JP6711482B2 - Quay crane and quay crane control method - Google Patents

Description

The present invention relates to a quay crane provided with a boom extending in the land and sea direction and configured to be capable of undulating, and a control method for the quay crane, and more specifically, to stably hold a boom in an upright state even in rough weather. The present invention relates to a quay crane that can be used and a control method for the quay crane.

Various quayside cranes used for loading and unloading cargo such as containers from ships have been proposed (see, for example, Patent Document 1).

Reference 1 discloses a method in which a boom is raised from a horizontal state by using a wire rope for raising and lowering the boom, and then a boom fixing latch provided on a leg structure is locked to a boom fixing pin of the boom in the standing state. We propose a quay crane fixed to the leg structure with.

The boom is fixed to the leg structure by supporting the boom, which leans forward toward the sea side, from falling toward the sea side by the boom fixing latch. That is, the boom fixing latch supports the boom by the force in the pulling direction. By fixing the boom in the upright state, it is possible to avoid the interference between the bridge and the boom when the ship comes to and from the shore.

In a typhoon or other stormy weather, the standing boom may be pushed by the wind. When the boom is pushed to the sea side, the boom fixing latch supports it by pulling it, so problems such as tilting of the boom do not occur. However, when the boom is pushed to the land side, the boom fixing latch cannot support the force in the compression direction, so the boom may tilt toward the vertical direction. There was a problem that the balance of the quayside crane became unstable due to the swinging of the boom during stormy weather.

Further, as the boom swings, a shock load is repeatedly generated between the boom fixing latch and the boom fixing pin, which damages the boom fixing latch and the boom.

JP, 2007-261745, A

The present invention has been made in view of the above problems, and an object thereof is to provide a quay crane and a control method for a quay crane that can stably hold a boom in an upright state even in rough weather. is there.

The quay crane of the present invention that achieves the above-mentioned object includes a leg structure, a girder supported by the leg structure and extending in the sea-land direction, and a girder connected to a sea-side end of the girder so as to be capable of undulating A boom extending in a direction and a fixing mechanism that maintains the boom in a standing state in which the boom is tilted forward toward the sea side, the fixing mechanism includes an engaging portion installed on the boom, and the leg structure. And a locking portion that is engaged with and disengages from the engaging portion, and tension is generated between the engaged locking portion and the engaging portion. Thus, in the quay crane configured to maintain the boom in the upright state, the boom mechanism in the upright state is provided with a pressing mechanism for increasing the tension by pushing the boom toward the sea side, and the pressing mechanism is provided from the leg structure. A leg side member protruding from the boom and a boom side member protruding from the boom are provided, and the tip end of the leg side member and the tip end of the boom side member are in the upright state. The leg side member and the boom side member are arranged so as to face each other in the land and sea direction, and one of the tip end portion of the leg side member and the tip end portion of the boom side member has a convex projection portion. In the state in which the other tip portion is formed of a concave hole and the convex protrusion is fitted in the concave hole, the standing boom is pressed toward the sea side. To do.

The method for controlling a quay crane of the present invention to achieve the above object is to install a girder extending in the land and sea direction on a leg structure, and projecting a boom from the sea side end of the girder to the sea side, A sheave is installed on the boom, and a wire rope wound around the sheave is wound up to stand the boom in a standing state in which the boom is tilted forward toward the sea side, and the engaging portion installed on the boom and the A control method for a quayside crane that maintains the boom in an upright state by engaging a locking portion installed on a leg structure to generate tension between the engaging portion and the locking portion. , The boom is erected by the wire rope to maintain the erected state of the boom by engaging the engaging portion and the locking portion, and the boom is protruded from the leg structure. A convex projection formed on either one of the tip of the leg member and the tip of the boom member protruding from the boom is replaced by a concave hole formed on the other tip. It is characterized in that the tension is increased by pressing the boom in the upright state toward the sea side by the pressing mechanism in a state where the boom is fitted and the convex projection is fitted in the concave hole .

According to the present invention, the pressing mechanism can push the boom in the upright state to the sea side to increase the tension generated between the engaging portion and the locking portion, so that the boom is firmly fixed to the leg structure. be able to. Further, even when the boom is pushed to the land side by wind or the like, the boom can be supported by the pressing mechanism, which is advantageous for suppressing the standing boom from swinging in the land and sea direction. In other words, since the boom in the upright state is unlikely to swing toward the sea or the land, it is advantageous to stably hold the boom even in stormy weather.

Since the engaging portion and the locking portion are firmly fixed to each other, it is possible to prevent the impact load from being generated in the engaging portion and the locking portion due to the swing of the boom. This is advantageous for avoiding a problem that the engagement portion, the locking portion or the boom is damaged.

The pressing mechanism may include a biasing member that biases the boom in the upright state toward the sea.

According to this configuration, the boom in the upright state can be pressed toward the sea by the urging force of the urging member, which is advantageous for increasing the tension generated between the engaging portion and the locking portion.

An operating position in which the pressing mechanism presses the boom in the upright state toward the sea side and a standby position in which the boom is not pressed are set, and the pressing mechanism can be switched between the operating position and the standby position.

According to this configuration, when the pressing mechanism is switched to the standby position, no stress is generated in the pressing mechanism, so that fatigue and deterioration are less likely to occur in the members forming the pressing mechanism. This is advantageous for improving the durability of the pressing mechanism.

The tension of the wire rope can be released after the engaging portion and the locking portion are engaged.

According to this configuration, it is possible to avoid a state in which excessive tension is generated in the wire rope for a long time, which is advantageous for realizing a long life of the wire rope.

It is explanatory drawing which illustrates the quay crane of this invention. It is explanatory drawing which expands and illustrates the periphery of the fixing mechanism and the pressing mechanism of the quayside crane of FIG. It is explanatory drawing which illustrates the state which switched the pressing mechanism of FIG. 2 to the operation position. It is explanatory drawing which illustrates the upper surface of the boom in which a fixing mechanism and a pressing mechanism are arrange|positioned by planar view.

Hereinafter, a quay crane of the present invention will be described based on the embodiment shown in the drawings. In the figure, the sea-land direction (also referred to as the transverse direction) in which the boom and the girder extend is indicated by an arrow x, the traveling direction of the quay crane is indicated by an arrow y, and the vertical direction is indicated by an arrow z.

As illustrated in FIG. 1, a quay crane 1 of the present invention includes a leg structure 2, a girder 3 supported by an upper portion of the leg structure 2 and extending in a transverse direction (sea and land direction) x, and the girder 3. The boom 4 is connected to the sea-side end of the boom 4 and extends in the transverse direction x, and the trolley 5 traverses in the transverse direction x along the girder 3 and the boom 4. The boom 4 is connected to the girder 3 via a hinge portion 6 and can be raised and lowered with respect to the girder 3.

The leg structure 2 includes a pair of land-side legs 7 arranged on the land side and extending in the vertical direction z, a pair of sea-side legs 8 arranged on the sea side and extending in the vertical direction z, and the sea-side legs. And a top structure 9 disposed on top of A machine room 10 is arranged above the land-side legs 7. In the machine room 10, an undulation driving device 11 and a control device (computer) 12 that controls the undulation driving device 11 are arranged.

The hoisting drive device 11 is provided with a drum for feeding and winding the wire rope 13 for hoisting the boom. The wire rope 13 delivered from the drum is wound around a sheave arranged at the upper end of the top structure 9 and a plurality of sheaves arranged on the upper surface of the boom 4.

As illustrated by the solid line in FIG. 1, in the quayside crane 1 in the working state in which the cargo handling work is performed, the boom 4 is in the lying state and the extending direction thereof is the horizontal direction. At this time, the trolley 5 transports cargo such as containers while traversing along the girder 3 and the boom 4.

When the cargo handling work is completed and the ship departs from the shore, the wire rope 13 is wound by the drum of the undulation drive device 11. With the winding of the wire rope 13, the boom 4 stands up around the hinge portion 6. As shown by the chain double-dashed line in FIG. 1, when the boom 4 is in the upright state, the hoisting drive device 11 is stopped. The state of the quay crane 1 shown by the chain double-dashed line in FIG. 1 is called a rest state. In the present specification, the upright state of the boom 4 refers to a state in which the extending direction of the boom 4 is close to the vertical direction, and the state in which the boom 4 is tilted forward to the sea side.

A fixing mechanism 14 is arranged between the boom 4 in the upright state and the top structure 9, and the boom 4 in the upright state is fixed to the leg structure 2 by the fixing mechanism 14 and maintains the upright state.

As illustrated in FIG. 2, the fixing mechanism 14 includes an engaging portion 15 installed on the boom 4, and an engaging portion 15 that can be engaged with and disengaged from the engaging portion 15 and is installed on the top structure 9. And a section 16. The engaging portion 15 is provided with a support frame 17 protruding upward from an upper surface portion which is an upper surface of the boom 4 in a fallen state, and a boom fixing pin 18 fixed to the support frame 17 and extending along the traveling direction y. It has and.

The locking portion 16 is configured to be capable of engaging with the support frame 19 protruding from the top structure 9 toward the sea side, and the boom fixing pin 18 protruding from the sea side end of the support frame 19 toward the sea side. The boom fixing latch 20 is provided. The boom fixing latch 20 is supported by the support frame 19 by a horizontal pin 21 having the traveling direction y as an axial direction, and is installed so as to be tiltable with respect to the support frame 19.

The locking portion 16 also includes an actuator 22 having one end fixed to the support frame 19 and the other end fixed to the boom fixing latch 20. The actuator 22 allows the boom fixing latch 20 to tilt with respect to the support frame 19 about the horizontal pin 21. In this embodiment, the boom fixing latch 20 engages with the boom fixing pin 18 by tilting the sea-side end portion downward and the engagement releasing position in which the sea-side end portion is tilted upward. The actuator 22 can be moved to the engagement position where it is in the state of turning on.

The boom fixing latch 20 is provided with a cutout portion 23 that is opened downward and is engageable with the boom fixing pin 18.

The cutout portion 23 is not limited to the shape that opens downward, and may have a shape that opens upward. In this case, the sea-side end of the boom fixing latch 20 is located below the engaging position where the boom fixing latch 20 engages with the boom fixing pin 18.

Further, the horizontal pin 21 to which the boom fixing latch 20 is fixed to the support frame 19 may be a vertical pin whose axial direction is the vertical direction z. At this time, the boom fixing latch 20 is configured to rotate in the horizontal plane about the vertical pin.

When the quayside crane 1 is put into a resting state at normal times when the weather is relatively calm, the wire rope 13 is wound on a drum and the boom 4 is raised. After the boom 4 stands up to a predetermined angle, the boom fixing latch 20 in the disengagement position is moved to the engagement position by the actuator 22, and the notch 23 and the boom fixing pin 18 are engaged. After the boom fixing latch 20 and the boom fixing pin 18 are engaged with each other, the wire rope 13 is loosened to release the tension so that the wire rope 13 is hardly tensioned.

The control of the actuator 22 can be performed by the control device 12 installed in the machine room 10. The control of the actuator 22 is not limited to this, and a dedicated control device may be separately installed and controlled by this control device.

Since the boom 4 in the upright state is tilted forward toward the sea, a tension T in the pulling direction is generated between the engaging portion 15 and the locking portion 16. The size of the tension T is a size corresponding to the weight of the boom 4. The tension T causes the boom 4 to be pulled to the land side and to be fixed to the leg structure 2 in an upright state.

As illustrated in FIG. 2 and FIG. 3, the quay crane 1 includes a pressing mechanism 24 installed near the fixing mechanism 14. In this embodiment, the pressing mechanism 24 includes a leg side member 25 projecting from the top structure 9 toward the sea side and a boom side member projecting upward from an upper surface part that is the upper surface of the boom 4 in the collapsed state. 26 and. Positions of the leg side member 25 and the boom side member 26 that face each other when the boom 4 is in the upright state, in which the projecting direction (hereinafter sometimes referred to as the axial direction) is parallel to the transverse direction x. It is located in.

The pressing mechanism 24 includes a moving mechanism 27 arranged between the boom 4 and the boom side member 26. The moving mechanism 27 has a structure for moving the boom side member 26 along its axial direction, and is composed of, for example, a telescopic cylinder using hydraulic pressure or pneumatic pressure. Moving to a standby position where the boom side member 26 and the leg side member 25 do not contact as illustrated in FIG. 2 and an operating position where the boom side member 26 and the leg side member 25 contact as illustrated in FIG. The mechanism 27 can move the boom side member 26.

The configuration of the moving mechanism 27 is not limited to the above, and for example, the boom side member 2 such as a rack and pinion.
It suffices that 6 can be switched between the operating position and the standby position. The moving mechanism 27 is not limited to being arranged on the boom side member 26, but may be arranged on the leg side member 25. Further, the moving mechanism 27 only needs to be arranged on the axis line along the axial direction of the leg side member 25 or the boom side member 26, and is arranged at an intermediate portion in the axial direction of the leg side member 25 or the boom side member 26. Good.

As illustrated in FIG. 2, normally, the moving mechanism 27 contracts, so that the boom side member 26 is maintained at the standby position where it is separated from the leg side member 25.

When the wind speed is, for example, 30 m/sec or more, the boom side member 26 moves to an operating position in which the boom side member 26 comes into contact with the leg side member 25 by extending the moving mechanism 27 as illustrated in FIG. In the present specification, the normal time refers to the time when the weather is not stormy, that is, the wind speed is lower than 30 m/sec, for example.

The wind speed for separating the normal time and the stormy weather is not limited to the above and can be set appropriately. For example, when the average wind speed is 10 m/sec or more, it can be set to stormy weather, and when it is less than 10 m/sec, it can be set to normal time. Further, for example, when the average wind speed is 55 m/sec or more, it may be set in stormy weather, and when it is less than 55 m/sec, it may be set in normal time.

As illustrated in FIG. 3, when the boom-side member 26 is in the operating position, the leg-side member 25 and the boom-side member 26, which form the pressing mechanism 24, come into contact with each other and are pressed against each other. Generate. Therefore, the boom 4 receives a force pushed to the sea side by the pushing mechanism 24.

The boom 4 is supported by the boom fixing latch 20 so as not to fall to the sea side, and is supported so as not to fall to the land side by the pressing mechanism 24. That is, the boom 4 does not move to the sea side or the land side and is in a positively fixed state, so that it is difficult for the boom 4 to swing in the land and sea direction even if it is pushed by wind or the like during stormy weather. It is advantageous to stably hold the upright boom 4.

By the pressing mechanism 24, the tension T generated between the engaging portion 15 and the locking portion 16 can be increased as compared with the normal state. Due to the fixing mechanism 14 and the pressing mechanism 24, the force of the boom 4 in the upright state trying to stay on the spot becomes large, so that the boom 4 is hardly affected by the force smaller than the tension T or the reaction force F. This is advantageous for improving the stability of the boom 4 in the upright state.

Since the tension of the wire rope 13 is released after the boom fixing latch 20 and the boom fixing pin 18 are engaged with each other, it is possible to avoid a state where excessive tension is generated in the wire rope 13 for a long time. This is advantageous for achieving a long life of the wire rope 13. Further, since the boom 4 is firmly fixed by the fixing mechanism 14 and the pressing mechanism 24, in order to avoid the problem that the boom 4 swings in the land and sea direction x and excessive tension is generated in the wire rope 13 in the case of stormy weather. It is advantageous. The configuration for releasing the tension of the wire rope 13 is not an essential requirement of the present invention.

In the embodiment illustrated in FIGS. 2 and 3, the engaging portion 15 has the boom fixing pin 18 and the locking portion 16 has the boom fixing latch 20, but the present invention is not limited to this configuration. The engaging portion 15 may be configured by the boom fixing latch 20 or the like, and the locking portion 16 may be configured by the boom fixing pin 18 or the like.

In the embodiment illustrated in FIGS. 2 and 3, the end portion of the boom side member 26 is formed of a convex hemispherical projection portion, and the sea side end portion of the leg side member 25 is formed of a concave hole. . The leg side member 25 generates a reaction force F that pushes the boom 4 toward the sea side by pushing back the protrusion of the boom side member 26 fitted in the hole toward the sea side.

The cushioning member 28 may be installed around the bottom of the hole of the leg side member 25. By installing the cushioning member 28, it is possible to avoid the problem that stress concentrates on the bottom of the hole and is damaged.

The shape of the end where the leg side member 25 and the boom side member 26 contact is not limited to the above. For example, the end portion of the leg side member 25 may be formed as a convex hemispherical projection portion, and the end portion of the boom side member 26 may be formed as a concave hole. In this case, the cushion member 28 may be installed on the boom side member 26. Alternatively, both ends may be formed in a planar shape so that the flat surfaces are brought into contact with each other to generate the reaction force F.

The leg side member 25 and the boom side member 26 can be made of, for example, a steel material that does not expand and contract in the protruding direction. The lengths of the leg side member 25 and the boom side member 26 in the axial direction are such that the boom side member 26 is not in contact with each other during normal operation when the boom side member 26 is located at the standby position illustrated in FIG. 2, and is illustrated in FIG. In an emergency located in the operating position, the length is set so as to contact each other and generate a reaction force F. The axial direction of the leg side member 25 and the boom side member 26 of the quay crane 1 in the rest state is parallel to the transverse direction x in plan view.

At least one of the leg side member 25 and the boom side member 26 may be provided with a biasing member 29 that expands and contracts in the protruding direction. The urging member 29 can be composed of, for example, a rubber member or a telescopic cylinder. When the biasing member 29 is arranged on the boom side member 26 as illustrated in FIG. 3, the biasing member 29 contracts as the leg side member 25 and the boom side member 26 are fitted. The contracted biasing member 29 generates a reaction force F that pushes the boom 4 toward the sea. The biasing member 29 may be installed on the leg member 25.

Since the urging member 29 can contract in the axial direction (transverse direction x) of the pressing mechanism 24, even if the positioning accuracy between the operating position and the standby position when the boom side member 26 moves in the axial direction is not very high, Force F can be generated.

A telescopic cylinder or the like forming the moving mechanism 27 may be used as the urging member 29. In this case, the moving mechanism 27 has a configuration for switching the boom side member 26 between the operating position and the standby position, and also a configuration for urging the boom side member 26 against the leg side member 25.

The leg side member 25 and the boom side member 26 may be in contact with each other even in the normal time illustrated in FIG. In other words, when the boom 4 is in the upright state, the pressing mechanism 24 may constantly push the boom 4 toward the sea. With this configuration, the pressing mechanism 24 can be normally operated to press the boom 4 to the sea side. Therefore, even when the wind with a high wind speed suddenly occurs during the normal time, the boom 4 does not fall to the land side. It can be avoided.

When the leg side member 25 and the boom side member 26 are normally separated from each other, stress does not occur in each member forming the pressing mechanism 24 in normal times, so that fatigue and deterioration of the pressing mechanism 24 can be suppressed. It is advantageous.

In the embodiment illustrated in FIG. 3, the pressing mechanism 24 is arranged at a position above the fixing mechanism 14 installed in the top structure 9. Since the pressing mechanism 24 is located farther from the hinge portion 6 than the fixing mechanism 14, the force that presses the boom 4 toward the sea side by the pressing mechanism 24 is amplified by the lever principle. It is advantageous to increase the pressing force that presses the boom 4 toward the sea side .

The present invention is not limited to this structure, and the pressing mechanism 24 may be arranged at a position below the fixing mechanism 14 installed in the top structure 9. With this configuration, the fixing mechanism 14 can be arranged at a position higher than the top structure 9, so that the boom 4 can be supported at a position relatively distant from the hinge portion 6. By the lever principle, the fixing mechanism 14 can maintain the upright state of the boom 4 with a relatively small force. This is advantageous for suppressing the manufacturing cost of the fixing mechanism 14 by suppressing the strength of each member constituting the fixing mechanism 14 and the like.

Further, the fixing mechanism 14 and the pressing mechanism 24 may be arranged at the same height in the vertical direction z and arranged side by side in the traveling direction y.

As illustrated in FIG. 4, the quay crane 1 is provided with a sheave 30 around which the wire rope 13 is laid around the center of the boom 4 in the width direction which is parallel to the traveling direction y of the boom 4 in the lying state. A wire rope 13 is stretched along the widthwise center of the boom 4. Therefore, the upper surface of the boom 4 is divided into one side P1 and the other side P2 with the wire rope 13 as a boundary.

It is desirable that the engaging portion 15 that constitutes the fixing mechanism 14 and the boom side member 26 that constitutes the pressing mechanism 24 be arranged on the one side P1 of the upper surface of the boom 4 in a state aligned in the transverse direction x. With this configuration, the other side P2 of the upper surface of the boom 4 can be secured as the passage 31. This passage 31 can be used for passage of workers when performing maintenance of the quayside crane 1.

The configuration of the present invention can be applied to a center-folding type crane having a hinge portion in the middle of the boom 4 in addition to the hinge portion 6 connecting the girder 3 and the boom 4. The center folding type crane is a crane in which the sea side portion of the boom 4 and the girder 4 are in a horizontal state when in a rest state, and the land side portion of the boom 4 arranged between them is in an upright state. Therefore, the engaging portion 15 is fixed to the land side portion of the boom 4.

1 quay crane 2 leg structure 3 girder 4 boom 5 trolley 6 hinge part 7 land side leg 8 sea side leg 9 top part structure 10 machine room 11 undulation drive device 12 control device (computer)
13 wire rope 14 fixing mechanism 15 engaging part 16 locking part 17 supporting frame 18 boom fixing pin 19 supporting frame 20 boom fixing latch 21 horizontal pin 22 actuator 23 notch 24 pressing mechanism 25 leg member 26 boom member 27 movement Mechanism 28 Buffer member 29 Energizing member 30 Sheave 31 Passage T Tension F Reaction force P1 One side P2 (on top surface of boom) Other side x (on top surface of boom) x Traverse direction y Traveling direction z Vertical direction

Claims (6)

A leg structure, a girder supported by the leg structure and extending in the sea-land direction, a boom extending in the sea-land direction by being connected to a sea-side end of the girder so that the boom can extend in the sea-side direction. It has a fixing mechanism that keeps it in a standing position tilted forward,
The fixing mechanism has an engaging portion installed on the boom, and a locking portion installed on the leg structure and capable of engaging and disengaging the engaging portion, In a quay crane configured to maintain the boom in an upright state by generating tension between the engaging portion and the engaging portion that are
With a pressing mechanism for increasing the tension by pressing the boom in the standing state to the sea side ,
The pressing mechanism includes a leg-side member protruding from the leg structure and a boom-side member protruding from the boom, and the boom is in an upright state, and a tip portion of the leg-side member is provided. The leg side member and the boom side member are arranged so that the tip end of the boom side member faces each other in the land and sea direction,
Either the tip of the leg side member or the tip of the boom side member is formed by a convex projection, and the other tip is formed by a concave hole, and the convex projection is formed. A quay crane , wherein the boom in the upright state is pressed toward the sea in a state in which the portion is fitted in the concave hole . The pressing mechanism has a biasing member that biases the boom in the upright state toward the sea by biasing one of the convex protrusion and the concave hole toward the other. The quay crane described in 1. The quay crane according to claim 1 or 2, wherein the pressing mechanism is arranged at a position above the fixing mechanism. A girder extending in the land and sea direction is installed on the leg structure, a boom is projected from the sea end of the girder to the sea side, a sheave is installed on the boom, and the boom is hung around the sheave. By winding the wire rope, the boom is erected in a standing state in which it is tilted forward toward the sea side, and the engaging portion installed on the boom and the engaging portion installed on the leg structure are engaged with each other. In the control method of the quay crane, which maintains the boom in an upright state by generating tension between the engaging portion and the locking portion,
The boom is erected by the wire rope, the engagement portion and the locking portion are engaged with each other to maintain the erected state of the boom, and the leg protruding from the leg structure of the pressing mechanism. One end of the side member and the other end of the boom side member protruding from the boom is fitted with a convex protrusion formed on the other end of the boom into a concave hole formed on the other end. Then
A method of controlling a quay crane, characterized in that the tension is increased by pushing the boom in the upright state toward the sea side by the pushing mechanism in a state where the convex projection is fitted in the concave hole . The control method for a quay crane according to claim 4, wherein the tension of the wire rope is released after the engagement portion and the locking portion are engaged. Normally, switch the pressing mechanism to a standby position that does not press the boom in the standing state to the sea side,
The control method for a quay crane according to claim 4 or 5, wherein the pressing mechanism is switched to an operating position for pressing the boom in the upright state to the sea side in an emergency.

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