JPS5877616A - Position detecting device of trackless system crane - Google Patents

Abstract

PURPOSE:To easily execute construction work, by detecting a position by use of plural wayside coils placed in a necessary place on a running road surface in order to display an intrinsic position information, and a proximity switch of a beam suspended by an expansion mechanism and a lift mechanism. CONSTITUTION:A beam 10 on which wheels 11a, 11b and proximity switches 121-129 have been provided is suspended by an expansion mechanism 13 and is lifted by a lift mechanism 14, from the lower end part of a trackless system crane structure 8. Subsequently, wayside coils 51-59 made of a steel plate, etc. are provided on a road surface so as to be opposed to the proximity switches 121-129, which are used as a wayside equipment 5. It is constituted so that a place where said wayside coils 51-59 are provided can be discriminated by combination of existence of the wayside coils 51-59.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a trackless crane position detection device that automatically detects the position of a running trackless crane.

In recent years, many trackless cranes driven by rubber wheels have come into use in container yards. ; There are many container storage areas in the Ntena yard.
Cargo handling is carried out by trackless cranes, and these trackless cranes are sent to container yards with a large volume of cargo handling as appropriate to improve the efficiency of cargo handling operations.

Operation management of these trackless cranes is carried out at a central operation control center, but as container yards become larger and the number of trackless cranes increases, the operation management work of these trackless cranes has to be carried out by humans. It would be more efficient to have a computer do the same.

In order to perform this operation management work on a computer,
It is necessary to input the position of each trackless crane into the monitor from time to time, and therefore it is necessary to automatically check the position of the trackless crane.

Conventional position detection involves burying a coil that transmits a signal to identify the location approximately every sow in the ground of a trackless crane running path in a container yard, and using it as one position correction point. A round transmission line for data transmission t-v was buried along the road, and the transmission lines themselves were crossed at appropriate intervals to form intersections. The position of the trackless crane was then detected by counting the number of transmission line intersections through which the trackless crane passed from the position correction point, and ultimately a detection accuracy of about O,tss+s was obtained.

The position information detected in this way was transmitted to a central computer via a transmission line.

However, with this conventional method, the coils and transmission lines must be buried underground in the container yard, which requires high construction costs and a long construction period. However, it has the disadvantage that it is extremely difficult to carry out construction work while carrying out cargo handling.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a position detection device for a trackless crane that does not require burying electric wires and coils in an antenna yard.

In order to achieve this purpose, the present invention company installed a ground device consisting of multiple ground elements in order to display positional information unique to each location at necessary locations on the road surface of the trackless crane travel path. The on-vehicle device installed on the crane reads the position information of this ground device. The on-board equipment is equipped with a beam suspended by a telescoping mechanism below the trackless crane structure, and wheels are installed at both ends of the lower side of the beam. This device is equipped with a detection means for detecting children. In addition, this Beam company's lifting mechanism allows the wheels to be pulled up until they are off the road surface. The present invention will be described in detail below with reference to drawings showing embodiments.

FIG. 1 is a plan view showing an example of a container yard. The container yard in this example has six lanes A to Fl, one lane is provided with two container yards 1@, 1b, and the trackless crane 2 is provided with container yards 1a, l.
The vehicle can move to another lane by passing through a travel path 3 provided in the longitudinal direction of b and a shift path 4 provided at right angles thereto. And there is about 50m in the driving path 3.
At every turn, ground equipment 5 is provided at the position a-hi.

FIG. 2 is a side view of the trackless crane 2. FIG.

In the figure, reference numerals 68 and 6b denote rubber wheels for running, which can be fixed in two positions: 0 degrees and 90 degrees, and FIG. 2 shows the state in which they are fixed at the 0 degree position. The trackless crane 2 is an on-board device installed below the trackless crane structure 8 of Company T, together with the ground device 5.
Detects the position of

9 is a travel distance detector driven by the rubber wheels 6b.

FIG. 3 is a side view showing details of the ground equipment 5 and the on-board equipment 7. In the figure, 10 is a beam, and wheels 11&, Ilb-II& are provided at both lower ends of the beam.
Proximity switches 121 to 1211 as detection means for detecting ground equipment S are provided between 1m and 11b,
The lower end of the proximity switches 121 to 12 is connected to the wheel 11a.
, Ilb are also located at the top. The beam 10 with the wheels 111.11b and the proximity switches 121-12- is suspended from the lower end of the trackless crane structure 8 by the extension Mm, 13, and has a degree of freedom up and down. , the structure has no degrees of freedom in the front-rear, left-right directions. 14 is a lifting mechanism, which is connected to the beam 10 by a chain 15, and a trackless crane 2.
The rubber wheels 5a pass through the shift passage 4.

In conjunction with the movement of 6b being fixed at 90 degrees, the beam 10
pull up. The ground equipment 5 is composed of ground coils 51 to 5 made of steel plate or the like (in the example shown in Fig. 3, the ground coils 54 and 5 are not provided). It is provided above so as to face the proximity switches 121 to 12, and the location where the ground element 51 to 5o is installed can be identified by the combination of the presence or absence of the ground element 51 to 5. ing.

Figure 4 is a plan view of the ground equipment 5.
- is for reading information, and both are always provided. Then, the ground wire 5s~5↓ (the ground wire 54 is not provided in the example shown in Fig. 4).
lM 1 Represents lanes A to F in the figure,
s to Sv (ground switch 5 is not provided in the example of FIG. 4) represent addresses, ie, 1 to h in FIG. 1. The ground signal of $5 is used for an O parity code for error detection. In this case, the lane numbers and addresses are represented by combinations of three ground lights 5s to 54 and three ground lights 5 to 540, so that up to eight types of each can be identified.

These positional information detected by the position detection device constituted by the ground device and the on-vehicle device 7 are transmitted to a computer (not shown) that centrally manages the trackless crane 2 via a wireless transmission device (not shown) provided in the trackless crane 2. transmitted to.

The operation of the apparatus constructed in this manner and related to Kuhonkoi is as follows. #@Track crane 2 has rubber wheels 11a, f
ib is set to 0 degrees and travels on the travel path 3.

At this time, the wheels 11a provided with beam IOK, IQ
has landed as shown in Figure 3] and will travel in the left and right directions of the page.

When a load is applied to the trackless crane 2, the rubber wheels 6a and 6b for traveling drive are compressed, so the entire trackless crane 8 descends, but since the extension mechanism 13 is compressed, the beam 10 has a load exceeding a predetermined value. The force is not applied. For this reason, the lower end surfaces of the proximity switches 121 to 12 are located above the lower end surfaces of the wheels 11a and llb, so even when a load is applied to the trackless crane 2, the proximity switches 111 to 12 - maintains a predetermined distance from the road surface and does not come into contact with the road surface.

In this way, the trackless crane 2 uses the proximity switch 121
~12 Travel along the travel path 3 with your fists always away from the road surface. Then, the tabletop device 7 comes directly above the ground device 50,
When both ground coils 51 and 5. are detected, ground coil 5s~5
The information represented by ・ is read by the on-vehicle device and the position is detected.

As mentioned above, the ground equipment 5 is provided approximately every 50n, so the position between them is precisely detected by the travel distance detector linked to the rubber wheels 6b, and ultimately the distance is 1m.
A certain degree of accuracy has been obtained.

When moving the trackless crane 2 to another lane, the trackless crane 2 is run on the shift passage 4t, and when it reaches the shift passage 4, the rubber wheels 6a are moved.

6b is fixed at 90 degrees. At this time, as described above, the lifting mechanism 14 also operates at the same time, so the beam 10 is pulled up, and the wheels 11m and 11b are therefore separated from the road surface. This lifting operation is performed because the wheels 11411b rotate in the left and right directions in the paper of FIG. ~12・ is held for the purpose of preserving the food.

When the trackless crane 2 passes through the shift passageway 4t and reaches the target lane, when the rubber wheels are returned to the 0 degree position,
The beam 10 descends and the wheels 11-11b land on the ground. Then, when the vehicle travels along the travel path 3 of the new lane, the position can be detected in the same manner as described above.

As explained above, the position detection device for a trackless crane according to the present invention has a plurality of rounded ground elements that display specific positional information by light at necessary locations on the road surface of the trackless crane 7 travel path. Below the trackless crane structure, there is a beam that has wheels at both ends and is suspended by an extension m@sakaki and lifting mechanism, and multiple proximity switches and ground switches installed at the lower end of the beam. Since the position is detected by the device, there is no need to carry out large-scale construction work such as burying electric wires and coils in the container yard A as in the past, and all that is required is to install the ground wire.2. It has an excellent effect in that position detection can be performed by performing simple construction work.

[Brief explanation of drawings]

Fig. 1 is a plan view of a container yard, Fig. 2- is a side view of a trackless crane, Fig. 3 is a side view showing an implementation of the position detection device for a trackless crane according to the present invention, and Section 4 is a side view of a trackless crane according to the present invention. 1 is a plane 1 showing an embodiment of the ground equipment. 1 B, il) a a @ @ container storage, 2.
9＠＠＠Trackless crane, 3...-O running passage, 4.
...Shift passage, 5...Ground equipment, 51-5...
...Ground wire, 6a, $b...Rubber wheel, T...
・On-vehicle equipment, 8...Trackless crane structure, 9.
... Mileage detector, 10 fists... Beam, 11m,
11bs @ @ Single wheel, 12x ~ 12 @ *...
Proximity stop, 13 φ... telescopic mechanism, 14... puller Sakaki, 15 fist... chain. Patent applicant Mitsui Engineering & Shipbuilding Co., Ltd. Agent Masaki Yamakawa (and 1 other person) 1st
Figure 2 > 1 ' Figure 4

Claims (1)

[Claims] A position detection device for a trackless crane that travels on rubber wheels on a travel path and a shift path in a different direction, including a plurality of ground elements arranged to display unique position information at necessary locations on the travel path; , a lifting mechanism provided at both ends of the structure of the trackless crane, a telescoping mechanism provided at the lower end of the structure of the trackless crane, and a beam suspended by the lifting mechanism and the telescoping mechanism; wheels provided at both lower ends of the beam;
A position detection device for a trackless crane, comprising: a detection means provided below the beam, the lower end of which is provided above the lower end of the wheel, and detects the presence or absence of the ground element.