JPS62201733A - Cargo handling device - Google Patents

Abstract

PURPOSE:To unload cargo automatically, safely and precisely by controlling the attitude of a hoisting accessory to follow up the movement of a hull by measuring means and control arithmetic means. CONSTITUTION:Inclination thetax about X-axis and displacement DELTAY to Y-axis are calculated by range finders M1, M2. Inclination thetay about Y-axis and displacement DELTAZ to Z-axis are calculated by range finders M3, M4. Further, displacement DELTAX to X-axis is calculated from the horizontal longitudinal of a hull. These calculated values are input to an attitude control device, inclinations thetax, thetay of a hoisting means are input to the respective tilting means, and displacements DELTAX, DELTAY are input in the respective direction displacing means. Thus, the attitude of the hoisting means is controlled, so that containers can be unloaded automatically, safely and precisely only by elevating the hoisting means.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to cargo handling equipment, and in particular, when loading and unloading cargo from a moored ship using a hanging device, the movement of the moored ship is measured and the actual measured value is calculated. The present invention relates to a cargo handling device in which a lifting device is controlled by calculating various control layers from the above.

[Conventional technology] Conventionally, when cargo handling facilities such as container cranes installed on quays are used to load and unload cargo such as containers onto vessels such as container ships moored at quays, the crane's boom, etc. A trolley provided so as to be freely movable toward the ship is run, and the cargo is suspended and transferred using a hanging device suspended from the trolley.

Until now, control of this hanging tool has been left solely to the driver's judgment.

[Simplified problem to be solved by the invention] By the way, a ship moored at sea can float and sink freely within a limited range due to waves, currents, tides, wind, etc., and as cargo is loaded and unloaded. He is upset and on the move again. If the loading and unloading of cargo is left to the skill and experience of the driver on a ship in such a stuck state, the work efficiency may drop significantly due to the difference in the ability of the driver, and These techniques were difficult and tiring even for experienced drivers.

Furthermore, due to the difficulty of loading and unloading, cargo handling work could only be carried out on days when conditions at sea were good, and therefore the number of operating days itself was short. As a result, the amount of cargo handled throughout the year was small, which could have a negative impact on ship operations, such as increasing quay usage fees for ships handling cargo and reducing their operational efficiency.

In particular, when loading and unloading containers onto a container ship, it is necessary to accurately load and unload the containers at predetermined positions, and in this case, it is extremely difficult to control the position and posture of the hanging equipment used to hang the containers. The circumstances described above were remarkable.

Furthermore, in recent years, 70-te and ink-type container cranes have been moored offshore to enable cargo handling operations even in local port facilities that do not have cargo handling equipment on the quay. Consideration is being given to adopting a cargo handling method in which containers are loaded and unloaded from a container ship moored at a quay, but in this case it is thought that the ship would be more shaken and moved than at a quay.

In view of the above-mentioned problems, and also in order to realize offshore cargo handling, it is desired to establish a system that can accurately control hoisting equipment and carry out cargo handling operations without relying on a driver.

[Means for Solving the Problems] The present invention provides a cargo handling device having a device for controlling the posture of a lifting device in order to load and unload cargo from a moored ship using a lifting device. In addition to providing measurement means for measuring the rocking around the X-axis along the ship's width direction and the Y-axis along the width direction of the ship, as well as the movement in the X-axis direction, A control calculation means is provided which calculates the amount of inclination and the amount of displacement in the X-axis, Y-axis, and Z-axis direction along the depth direction of the ship and outputs these calculated values to the posture detection device l\\.

[Function] The measuring means sequentially measures the rocking motion of the ship around the X-axis and Y-axis as well as the movement in the X-axis direction when loading and unloading cargo using the hanging equipment, and outputs the measured results to the control calculation means. Now, among these measured values, calculate the displacement in the Y-axis direction at the loading/unloading position by adding the amount of tilting around the X-axis from the rocking around the X-axis and the height to the loading/unloading position to this tilt member. In addition, the amount of tilting around the Y-axis from the swinging around the Y-axis and the distance to the unloading position are calculated in this tilt m to calculate the displacement in the 2° axis direction at the unloading position, and then the amount of displacement in the 2° axis direction at the unloading position is calculated. The displacement of the loading/unloading position in the X-axis direction from the movement to is calculated, and these calculated values are output as control parameters to the attitude control device of the hanging tool for control.

[Example] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

In this embodiment, a container crane installed on a quay is exemplified as the cargo handling facility, and a container ship is exemplified as the vessel.

As shown in FIGS. 1 and 2, a container crane 3 is installed on a shore 2 where a container ship 1 is moored. This container crane 3 is provided with a running wheel group 5 on a pair of legs 4 forming its lower structure. Furthermore, a pair of rails 6 are provided on the quay 2 in parallel on the sea side and the land side along the longitudinal direction along which the container ship 1 is berthed. The container crane 3 is configured to be moved along the longitudinal direction of the container ship 1 by the traveling wheel group 5 traveling on the rails 6.

On the other hand, a girder 7 is continuously extended from the land side to the sea side of the container crane 3 as its upper structure. Moreover, the sea side portion of this girder 7 is configured to be able to rise and fall.

A traversing trolley 8 is provided on this girder 7 so as to be able to traverse freely from the land side to the sea side. A hoist 10 is supported below the traveling trolley 8 by being suspended by a hoisting loaf 9.
A spreader 12 for gripping the container 11 is detachably provided on the hanging tool 10. Then, the hoisting lobe 9 is operated to lower the hoisting tool 10, the spreader 12 grips the container 11, and the container 11 is lifted up.
By moving the container from the sea side to the land side, container 11
It is now possible to unload. The operation of loading the container 11 is performed in the reverse order. Further, the posture of the hanging tool 10 is controlled by a posture i11 til device, which will be described later, during loading and unloading.

The container crane 3 configured in this manner is capable of swinging around an axis in the longitudinal direction (hereinafter referred to as the "X-axis") and an axis in the width direction (hereinafter referred to as the "Y-axis") of the moored container ship 1. Measuring means 13 is provided for measuring the movement and movement in the X-axis direction.

First, regarding the measurement of rocking around the X-axis, the legs 4 of the container crane 3 have
Alternatively, distance meters Ml and M2 for measuring horizontal distances Ll and I-2 are provided opposite to each other on the side of the container 11 loaded on the deck 1b and separated by a certain height I'' in the depth direction of the ship. It will be done. And these rangefinders M! , Mz, and the horizontal 1!11-t, Lz measured at two points in the height direction, and these distance meters M1. The vertical height H between M2 makes it possible to actually measure the rocking state of the container ship 1 around the X-axis.

Regarding the measurement of rocking around the Y axis, as shown in Figure 2,
The girder 7 of the container crane 3 is placed facing the deck 1b of the container ship 1 or the upper surface of the container 11 mounted on the deck 1b, with a certain distance #iW in the ship's direction, and a vertical distance of +11. Distance meter M3 to measure H2. MA is provided. And these rangefinders M3. Vertical hole f at two points in the longitudinal direction measured with M4! lft H't, l
-12 and these rangefinders.

By the horizontal distance W between Mx and M4, Y of container ship 1
It is possible to actually measure the swing state around the axis.

To further explain the movement in the X-axis direction, as shown in FIGS. 2 and 3, there is a target 14 on the hull side 1a on the berthing side of the container ship 1 that protrudes toward the quay side. is attached to the leg 4 of the container crane 3, and a distance meter MS is provided on the leg 4 of the container crane 3 to measure the horizontal and vertical M S t by facing the target 14. Target 14 and container crane 3
The moving state of the container ship 1 in the X-axis direction can be actually measured by measuring the horizontal and vertical #tSt with respect to the leg portion 4 of the container ship 1.

The target 14 is portable and can be detachably attached to the docked container ship 1 using a magnet or the like. As the distance meters M1 to Ms, for example, an ultrasonic distance meter or the like is adopted. Moreover, these rangefinders M1 to MS have their respective height positions, longitudinal positions, and mutual spacing of 1''.

It is provided movably so that W can be changed.

As shown in FIG. 4, a control calculating means 15 is connected to the measuring means 13, which is composed of the distance meters M1 to MS as described above. This control calculation means 15 calculates the actual measurement value Lt output from the measurement means 13.

L2, Ilt, Hz, Inclination around the X-axis and Y-axis of the container ship 1 from St, MθX, θY and the X-axis,
Y-axis and the axis in the depth direction of the ship (hereinafter referred to as "Z-axis")
The displacement amounts ΔX, ΔY, and Δ7 in the directions are calculated, and these values θ×, θY, ΔX, ΔY, and ΔZ are output to the attitude control means 16 of the hanging tool 10. To be more specific, the control calculation means 15 includes, for example, an operation/non-performance processing section 15a and an initial jlQIItI setting section 15b. First time
The fI value setting unit 15b has respective calculated values θX, θY, ΔX,
In order to calculate ΔY and ΔZ, the following values are set in advance.

For the tilt angle θ× around the X axis, the distance meter M1 described above is used.
．． The vertical height H between M2 is set. For the displacement ΔY in the Y-axis direction, the vertical hole between the height position of one of the rangefinders Mi and the position where the container 11 is to be loaded and unloaded using the hanging tool 10 is determined. III 1”
O is converted into the number of container stacks and set.

Moreover, for the amount of inclination θY around the Y-axis, the above-mentioned distance meter M3. The horizontal distance W between M4 is set. For the displacement ΔZ in the Z-axis direction, one of the distance meters M3
The horizontal position III between the position where the container 11 is to be loaded and unloaded using the hoist 10 is based on the position in the longitudinal direction of
W a is set. Furthermore, for the displacement amount ΔX in the X-axis direction, the immediately previous horizontal and vertical distance So measured this time is stored as an initial value.

On the other hand, in the arithmetic processing unit 15a, these initial wJ value setting units 1
5b and the initial 11H input from the measuring means 13, No.
, W, Wo, So and actual measurement 1aLx.

It is configured to perform the following processing on Lz, H5, G(2, and St).

First, the tilt angle θ× around the X axis is calculated as θX −((L2−m )−Lt)/H. Here, m is a rangefinder) between corrections when the measurement points of Vls and Mz are different between the hull side 1a and the container 11 side. Further, the displacement position ΔY in the Y-axis direction at the loading/unloading position by the hanging tool 1o is calculated as ΔY−θxxl−l. On the other hand, the amount of tilt θY around the Y axis is θY =
(H2-1-1t>/W is calculated, and the displacement Δ2 in the Z direction that is pulled to the loading/unloading position is calculated as Δ2-θYXWD. Furthermore, the displacement ΔX in the X@force direction is calculated as ΔX −
It is calculated as 81-80. And these calculated values θ×, θY.

ΔX, ΔY, and ΔZ are output as control values to the hanger attitude control device 16. 121 To state, the calculated values θX, θY
, ΔX, ΔY, and ΔZ are output as electrical signals, which are amplified by the servo valve 17 to operate the servo valve 18. The servo valve 18 includes a hydraulic pump 19, an X-direction displacement subactor 21, a Y-direction displacement means 20, and a tilting means 23 around the Y-axis of the suspension actuation means 22, which constitute the posture control device 16.
, the tilting means 24 around the X-axis, and the Z-direction displacement means 25 by adjusting the hydraulic pressure supplied to these means 20, 21, 23.
24.25 are calculated values ΔY, ΔX, θY.

It is configured to operate according to θX and Δ2.

Incidentally, these means 20.21, 23, 24.25 are constituted by hydraulic cylinders and the like. Also, the calculated value θX.

θY, ΔX, ΔY, and ΔZ may be displayed on the display 26.

Furthermore, the posture tI11111 device 16 of the hanger will be explained. As shown in FIGS. 5 and 6, a pair of transverse rails 27 are provided along the longitudinal direction of the girder 7, which is provided in series from the land side to the sea side. A traversing trolley 8 having a frame structure is provided on the trolley 27 so as to be freely traversable and supported by a traversing wheel 28 and two guide wheels with a hook between them. As shown in FIG. 7, the traversing mechanism 30 for traversing the traversing trolley 8 mainly includes one traversing winch 31 and this winch 3.
It consists of a pair of traversing lobes 32 extending from 1. One end of each of these traversing lobes 32 is wound around the winch 31 in the opposite direction, and the other end is wound around the sheave 31, respectively.
3 to the tip sheave 34 at the sea side end of the girder 7, and the tip sheave 35 at the land side end of the girder 7, and these sheaves 73
4.35 to the traversing trolley 8. By rotating the winch 31 in the forward and reverse directions, the traversing trolley 8 is moved forward and backward. On the other hand, the hoisting mechanism 36 of the hanging tool 10 suspended and supported by the hoisting loaf 9 below the traversing trolley 8 is configured as follows.

As shown in FIGS. 5, 6 and 8, the hoisting mechanism 36
is mainly composed of a pair of hoisting winches 37 and a set of hoisting loaves 9 extending from these hoisting winches 37 and suspending the hanging tool 10, respectively. Both ends of each of these upper loafs 9 are wound in the same direction around a winch 37, and between both ends, a land-side rope sheep 38 and three sets of two supporting rope sheeps are provided on the traversing trolley 8. The hook is passed to the rope sheep 40 for the hoisting tool 10 via the hoisting tool 10, and is further extended to the seaside rope sheep 41 via the support rope sheep 39 of the traversing trolley 8. Such a rope hook is extended one length in the longitudinal direction of the girder 7 to suspend and support the hanging tool 10. By rotating these winches 37 forward and backward in the same direction, the hanging tool 10 is raised and lowered, so that the container 11 can be lifted and hung.

The traversing winch 31 and the hoisting winch 37 are provided in a machine room 42 installed in the land copper portion of the girder 7 (see FIG. 1).

In particular, as shown in FIG. 8, the other end of the hoisting row 19, one end of which is connected to the hoisting winch 37,
It further extends from 1 and is connected to a lifting device operating manual 22.

The hoist actuating means 22 includes a Y-axis sheave 43 that introduces each hoisting loaf 9 of the set from the X-axis direction from both sides in the width direction of the girder toward the center, and a hoisting loaf 43 that is guided out from these Y-axis sheaves 743. X-axis sheave 44 that passes the lobe 9 in the Y-axis direction
, a sheave platform 1fI45 that is movable in the X-axis direction while mounting these sheaves 743 and 44, and a sheave platform 1fI45 that moves this sheep cart 45 in the X-axis direction and tilts the hanging tool 10 around Y@.
I! i shift means 23, Y axis sheave 43 and X axis sheave 44
a tilting means 24 for tensioning or relaxing a set of hoisting lobes 9 in two axial directions and tilting the hanging tool 10 around the X-axis;
The X-axis sheave 44 is moved up and down in the Z-axis direction, and the lifting tool 10 is moved up and down in the Z-axis direction.
2-direction displacement means 25 for displacing in the axial direction. Then, when the sheep cart 45 is moved in the X-axis direction by the tilting means 23, one of the sets of hoisting loaves 9 is pulled and the other is relaxed, and the hanging tool 10 can be tilted around the Y-axis (in the figure). , θY).

Furthermore, the lifting device 10 can be tilted around the X-axis by alternately applying tension or relaxation to the forward side or return side of each of the hoisting ropes 9 of the - group by the tilting means 24 (Fig. (indicated by θ×). Furthermore, by raising and lowering the X-axis sheave 44 using the Z-direction displacement means 25 and applying tension or relaxation in the same direction to a set of hoisting loaves 9, the hanging tool 10 can be displaced up and down in the Z-axis direction ( (Indicated by ΔZ in the figure).

On the other hand, the Y direction displacement means 20 and the X direction displacement means 21 are
It is installed on the traversing trolley 8. As shown in FIGS. 5 and 6, the traversing trolley 8 includes a saddle portion 46 to which the traversing wheels 28 and the like are attached, and a rectangular support frame 48 supported below the saddle portion 46 via a support 47. It consists of The support frame 48 has a pair of sheave frames 4 having support rope sheaves 39 for suspending the hanging tools 10 via the hoisting loaf 9 below the support frame 48 on both sides in the width direction.
9 is provided. Especially these pair of sheave frames 49
, one end is rotatably bin-jointed to the four branches 47 that support the support frame 48, and the other end is rotatably bin-jointed to each of the longitudinal ends of these sheave frames 49. It is swingably supported by and can be displaced in the X-axis direction. Further, a connecting beam 51 is provided between these sheave frames 49 with both ends thereof bin-jointed, and the connecting beam 51 interlocks these sheave frames 49 so as to displace them by the same amount. Between the sheave frame 49 and the support frame 48 configured in this way, the X-direction displacement means 2 is connected diagonally along the X-axis direction.
1 is provided. This X-direction displacement means 21 is bin-jointed to each of these frames 48 and 49, and is driven to expand and contract to displace the sheave frame 49 in the X-axis direction by a swing link 50 (indicated by ΔX in the figure).
.

Furthermore, each sheave frame 49 is shown in FIGS. 5 and 9 to 11.
As shown in the figure, it consists of a bifurcated structure with a symmetrical open cross section along the Y-axis direction, and a pair of brackets 52 extending upward in the Y-axis direction are rotatable with a bin joint. The swinging rod 53 is suspended while being supported by (
(See Figure 9).

Furthermore, guide rails 54 are formed on the four sheave frames along the Y-axis direction. This guide rail 54 includes
Three supporting rope sheeps are provided so that they can run freely. Specifically, the support rope sheep 39 is attached to a sheep cart 55, and is moved in the Y-axis direction by the guide rollers 56 of the sheep cart 55 running on the guide rails 54 ( (See Figures 10 and 11). In addition, 57 is a sheep bin, and 58 is an axle of the guide roller 56. Further, between the axle shaft 58 of the guide roller 56 that runs the three support rope sheeps arranged in pairs in the Y-axis direction of each sheave frame 49 and the swing-out rod 53, both ends thereof are rotatably connected. A pair of five steady-stop cylinders is provided. These 5 cylinders, 10 hanging tools
The interval between the seams 139 is increased or decreased to suppress the vibration of the sea. Between the swinging rod 53 and the bracket 52 configured in this way, a pair of three supporting rope sheeps, which are bin-jointed to each other and fixed at predetermined spacing positions by a steadying cylinder 59, are attached to the guide rail 54. A Y-direction displacement means 20 (indicated by ΔY in the figure) is provided to displace the hanging tool 10 in the Y-axis direction by traveling along the Y-axis.

The hanger 10 and the spreader 12 are detachably attached to each other by locking necks, and the container 11 is detachably supported on the spreader 12 by means of a twist lock device.

Next, we will discuss the effect.

First, the container crane 3 is moved on the rails 6 of the quay 2 to the target position for loading and unloading the containers 11. Also, at this time, the target 14 is attached to the hull side portion 1a approximately in alignment with the center of the crane 3. Next, the sea side portion of the girder 7 is lowered to the horizontal level, the traversing trolley 8 is made to traverse from the land side to the sea side, and the loading and unloading operation of the container 11 is started. At this time, the measuring means 1 measures the shaking and movement of the container ship 1.
3, and the control calculation means 15 calculates the control open chain and outputs it to the attitude control device 16 of the hanging tool 10.

First, the tilted wall θX around the X axis is 51 at the rangefinder M1°M2.
It is determined by the measured horizontal distance Lr, L2 and the lead distance H between the rangefinders Ml, M2.

Also, the amount of displacement ΔY in the Y-axis direction is the vertical f! It is calculated by considering i Ho.

On the other hand, the inclination distance θY around the Y axis is the distance meter M3.

Vertical 1tIHt measured with M4, 1-12 and rangefinder M3. It is calculated by the horizontal distance W between MAs.

Further, the displacement amount Δ2 in the Z-axis direction is calculated in consideration of the amount of change in the perpendicular distances Hi and H2, which change from moment to moment.

Furthermore, the amount of displacement ΔX in the X-axis direction is determined by the horizontal and vertical distance S1 to the target 14 measured by the rangefinder 1yls and the previous horizontal and vertical path 1.
11t S O.

The calculated values θX and θY obtained in this way.

ΔX, ΔY, ΔZ are the display 2G in the driver's cab 60
It is possible to display it overlaid on a cross-sectional view of the ship, etc.
Alternatively, only numerical values may be displayed.

Furthermore, these calculated values θ×, θY, ΔX, ΔY.

ΔZ is the servo pulp 1 that controls the operation of the attitude control device 16
8 and actuates each means 20.21.23°24.25. Specifically, the inclination θ of the hanging tool 10 around the X axis is
X is the tilting means 24. The tilt correction θY around YIlil11 is determined by the tilting means 23, the displacement amount ΔX in the X-axis direction is determined by the X-direction displacement means 21, and the displacement amount ΔY in the Y-axis direction is determined by the Y-direction displacement means 20.
．． Displacement in Z-axis direction MΔz I,t Z-direction displacement means 2
5 respectively.

The attitude control means 16 controls the container ship 1 which changes every moment.
Calculated values θ×, θY corresponding to the movement of .

The attitude of the hanging tool 1o is controlled according to ΔX, ΔY, and ΔZ, and the operator can accurately load and unload the container 11 to the target position simply by raising and lowering the hanging tool 10. At this time, even if the container ship 1 unexpectedly moves up and down, the lifting device 10 will be moved to the container ship 1 by the action of the Z-direction displacement means 25.
10 days after rising or falling relative to
79 can be prevented from coming loose.

In the above embodiment, the posture control device 16 has a hydraulic configuration, but the servo pulp 18 may be replaced with a servo motor or the like and configured to operate electrically. Furthermore, the above-mentioned oscillation and movement elements θX, θY, ΔX, and ΔY.

It is not necessary to target all ΔZ, but only necessary elements according to the conditions at sea may be targeted.

As described above, cargo can be loaded and unloaded by controlling the attitude of the hanging tool 10 using an inexpensive measurement and control system without employing expensive sensors or complicated systems.

In addition, cargo handling operations can be carried out even on days when sea conditions are poor, increasing the number of operating days, improving ship operation efficiency, and reducing various costs.

Cargo handling work, which conventionally required only the driver's skill a, can be semi-automated or automated, improving work efficiency and the working environment for the driver.

Particularly in local ports without cargo handling equipment, offshore cargo handling operations can be achieved using floating container cranes and the like.

It goes without saying that the present invention can also be applied to cranes for cargo.

As shown in Fig. 1, if one distance meter M6 is installed on the sea side of the girder 7 to measure the vertical distance of 111 ftH3 to the hull tip, the distance meter M3 for measuring the rocking around the Y axis can be installed.
．． One side of M4 can be used as a rangefinder to measure vibration around the X axis, making it a rangefinder M+.

Cost reduction can be achieved by abolishing M2.

In this case, the horizontal distance T will be used as the initial value instead of the lead uIQ of 11.

[Effects of the Invention] In summary, according to the present invention, the following excellent effects are achieved.

Since the posture of the lifting gear is controlled by following the movement of the ship using measurement means and control means, cargo can be loaded and unloaded semi-automatically or automatically, safely and accurately, reducing the burden on the driver. able to perform work.

[Brief explanation of drawings]

Fig. 1 is a front view showing a preferred embodiment of the present invention, Fig. 2 is a side view thereof, Fig. 3 is a schematic diagram showing a state in which movement in the X-axis direction is actually measured, and Fig. 4 is a processing of actual measured values. System diagram showing the system, Figure 5 is a side view showing the posture control device of the hanging tool, Figure 6 is the
Figure 7 is a schematic diagram showing the traversing mechanism, Figure 8 is a schematic diagram showing the hoisting mechanism and the hanging device operating means, and Figure 9 is the IX - in Figure 5. 10 is a view taken along the line XX in FIG. 5, and FIG. 11 is a view taken along the line XI-XIX in FIG. In the figure, 1 is a container ship illustrated as a ship, 10 is a lifting device, 11 is a container illustrated as cargo, 13 is a measuring means, 15 is a control m+ calculation means, and 16 is an attitude control means. Patent Applicant: Ishikawajima-Harima Heavy Industries Co., Ltd. Representative Patent Attorney: Nobuo Kinutani Figure 11

Claims (1)

[Claims] In order to load and unload cargo from a moored ship using a sling, a cargo handling device having a posture control device for the sling,
Measuring means for measuring the rocking motion of the ship around the X-axis and Y-axis and movement in the X-axis direction; and the amount of inclination of the ship around the X-axis and Y-axis based on actual measured values output from the measuring means; A cargo handling device comprising: control calculation means for calculating displacement amounts in the X-axis, Y-axis, and Z-axis directions and outputting these calculated values to the attitude control device.