y direction, and the turning direction, the position of each sheave S is fixed without moving. It can be prevented from collapsing. In addition, since the sheaves S are not moved, the rope hooking structure 10 can be simplified as compared with the configuration in which the sheaves S are moved and the hanging tool 8 is moved.

  As shown in FIGS. 3 and 4, each of these bidirectional actuators 11 to 14 is a portion where the vertical plane VF2 and the longitudinal virtual plane intersect, and a portion where the vertical plane VF1 and the lateral virtual plane intersect. If it arrange | positions, it can arrange | position to the center part of a longitudinal direction virtual surface, and the center part of a lateral direction virtual surface. When each of the bidirectional actuators 11 to 14 is disposed at the center, each end of each rope W is also disposed at the center of each virtual plane, and the first longitudinal surface rope hooking structure 10c and the second longitudinal surface One side and the other side of the rope hooking structure 10d are symmetrical with respect to the vertical plane VF2, and one side and the other side of the first side rope hooking structure 10e and the second side rope hooking structure 10f are vertical planes. It becomes symmetrical with respect to VF1.

  Further, as shown in FIG. 3, in the longitudinal virtual plane, the first pair of rope Wa1 and rope Wa2 (rope Wb1 and rope) connected to the first bidirectional actuator 11 (second bidirectional actuator 12). Wb2) is provided at the center of the hanging tool 8 and is fixed by the same rotation shaft, and sheaves S41 and S42 (the sheaves S43 and S44), and sheaves S11 and S12 (the sheave S13) provided at the four corners of the trolley 6. And S14) to form an isosceles triangle I (isosceles triangle J) having the sheaves S41 and S42 (the sheaves S43 and S44) as vertices.

  On the other hand, as shown in FIG. 4, the second set of ropes Wa <b> 3 and Wb <b> 3 (rope Wa <b> 4 and ropes) that form a pair connected to the third bidirectional actuator 13 (fourth bidirectional actuator 14) in the lateral direction virtual plane. Wb4) is provided at the center of the trolley 6 and is fixed by the same rotation shaft, and sheaves S21 and S22 (sheaves S23 and S24), and sheaves S51 and S53 provided at the four corners of the hanging tool 8 (sheave S52). And S54) to form an isosceles triangle K (isosceles triangle L) with the sheaves S21 and S22 (the sheaves S23 and S24) as vertices.

  Thus, for example, as shown in FIG. 9, when the third bidirectional actuator 13 and the fourth bidirectional actuator 14 are driven when the drum 7a and the drum 7b are not driven, the same rotational axis is set in each lateral direction virtual plane. The bases of the isosceles triangles K and L whose apexes are the sheaves S21 to S24 fixed in FIG. Since the position of the trolley 6 does not move with respect to the crane 1, the hanger 8 suspended by the rope W moves.

  At this time, in the first lateral surface rope hanging structure 10e (second lateral surface rope hanging structure 10f), the unwinding winding position Pa3 and the unwinding winding position Pb3 (the unwinding winding position Pa4 and the unwinding winding position Pb4) of the drum 7a. As a fixed point, the rope Wa3 (rope Wa4) is wound up and the rope Wb3 (rope Wb4) is extended, so that the hanging tool 8 is necessary for positioning the hanging tool 8 in the x direction. It can be moved by the amount of movement displacement. Note that, as shown in FIG. 8, the operation of driving the first bidirectional actuator 11 (second bidirectional actuator 12) is the same, and thus the description thereof is omitted.

  On the other hand, as shown in FIG. 10, the crane 1 includes a first bidirectional actuator 11 and a second bidirectional actuator 12, so that the ends of the first pair of ropes Wa <b> 1 and Wa <b> 2 are placed on the lower side in the y direction, and When the ends of the ropes Wb1 and Wb2 are horizontally moved to the upper side in the y direction, the hanging tool 8 can be turned in the turning direction.

  In this embodiment, the operation in which the first bidirectional actuator 11 and the second bidirectional actuator 12 are moved so as to be opposite to each other has been described as an example. The hanging tool 8 may be turned by moving the actuators 14 in opposite directions. Further, the first bidirectional actuator 11 to the fourth bidirectional actuator 14 can be moved in the opposite direction to the actuator facing each other, so that the hanging tool 8 can be turned.

  Thereby, even if the hanging tool 8 is moved in the x direction, the y direction, and the swiveling direction, the position of the hanging tool is maintained while maintaining the balance of the rope hanging structure that supports the hanging tool without causing any excessive deflection. The hanger 8 can be moved with a movement displacement amount of at least ± 200 mm or more, preferably ± 300 mm or more required for the alignment. Therefore, it is possible to realize the positioning of the transported object in the crane 1 which is impossible if the hanging tool 8 does not have a separate positioning device.

Next, the operation of the crane 1 using the bidirectional actuators 11 to 14 will be described with reference to FIGS. When the crane 1 loads the container Co on the transport cart T, the crane 1 lowers the container Co to a predetermined height.

  Next, as shown in FIG. 8, the crane 1 uses the first bidirectional actuator 11 and the second bidirectional actuator 12 to respectively connect the first pair of ropes Wa1 and Wa2 and the ends of the ropes Wb1 and Wb2. Move horizontally to the left in the y direction. At this time, the rope Wa2 and the rope Wb2 are wound up at the central portion of the longitudinal virtual surface, and the rope Wa1 and the rope Wb1 are drawn out at the central portion of the longitudinal virtual surface. The tool 8 moves to the right. Thereby, the container Co held by the hanger 8 and the hanger 8 and the transport cart T are aligned in the y direction.

  Next, as shown in FIG. 9, the crane 1 uses the third bidirectional actuator 13 and the fourth bidirectional actuator 14 to respectively connect the second pair of ropes Wa3 and Wa4 and the ends of the ropes Wb3 and Wb4. Move horizontally to the left in the x direction. At this time, the rope Wa3 and the rope Wa4 are in a state of being wound up at the central portion of the lateral direction virtual surface, and the rope Wb3 and the rope Wb4 are in a state of being drawn out at the central portion of the lateral direction virtual surface. The tool 8 moves to the left side. Thereby, the container Co held | gripped by the hanger 8, the hanger 8, and the conveyance trolley T are aligned in the x direction.

  When the alignment between the container Co and the transport cart T is completed, the container Co is lowered onto the transport cart T. Note that the alignment operation described above may be performed in the reverse order of the alignment operations in the y direction and the x direction.

  Thereby, when handling the container Co to the transport cart T or the like with the crane 1, in addition to being able to easily align the hanging tool 8, the trolley 6 or the transport cart is used for the alignment. Since T is not operated, the efficiency of the cargo handling work can be improved.

  Moreover, even when a swing occurs in the hanging tool 8, each bidirectional actuator 11-14 can be driven to move the hanging tool 8 in the x direction, the y direction, and the turning direction. Can be suppressed.

  In addition, conventionally, a hydraulic device or the like for positioning is separately provided in the hanging tool 8, but in the crane 1 of the present invention, the device for the rope hanging structure 10 and the bidirectional actuators 11 to 14 are provided. As a result, a positioning device can be eliminated, and the weight of the hanging tool 8 can be reduced. In addition, since a positioning device such as a hydraulic device becomes unnecessary, the maintenance work is also eliminated.

  In the first embodiment, the configuration in which the bidirectional actuators 11 to 14 are provided has been described as an example. However, the present invention is not limited to this, and for example, the third bidirectional actuator 13 and the fourth It is good also as a structure provided only with the bidirectional | two-way actuator 14, In that case, the horizontal movement of the trolley 6 is used for position alignment of the hanging tool 8 in the y direction.

  Next, the crane 20 of 2nd embodiment which concerns on this invention is demonstrated, referring FIG. This crane 20 is replaced with the eight (two x four) ropes W of the first embodiment and the first bidirectional actuator 11 to the fourth bidirectional actuator 14 that connect the ends of the ropes W. The rope hanging structure 21 is formed by using four ropes W1 to W4.

About how to wrap each rope W1-W4, it is the same as that of 1st embodiment, the rope W1 forms the 1st long surface rope hanging structure 21c, and the rope W2 forms the 2nd long surface rope hanging structure 21d. The rope W3 forms the first lateral surface rope hanging structure 21e, and the rope W4 forms the second lateral surface rope hanging structure 21f, and the first rope hanging structure 21a and the first rope hanging structure 21a are symmetrical with respect to the vertical plane F1. A two-rope hanging structure 21b is formed.

  Therefore, similarly to the first embodiment, the reeling and winding positions Pa1 to Pa4 of the drum 7a, the reeling and winding positions Pb1 to Pb4 of the drum 7b, the first rope hanging structure 21a, and the second rope In order to arrange the hanging structure 21b so as to be plane-symmetric with respect to the vertical plane VF1, the feeding winding position Pa1 and the feeding winding position Pb1 (the feeding winding position Pa2 and the feeding winding position Pb2, the feeding winding position) The fleet angles of the position Pa3 and the unwinding position Pb3, and the unwinding position Pa4 and the unwinding position Pb4) are made equal. Therefore, when each drum 7a and 7b unwinds and winds up each rope W1-W4, the state of each rope W1-W4 becomes the same state in each drum 7a and 7b. (Direction fluctuation) can be prevented. Thereby, cargo handling efficiency can be improved.

  Also, in the crane 20 of the second embodiment, the hanging tool 8 can be tilted with respect to the horizontal direction as in the crane 1 of the first embodiment. Since it can be made to land on the loading platform Ta of T, safety | security can also be improved with the improvement of cargo handling efficiency.

  In the container terminal including the crane 1 and the crane 20 which are the above-described portal cranes, the cargo handling efficiency by the cranes 1 and 20 can be improved, so that the cargo handling efficiency of the entire container terminal can be improved by about 30%.

  Conventionally, it has been difficult for the portal crane to travel with the container Co suspended due to the swing of the hanging tool 8 or the like. However, if the crane 1 and the crane 20 of the present invention are used, the swinging of the hanging tool 8 is difficult. The occurrence of this can be suppressed, and even when the swinging of the hanger 8 occurs, the shaking can be easily stopped. Therefore, the crane 1 and the crane 20 run while the container Co is suspended on the storage lane in which the container Co is stored, so that the cargo handling truck T is securely loaded, thereby improving the loading efficiency of the entire container terminal. be able to.

  In addition, the crane 1 and the crane 20 are configured so that the crane 1 and the crane 20 can be automatically operated by an instruction from the terminal system by suppressing the occurrence of the swing of the hanging tool 8 and aligning the hanging tool 8. This makes it possible to automate the cargo handling operation at the container terminal and further improve the cargo handling efficiency.

1,20 crane
3 Leg 6 Trolley 7a, 7b Drum 8 Hanging tool 10, 21 Rope hanging structure 10a, 21a First rope hanging structure 10b, 21b Second rope hanging structure Wa First rope group Wb Second rope group S10 First sheave group ( Trolley bottom sheave)
S20 Second sheave group (trolley apex sheave)
S30 3rd sheave group S40 4th sheave group (hanging apex sheave)
S50 Fifth sheave group (suspender bottom sheave)
VF1 vertical plane

Claims (2)

A crane body having a pair of drums for feeding and unwinding a rope, a trolley having a plurality of sheaves, and a hanging tool having a plurality of sheaves in the same direction and having a plurality of sheaves, is traversed by the trolley. In a crane having a girder and a plurality of legs extending downward from both ends of the girder ,
The pair of drums are configured to be drivable independently of each other, and are disposed on a sill beam that joins the legs facing the traveling direction of the crane at the lower ends of the legs,
One end of a plurality of ropes that one of the pair of drums draws out and winds up is fixed to the one drum, and the other end is wound around each sheave between the trolley and the hanging member, and the other end Is fixed to the trolley, one end of a plurality of ropes that the other drum is fed out and wound up is fixed to the other drum, and a halfway is wound around each sheave between the trolley and the suspension, and the other The end is fixed to the trolley,
One rope hanging structure composed of a plurality of ropes that the one drum extends and winds up on one side with respect to a vertical surface located in the center in the longitudinal direction of the hanging tool in plan view, and the vertical surface as a boundary. The crane is characterized in that the other rope hanging structure comprising a plurality of ropes that the other drum extends and winds up on the opposite side to the one direction is arranged in plane symmetry. When landing the container hung in front Symbol hanger, on the basis of the inclination of the landing surfaces, according to claim 1, made different from the rotational speed of said other drum and the rotational speed of the one drum Crane.