JPS6316318B2 - - Google Patents

Description

[Detailed Description of the Invention] This invention provides a hydraulic control device for a suction cup arm;
More specifically, the present invention relates to a device for controlling the oil pressure of a swinging hydraulic cylinder in a docking/docking truck in which a hull suction cup is attached to the tip of a suction cup arm that is rotated by a swinging hydraulic cylinder.

Traditionally, ships are docked and undocked by towing them with wire ropes.
With rope-towed equipment like this, it is necessary to remove the rope from the ship when docking or undocking, and this is done manually by many workers, so there may be temporary peaks in work. occurs and poses a safety problem. Additionally, as the docks expand, the ships entering and exiting the docks also become larger, and the diameter of the ropes increases, further increasing the peak of this work. Therefore, the present applicant has provided a docking and unloading truck that runs in a substantially horizontal direction along the side wall of a dock, and a suction arm that allows the docking and unloading truck to rotate around a substantially vertical axis, and a distal end portion of the arm. proposed a ship docking/undocking device equipped with a hull suction cup attached to the hull and a turning hydraulic cylinder that turns the arm (see Utility Model Application Publication No. 58-36998). This docking truck runs along a track set almost horizontally on the side wall of the dock. Horizontal external forces act on the vessel, such as the force of the tugboat pulling or pulling the vessel, and the force of kinetic energy when stopping a moving ship. Of this external force, the horizontal force perpendicular to the docking truck is received by the track on the side wall of the dock via the turning hydraulic cylinder and the docking truck, but if this horizontal force becomes too large, various parts of the docking truck, track, etc. There is a risk of damage. The maximum value of the above-mentioned horizontal force that is applied to the loading/unloading truck etc. is limited by the maximum value of the torque that turns the suction cup arm, that is, the maximum value of the hydraulic pressure of the turning hydraulic cylinder, but if the maximum value of this torque is kept constant. In this case, the maximum value of the above-mentioned horizontal force changes depending on the turning angle of the suction cup arm with respect to the input/output truck. For this reason, when the maximum value of the oil pressure of the swinging hydraulic cylinder is kept constant, when the swing angle of the suction cup arm changes, the maximum value of the horizontal force also changes.

SUMMARY OF THE INVENTION An object of the present invention is to provide a hydraulic control device that can always limit the horizontal force perpendicular to the input/output truck that acts on the tip of the suction cup arm to a certain allowable value or less.

The hydraulic control device according to the present invention includes an arm for a suction cup that can pivot about a substantially vertical axis, a hull suction cup attached to the tip of the arm, and a hydraulic cylinder for turning the arm. In the ditch truck, there is an angle detector that detects the swing angle of the arm, two relief valves that are connected to the oil chambers on both sides of the swing hydraulic cylinder that can control the set pressure, and that act on the tip of the arm. The relationship between the rotation angle of the arm and the pressure settings of the two relief valves that maintains the maximum value of the horizontal force perpendicular to the input/output truck is memorized, and based on this relationship, the output of the angle detector is and an arithmetic control section that controls the set pressures of the two relief valves.

Since the hydraulic control device of the present invention has the above configuration, even if the rotation angle of the suction cup arm changes, the horizontal force acting on the tip of the suction cup arm at right angles to the input/output truck is always kept at a constant level. Can be limited to below the allowable value. Therefore, damage to the input/output truck etc. due to such horizontal force can be prevented, and it is possible to make the input/outlet truck etc. smaller and lighter.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, two sets of input and output dock devices 3 are provided on each side wall 2 on both sides of the dock 1. Each inlet/outlet device 3 includes a drive truck 4, a surface treatment truck 5 that is constantly connected to the drive truck 4, and a drive truck 4.
It consists of a docking and docking truck 6 that can be connected and disconnected from the dock, and a docking and docking device 3 located at the back of the dock on one side wall 2.
The details are shown in FIGS. 2 to 50.

As shown in FIGS. 2 to 10, an upper track 8 and a lower track 9 extending horizontally along the side wall 2 are provided at a horizontal step 7 at the top of the dock side wall 2 and at a lower part of the side wall 2. are provided for each.

Details of the upper track 8 are shown in FIG.
Two girder support plates 10 extending horizontally along the side wall 2 are vertically embedded in the horizontal step 7 at the upper part of the side wall 2 of the dock, and their upper ends protrude slightly above the horizontal step 7. A girder 11 having an I-shaped cross section is placed on the horizontal step 7 between these support plates 10 via a liner 12 made of synthetic resin. A large number of vertical support pipes 15 are fixed to both sides of the girder 11 to connect the top plate 13 and the bottom plate 14, and bolt holes 16 are bored in the top plate 13 and the bottom plate 14 on the center line of these pipes 15.
A large number of foundation bolts 18 vertically embedded in the horizontal step 7 pass through bolt holes 19 drilled in the liner 12, bolt holes 16 in the girder bottom plate 14, pipes 15, and bolt holes 16 in the girder top plate 13, and are inserted slightly upward. The girder 11 is fixed to the horizontal step portion 7 by screwing a nut 20 into this portion. Further, stoppers 21 for preventing movement of the girder 11 in the width direction are fixed between both side surfaces of the girder bottom plate 14 and the support plates 10 on both sides. A vertical wheel rail 22 is mounted on the center of the upper surface of the girder top plate 13 via a liner 23 and fixed by a number of rail clips 24. Rail support plates 25 are vertically fixed to both sides of the girder top plate 13, and a number of vertical support plates 26 are fixed between the lower end surfaces of these plates and the girder bottom plate 14. Horizontal wheel rails 27 are similarly fixed to the outer surfaces of the rail support plates 25 on both sides.

Details of the lower track 9 are shown in FIG.
A rail support plate 28 extending horizontally along the side wall 2 is located near the bottom of the dock side wall 2, and has a large number of foundation bolts 29 horizontally embedded in the side wall 2 in two rows, upper and lower, and nuts screwed into these. 30, it is vertically fixed via a liner 31.
As in the case of the upper track 8, the horizontal wheel rail 32 is fixed to the side surface of the rail support plate 28.

As shown in FIGS. 2 to 4, the drive bogie 4 is elongated along the upper track 8, and has a running drive device 34 equipped with two vertical drive wheels 33 on the lower surface of both ends thereof. , three horizontal wheels 35, 36, respectively. And the driving truck 4
is mounted on the upper track 8 so as to be self-propelled by these drive devices 34 and horizontal wheels 35 and 36 as follows.

Details of the drive device 34 are shown in FIGS. 13-16. The drive device 34 includes a frame 37 attached to the lower surface of the drive truck 4 as described below, and two horizontal axles 38 that are perpendicular to the upper track 8 are fixed to the frame 37. Two driving wheels 33 having the same outer diameter are rotatably attached to these wheels 38 and placed on the vertical wheel rail 22 of the upper track 8. Further, the same gears 39 that rotate together with the drive wheel 33 are attached to the two axles 38, and an idler gear 40 rotatably supported by the frame 37 meshes with these gears 39. .
Hydraulic motors 41 are installed horizontally on the sides of the frame 37 on the outside of the dock, near both ends, and the same pinions 42 installed on these motors 41 mesh with the gears 39 of the corresponding drive wheels 33. It's on. Approximately half of the lower end of a pin 44 parallel to the axle 38 is rotatably received by a bearing 43 fixed to the center of the upper surface of the frame 37 . On the other hand, a bearing 45 fixed to the lower surface of the drive truck 4 is placed on this pin 44, and about the upper half of both ends of the pin 44 is placed on the upper bearing 45.
It is rotatably attached to the Upper and lower bearings 45,
There is a small gap between 43 and the frame 37 of the drive device 34 can rotate a little relative to the drive carriage 4 about this pin 44 . Also, pin 4
A disc 46 is fixed to both end surfaces of the upper and lower bearings 4.
Pin 4 between both end surfaces of 5 and 43 and disks 46 at both ends
A ring-shaped stopper 47 is provided on the outer periphery of the bearing 4 to prevent the pin 44 of the upper and lower bearings 45, 43 from shifting in the length direction.
is fastened.

As shown in FIGS. 17 to 22, 3
The two horizontal wheels 35 and 36 are attached to one housing 48, and these two housings 48 are fixed to the lower surface of the drive truck 4 at a position slightly further back in the dock than the drive device 34 as follows. The horizontal wheel housing 48 has horizontal wheel support parts 49 and 50 on both sides and a connecting part 51 that connects the upper parts of these parts near both ends.
Both ends of the supporting parts 49 and 50 protrude slightly from the connecting part 51. A plurality of bolt holes 52 are provided at each of the four corners of the housing 48 , and one bolt hole 5 of the support portion 49 is provided with a plurality of bolt holes 52 .
Horizontal wheels 35 and 36 are rotatably attached to two locations slightly inside the support portion 2 and one location in the center of the other support portion, respectively. On the other hand, a housing support plate 53 is horizontally fixed to the lower surface of the drive truck 4.
Four pairs of vertical plate-shaped stoppers 54 and 55 are fixed to the lower surface of the carriage 3 at right angles to the upper track 8 and facing each other at regular intervals in the longitudinal direction of the carriage 4. The four sets of stoppers 54 and 55 are arranged at regular intervals in the length direction and width direction of the truck 4 so as to form a rectangle. A vertical reinforcing plate 56 is fixed between the inner side surface and the lower surface of the housing support plate 53. Housing support plate 5
A plurality of bolt holes 57 corresponding to the bolt holes 52 of the housing 48 are provided between each pair of stoppers 54 and 55 of No. 3 and both ends of the cart 4 in the width direction.
The housing 48 is fixed to the support plate 53 by bolts 58 inserted through corresponding bolt holes 52 and 57 and nuts 59 screwed into the bolts. Note that a liner 60 is clamped between the four corners of the housing 48 and the support plate 53. In addition, the portions of each connecting portion 51 of the housing 48 near both ends are fitted with a small gap between the outer stopper 54 and the inner stopper 55 on the lower surface of the support plate 53, and the side surfaces of the connecting portion 51 and the outer stopper 54 are spaced apart from each other. , between the connecting portion 51 and the side surface of the inner stopper 55 , between the horizontal wheel supports 49 , 50 and the end surface of the outer stopper 54 , and between the supporting portion 4
Liners 61 are interposed between the inner stoppers 9 and 50 and the end faces of the inner stoppers 55, respectively, and are fixed to the stoppers 54 and 55 by spot welding. The two horizontal wheels 35 of one support section 49 are in contact with the horizontal wheel rail 27 on the outside of the dock of the upper track 8, and the one horizontal wheel 36 of the other support section 50 is in contact with the horizontal wheel rail 27 on the inside of the dock. are in contact with each other.

The work of installing the drive device 34 and the horizontal wheels 35, 36 is carried out as follows.

First, the drive wheels 33 of the two drive devices 34 are placed on appropriate positions on the vertical wheel rail 22 of the upper track 8, and the two housings 48, to which the horizontal wheels 35, 36 have been previously attached, are placed on the horizontal wheels 35, 36. upper track 8 so as to sandwich the horizontal wheel rails 27 on both sides.
Place these drive devices 3 at appropriate positions.
The bearing 45 of the driving truck 4 is placed on the pin 44 of the bearing 43 of No. 4, and the driving device 34 is attached to the driving truck 4. Next, lift the horizontal wheel housing 48 and fit the connecting part 51 between the outer stopper 54 and the inner stopper 55 of the housing support plate 53, and then
and nuts 59 to connect the housing 48 and the support plate 5.
Temporarily tighten 3. At this time, the liner 60 between the housing 48 and the support plate 53 allows the horizontal wheel 3
Adjust the height of 5 and 36. Then, the positions within the horizontal plane are adjusted so that the three horizontal wheels 35 and 36 are in even contact with the rail 27, and the liner 61
is sandwiched between the housing 48 and the stoppers 54, 55 and spot welded to the stoppers 54, 55. lastly,
Housing 48 by bolt 58 and nut 59
and support plate 53 are completely tightened and fixed.

As shown in detail in FIGS. 32 to 41, on the inner side of the dock near both ends of the drive bogie 4,
A pair of upper and lower connecting plates 62 and 63 extending horizontally above the horizontal wheel 36 inside the dock are fixed respectively. A rectangular vertical connection hole 64 is provided in the center of each connection plate 62, 63, and connection pin guides 65 in the form of a square tube with vertical flanges are fitted into these holes 64 from above. (See Figures 38 to 40). An oil-free liner 66 is fixed to the inner surface of each guide 65, and the inner upper end portions of these liners 66 are formed in a tapered shape facing obliquely upward. The upper surface of the flange of the guide 65 of the upper connecting plate 62 forms a horizontal connecting surface 74. Rectangular connecting blocks 67 are horizontally fixed to portions near both ends of the upper surface of the upper connecting plate 62, and the upper surfaces of these blocks 67 form horizontal push-up pin support surfaces 98. Slanted surfaces 68 facing obliquely upward are formed on both edges of this surface 98 on the outside and inside of the dock (see FIG. 41). Additionally, hooks 69 for temporary connection that extend toward the inside of the dock and then curve upward are fixed to the sides of the horizontal wheel support portions 50 of the two horizontal wheel housings 48 of the drive bogie 4 on the inside of the dock (32nd (See Figures to Figure 37).

As shown in FIGS. 2 to 4, the surface treatment trolley 5 is a long and narrow one placed on top of the upper track 8 along the upper track 8, and has a dock side wall on the inner side of the dock at the center. legs 70 extending vertically along 2;
The top of the is fixed. A vertical driven wheel 71 that rolls on the vertical wheel rail 22 of the upper track 8 is attached to the lower surface of the end of the surface treatment truck 5 on the dock entrance side.
Two horizontal wheels 72 rolling on the horizontal wheel rails 27 on both sides of the upper track 8 are attached to the lower surface of the center in the same manner as in the case of the drive truck 4. Also, leg 7
Two horizontal wheels 73 rolling on the rails 32 of the lower track 9 are attached to the lower end of the 0. The surface treatment truck 5 is connected to the end of the drive truck 4 on the dock entrance side as described later, and runs along the upper and lower tracks 8 and 9.

The surface treatment truck 5 is provided with a hull surface treatment device. This apparatus performs a series of ship body surface treatment operations to be described later, and has the following known configuration. That is, at the top of the leg 70,
A post 76 is provided which pivots about a vertical axis by means of a hydraulic cylinder 75 and to which a jib 78 is attached which is raised and raised by means of a hydraulic cylinder 77. And at the tip of this jib 78,
A stand 79 is provided on which equipment for surface treatment is placed.

Details of the connecting portion between the drive truck 4 and the surface treatment truck 5 are shown in FIGS. 23 to 25. At the end of the surface treatment truck 5 on the back side of the dock, a bifurcated protrusion 80 is integrally formed, which projects horizontally from the inner and outer side edges of the dock toward the back of the dock. The end on the inlet side enters between these protrusions 80. Bearings 81 are fixed to opposing portions of the two protrusions 80, and both ends of a horizontal pin 82 passing through the ends of the drive truck 4 are rotatably supported by these bearings 81. The portion of the pin 82 that passes through the drive carriage 4 is formed flat so that the top and bottom are horizontal planes, and the width of the central portion is slightly larger than the other portions. And horizontal pin 82
Both upper and lower ends of a vertical pin 84 that rotatably penetrates through the center of the flat part 83 are fixed to the drive carriage 4. A horizontal pin support plate 88 having a similar opening 87 that is slightly smaller is fixed to the outside of a horizontally long rectangular opening 86 formed in both side plates 85 of the drive truck 4, and the flat part 83 of the horizontal pin 82 Portions near both ends pass through these openings 86 and 87. The width of the opening 87 in each support plate 88 is considerably larger than the width of the horizontal pin 82 in this part.
A pressure plate 89 is fixed to the upper and lower edges of the horizontal pin 82 so as to be able to slide around the center line of the flat part 83 of the horizontal pin 82. Although it does not move up and down, it can rotate around the vertical pin 84 using the upper and lower bearing plates 89 as a guide. The driving truck 4 and the surface treatment truck 5 can rotate relative to each other by a certain amount around the horizontal pin 82, and
It can rotate relative to the vertical pin 84 by a fixed amount. However, since the portions near both ends of the horizontal pin 82 are supported by the drive cart 4 and the surface treatment cart 5 so that they cannot move up and down, the torsion around the axis parallel to the upper track 8 is prevented by the drive cart 4 and the surface treatment cart 5. It is directly transmitted from one side of the carriages 5 to the other, and these carriages 4 and 5 are not twisted relative to each other at the connecting portion.

As shown in FIGS. 5 to 7, the dock loading/unloading truck 6 has a pair of legs 90 extending vertically along the dock side wall 2, and a pair of legs 90 extending from the upper ends of these legs 90 and from the middle between the top and bottom. It consists of upper and lower horizontal parts 91 and 92 that connect the slightly lower parts, respectively, and a horizontal wheel 93 that rolls on the rail 32 of the lower track 9 is attached to the lower end of each leg 90.

Both upper and lower ends of a vertical swing post 94 are rotatably supported by the upper and lower horizontal parts 91 and 92 of the docking truck 6 on the back side of the dock. This post 94
A horizontal lever 95 is fixed to the upper part of the lever 95, and the base end of a swing hydraulic cylinder 96 and the tip of its piston rod 97 are connected to the lower center of the upper horizontal part 91 and the tip of this lever 95 through vertical pins, respectively. It is rotatably mounted. Further, a vertical bracket 100 is fixed to the outer peripheral surface of the pivot post 94 slightly below the lever 95, and the base end of a suction cup arm 101 is rotatably attached to this bracket 100 via a horizontal pin 102. There is. The base end of the elevation hydraulic cylinder 103 and the tip of its piston rod 104 are rotatably attached to the lower part of the swing post 94 and the lower center of the arm 101 via horizontal pins, respectively. In addition, a vacuum hull suction cup 10 that can be tilted arbitrarily along the hull as follows.
7 is attached (see FIGS. 26 to 28). That is, a first pin 108 that passes through the arm 101 vertically and projects slightly downward is rotatably attached to the tip of the arm 101 that is formed into an upper and lower bifurcated shape, and enters between this bifurcated protrusion 109. One end of the suction cup support member 110 is attached to this pin 10.
It is fixed to the middle part of 8. Suction cup support member 1
The other end of the suction cup 107 is rotatably attached to the rear center of the suction cup 107 via a second pin 111 that is perpendicular to the first pin 108 . Then, a hydraulic cylinder 112 that rotates the suction cup 107 around the first pin 108 is connected to the first pin 108 .
The suction cup 10 is provided between the tip of the lever 113 fixed at right angles to the lower outer surface of the arm 101
A hydraulic cylinder 114 for rotating the second pin 111 is provided between the lower end surface of the first pin 108 and the lower end of the suction cup 107 . Incidentally, since the suction cup 107 itself is a known one,
Explanation will be omitted.

As shown in FIG. 29, the input/output truck 6
The two oil chambers 115 of the swing hydraulic cylinder 96,
116 is the two oil pipes 11 of the swing hydraulic circuit 117
8 and 119 are connected to each other, and as a result, the arm 101 moves from the position where the suction cup 107 has retreated between the upper and lower horizontal parts 91 and 92, centering on the post 94, to the inside of the dock from between these parts. can be rotated between positions. Further, the input/outlet truck 6 is provided with a hydraulic control device 120 for the turning hydraulic cylinder 96 as described below. Electromagnetic relief valves 121 and 122 whose set pressures can be changed by electric signals (current) are connected to two oil pipes 118 and 119 of the swing hydraulic cylinder 96, respectively. On the other hand, an angle detector 123 for detecting the rotation angle of the rotation post 94, that is, the arm 101 is provided on the upper surface of the upper horizontal portion 91 of the truck 6 (the fifth
and FIG. 6), the arm 1 is connected between this detector 123 and the two relief valves 121, 122.
Two relief valves 12 depending on the rotation angle of 01
An arithmetic control section 124 that individually controls 1,122 set pressures is provided. The calculation control unit 124
A digital input circuit 125, a conversion circuit 126,
A table reference circuit 127, an arithmetic circuit 128,
It consists of two analog output circuits 129, 130, and amplifiers 131, 132 are provided between each analog output circuit 129, 130 and the corresponding relief valve 121, 122, respectively. Note that the calculation control unit 124 is configured by, for example, a sequence controller. As will be described in detail later, the hydraulic control device 120 limits the horizontal force perpendicular to the truck 6 acting on the tip of the arm 101 to a certain allowable value or less.

As shown in FIG. 30, the input/output truck 6
Two oil chambers 13 of the elevation hydraulic cylinder 103
Two oil pipes 136 and 137 of an elevation hydraulic circuit 135 are connected to 3 and 134, respectively. Then, the arm 101 is lifted up between a substantially horizontal position and a position where the suction cup 107 side is tilted downward, with the horizontal pin 102 as the center. Side horizontal part 9
Move up and down between the point directly above 2. In addition, a relief valve 138 is connected to an oil pipe 136 of an oil chamber 133 on the head side of the elevation hydraulic cylinder 103, and the set pressure of this valve 138 is set at a pressure higher than that required to support the weight of the arm 101 and the suction cup 107. a little big.

As shown in FIG. 31, the input/output truck 6
Two vacuum pump units 139 equipped with water ring vacuum pumps for suction cups are provided on the upper horizontal portion 91, and a fresh water tank 140 for the vacuum pump units is provided within the upper horizontal portion 91. Intake pipe 141 and pivot post 9 fixed to upper horizontal part 91
A flexible hose 143 is connected between the intake pipe 142 fixed to the arm 101, and a flexible hose 145 is connected between the other end of the intake pipe 142 of the pivot post 94 and the intake pipe 144 fixed to the arm 101. It is connected. Although not shown, this arm 101
A flexible hose is also connected between the other end of the intake pipe 144 and the suction cup 107. Fresh water tank 140
Fresh water supply port 1 installed at the bottom of the side wall outside the dock
47 and the two vacuum pump units 139 is connected to a fresh water supply pipe 148 which is branched into two on the vacuum pump unit 139 side.
In the part on the tank 140 side from the branch point 48, in order from the tank 140 side, there are a pressure gauge 149, a fresh water pump 150, a pressure gauge 151, and a Y-shaped strainer 15.
2. A solenoid valve 153 and a flow switch 154 are provided. A vacuum pump unit 139 is installed between the fresh water return port 156 provided on the top wall of the fresh water tank 140 and the two vacuum pump units 139.
A fresh water return pipe 157 branched into two sides is connected, and the top wall of the tank 140 is provided with a capped water inlet 158 and an approximately inverted J-shaped air vent pipe 159. A drain plug 161 is provided on the bottom wall of the fresh water tank 140, and a covered manhole 162 is provided on the side wall outside the dock.
The fresh water tank 140 is provided with a liquid level gauge 163 and a water temperature gauge 164. Further, the vacuum pump unit 139 is provided with a vacuum pressure gauge 160 with a pressure switch.

As shown in detail in FIGS. 32 to 44, a pair of upper and lower connecting plates 165 are provided on the upper parts of the legs 90 on both sides of the docking truck 6, and extend horizontally to the outside of the dock.
166 are fixed respectively. Each connecting plate 16
5,166 has a rectangular vertical connecting hole 16 in the center.
7 is provided, and an oil-free liner 168 is fixed to the inner surface of each connecting hole 167 (see FIGS. 38 to 40).
43 and 44). The lower surface of the liner fixing plate 169 fixed to the lower surface of the peripheral edge of the connecting hole 167 of the upper connecting plate 165 forms a horizontal connecting surface 170 that corresponds to the connecting surface 74 of the drive truck 4 . The top plate 171 of the leg 90 extends horizontally above the upper connecting plate 165 and is fixed to the side plate 173 of the leg 90 on the outside of the dock and the upper connecting plate 165 by a plurality of vertical plates 172. A horizontal guide plate 174 is fixed to the upper surface of the leg top plate 171 directly above the connecting hole 167 via a liner 175.
A vertical cylindrical hydraulic cylinder support 17 is provided on the upper surface of the
A lower end plate 177 is fixed horizontally to the lower end of 6. And the leg top plate 171, liner 17
5. A rectangular guide hole 178 that vertically passes through the guide plate 174 and the support lower end plate 177 is connected to the connecting hole 16.
An oil-free liner 179 is fixed to the inner surface of the guide hole 178 in the guide plate 174 portion. The lower end of the connecting hydraulic cylinder 180, which is disposed vertically downward directly above the guide hole 178, is fixed to an upper end plate 181 which is horizontally fixed to the upper end of the support 176. This hydraulic cylinder 18
0 piston rod 182 is attached to the support upper end plate 181
A connecting pin 183 with a rectangular cross section is arranged vertically within the support body 176 and protrudes downward through the support body 176.
The upper end of the rod 182 is rotatably attached to the lower end of the rod 182 via a horizontal pin 184, a spherical bushing 185, a ring-shaped stopper 186, a retaining ring 187, etc. (see FIG. 42). The lower end of the connecting pin 183 is formed into a tapered shape, and a recess 189 for preventing falling is provided on the surface of the upper part of the tapered part 188 on the outside of the dock. As the rod 182 of the connecting hydraulic cylinder 180 expands and contracts, the connecting pin 183 moves through the guide hole 178 of the guide plate 174 and the upper and lower connecting plates 165,
The lower connecting plate 166 passes through the connecting hole 167 of 166.
When the lower end protrudes slightly downward and the lower end enters the connecting hole 167 of the upper connecting plate 165, it can be moved up and down between the upper end position and the lower end position.

Hydraulic cylinder support plates 190 are horizontally fixed above portions near both ends of the upper connecting plate 165 of the input/outlet truck 6 in correspondence with the connecting blocks 67 of the upper connecting plate 62 of the drive truck 4. The lower ends of two push-up hydraulic cylinders 191 arranged vertically downward are fixed to these support plates 190, and the support plate 1
A vertical push-up pin 193 passing vertically through the upper connecting plate 165 is fixed to the lower end of a piston rod 192 of a hydraulic cylinder 191 passing through the hydraulic cylinder 90 .
A recess 194 for preventing falling is provided on the surface of each push-up pin 193 on the outside of the dock. Then, due to the expansion and contraction of the push-up hydraulic cylinder 191, the push-up pin 19
3 is raised and lowered between a lower end position protruding slightly below the lower surface of the upper connecting plate 165 and an upper end position where the lower end is slightly above the lower surface of the upper connecting plate 165. Furthermore, a pair of connecting blocks 195 are fixed horizontally to the lower surfaces of the upper connecting plates 165 on the outside and inside of the dock of each push-up pin 193, and the inclined connecting blocks 67 of the drive bogie 4 are fixed to the lower surfaces of the opposing surfaces of these blocks 195. A diagonally downward inclined surface 196 corresponding to the surface 68 is formed (see FIG. 41).

The upper connecting plate 165 of the input/outlet truck 6 is provided with a fall prevention device 197 for the connecting pin 183 and the push-up pin 193 as follows (Fig. 41,
(See Figures 43 and 44). Upper connecting plate 16
5. The part closer to the outside of the dock between one end of the upper surface and the push-up pin 193 close to this, and the push-up pin 19 on the opposite side
One end of each horizontal lever 198, 199 is rotatably attached via a vertical pin 200 to a portion closer to the outer side of the dock between 3 and the connecting pin 183, and the other end of these levers 198, 199 is rotatably attached via a vertical pin 200. These parts are rotatably connected via vertical pins 202 to two locations of a fall prevention plate 201 arranged horizontally outside the dock. The connection prevention plate 201 is integrally formed with three protrusions 203 that protrude horizontally toward the inside of the dock, corresponding to the recesses 189 and 194 of the connection pin 183 and the push-up pin 193.
Further, a fall prevention hydraulic cylinder 204 is horizontally fixed to the lower outer surface of the vertical plate 172 on one lever 198 side of the upper connecting plate 165, and the tip of the piston rod 205 of this hydraulic cylinder 204 is attached to this lever 198 with a vertical pin. They are rotatably connected via 206. Then, the two levers 198 and 199 rotate due to the expansion and contraction of the rod 205 of the fall prevention hydraulic cylinder 204, and as a result, the fall prevention plate 201 remains parallel to the dock side wall 2.
It moves toward and away from the connecting pin 183 and push-up pin 193. In addition, on the lower surface of the fall prevention plate 201, there is a block 217 that supports the fall prevention plate 201 in contact with the upper surface of the upper connecting plate 165.
is fixed.

As shown in detail in FIGS. 45 and 46, hooks 69 for temporary connection of the drive truck 4 are provided on the upper sides of the legs 90 on the dock entrance side and back side of the docking truck 6. , pin 207 for temporary connection
are provided for each. A hydraulic cylinder support stand 208 is fixed to the upper side of the leg 90.
Vertical bracket 209 fixed to the bottom of 08
The base end of a hydraulic cylinder 210 for temporary connection is rotatably attached via a horizontal pin 211 parallel to the dock side wall 2, a spherical bushing, a ring-shaped stopper (not shown), and the like. The piston rod 212 of this hydraulic cylinder 210 protrudes to the outside of the dock, and the piston rod 212 is fixed to the tip of the rod 212.
A pin 20 for temporary connection is inserted between the tip portions of the profile 213.
7 is held parallel to the horizontal pin 211. Additionally, a vertical bracket 214 fixed to the upper part of the stand 208 and a hydraulic cylinder 210 for temporary connection are attached.
The proximal end of an auxiliary cylinder 215 and the distal end of its piston rod 216 are rotatably attached via a horizontal pin to the distal end of the auxiliary cylinder 21.
Due to the expansion and contraction of the rod 216 of No. 5, the hydraulic cylinder 210 for temporary connection is placed in an almost horizontal position and the rod 21
The patient is forced to look up and down between the position where the second side is slightly tilted upward. Hydraulic cylinder 21 for temporary connection in horizontal state
Horizontal groove profile 21 located just below the tip of 0
8 is fixed at right angles to the side surface of the leg 90, and a pair of stoppers 219 for restricting rotation of the hydraulic cylinder 210 in the horizontal plane are attached to the groove section 21.
It is fixed on the top surface of 8. Further, the horizontal groove member 220 located slightly above the rod 212 of the hydraulic cylinder 210 for temporary connection in the horizontal state is connected to the leg 90.
is fixed at right angles to the side surface of the groove profile 220.
A pair of storage guides 221 located above both sides of the rod 212 are fixed to the lower surface of the rod 212 in a suspended manner. These guides 221 are sloped slightly higher on the outside of the dock, and the mutual spacing between them increases little by little toward the outside of the dock.

As shown in detail in FIGS. 32 to 37, FIG. 45, and FIG. It is installed so that it can be raised and lowered. leg 9
Bracket 22 fixed vertically to the upper side of 0
3, the upper end of a hydraulic cylinder 224 for raising and lowering the storage pin, which is disposed vertically downward, is rotatably attached via a horizontal pin. This hydraulic cylinder 2
There are two upper and lower bearings 22 on the side of the leg 90 directly below the bearing 24.
6,227 is fixed, and the elongated vertical shaft 22
8 is received by these bearings 226, 227 so that it can slide up and down but not rotate. The upper end of this shaft 228 is connected to the hydraulic cylinder 224.
The piston rod 229 is rotatably attached to the lower end of the piston rod 229 via a horizontal pin. Note that a lead-free oil liner 231 that is in contact with the shaft 228 is fixed to the inner surfaces of the upper and lower bearings 226 and 227. axis 22
An arm 23 extending diagonally toward the back and outside of the dock is located slightly above the bearing 227 on the lower side of 8.
2 is fixed, and a vertical storage pin support cylinder 233 is fixed to the tip of this arm 232.
The storage pin 222 has a rectangular cross section, and its lower end is tapered. Further, a small-diameter cylindrical portion 234 is integrally formed on the upper end surface of the storage pin 222, and a disk-shaped stopper 235 having a larger outer diameter is fixed to the upper end surface of this cylindrical portion 234. A horizontal bottom plate 236 having a thickness smaller than the length of the cylindrical part 234 of the retracting pin 222 is fixed to the lower end of the storage pin support cylinder 233, and has a circular bottom plate 236 having an inner diameter larger than the outer diameter of the cylindrical part 234 and smaller than the outer diameter of the stopper 235. A hole 237 is provided in the center of the bottom plate 236. The cylindrical portion 234 of the storage pin 222 is fitted into the circular hole 237 with a gap, and the stopper 235 is placed on the upper surface of the bottom plate 236. Also, the leg 90 under the lower bearing 227
A pair of upper and lower guide plates 238 and 239 are fixed to the side surfaces of the storage pin support cylinder 233 and extend horizontally directly below the storage pin support cylinder 233.
A rectangular guide hole 240, which is located directly below the circular hole 237 of the support cylinder bottom plate 236 and is slightly larger than the storage pin 222, is provided in the support cylinder bottom plate 236. Then, due to the expansion and contraction of the rod 229 of the hydraulic cylinder 224,
The storage pin 222 is connected to the upper and lower guide plates 238 and 239.
The upper guide plate 238 is moved up and down between a lower end position where it penetrates the guide hole 240 and projects slightly below the lower guide plate 239 and an upper end position where the lower end is located slightly below the lower surface of the upper guide plate 238.

As shown in detail in FIGS. 32 to 37, 48, and 49, a second vertical storage pin 241 is attached to the upper side of the leg 90 on the dock entrance side of the docking truck 6. It is attached so that it can be rotated and raised and lowered. The upper end of a hydraulic cylinder 243 for raising and lowering the storage pin, which is disposed vertically downward, is rotatably attached to a bracket 242 vertically fixed to the upper side of the leg 90 via a horizontal pin. Two upper and lower bearings 245 and 246 are fixed to the side of the leg 90 directly below this hydraulic cylinder 243, and an elongated vertical shaft 247 supports these bearings 245 and 246.
It is supported rotatably and slidably up and down.
The upper end of this shaft 247 is connected to the hydraulic cylinder 2.
43 is rotatably attached to the lower end of the piston rod 248 via a horizontal pin. Note that an oil-free liner 250 that is in contact with the shaft 247 is fixed to the inner surfaces of the upper and lower bearings 245 and 246. A lever receiver 251 similar to this is fixed in parallel slightly below the upper bearing 245, and the shaft 247 passes through the lever receiver 251 with a gap. Upper bearing 245 of shaft 247 and lever receiver 25
The part that goes up and down inside 1 is a lever mounting part 253 in which both sides of a cylinder are cut out to form mutually parallel flat surfaces 252, and the upper bearing 245
and the lever receiver 251.
A lever attachment part 253 is attached to one end of the lever 54 so that it can slide up and down but not rotate.
Hydraulic cylinder 2 for pivoting the storage pin placed horizontally
The base end of the hydraulic cylinder 255 is rotatably attached to a bracket 256 horizontally arranged on the side surface of the leg 90 via a vertical pin, and the tip of the piston rod 257 of this hydraulic cylinder 255 is perpendicular to the other end of the lever 254. It is rotatably attached via a pin.
Note that an oil-free liner 258 is fixed within the lever receiver 251 and is in contact with the flat surface 252 of the shaft 247.
Lever 25 between bearing 245 and lever receiver 251
Oil-free liners 259 are also fixed to both the upper and lower end surfaces of 4. An arm 26 extending toward the outside of the dock is located on the lower side of the shaft 247 and slightly above the bearing 246.
0 is fixed, and a storage pin 241 is fixed to the tip of this arm 260. Storage pin 2
The cross section of 41 is rectangular, and the lower end thereof is tapered. Then, by the expansion and contraction of the rod 257 of the swinging hydraulic cylinder 255, the arm 260 is rotated between a position extending diagonally toward the entrance of the dock and a position extending almost straight toward the outside of the dock. , the storage pin 241 is pivoted between a retracted position inside the dock side wall 2 and an advanced position outside the side wall 2. In addition, due to the expansion and contraction of the lifting hydraulic cylinder 243, the rotation pin 2
41 can be raised and lowered within a predetermined range.

As shown in detail in FIGS. 32 to 37 and 50, storage blocks 261 and 262 are attached to the lower surface of each leg 90 of the input/outlet truck 6, respectively. The lower surface of each block 261, 262 is a cylindrical surface centered on a horizontal axis parallel to the dock side wall 2. Also, the leg 90 on the dock entrance side extends downward a little longer than the leg 90 on the back side, and the lower surface of the block 261 on the back side is similar to the block 262 on the entrance side.
It is located slightly above the bottom surface. On the other hand, in correspondence with the pair of legs 90 of the loading/unloading truck 6, a pair of loading/unloading truck storage stands 263, 264 are provided at the bottom of the side wall 2 on the back side of the dock, and the back side stand 23 is on the entrance side. It is slightly higher than the stand 264 (see Fig. 5). and,
On the upper surface of each platform 263, 264, there is a storage block 2 corresponding to the block 261, 262 of the input/output truck 6.
65 and 266 are attached respectively. Further, a first storage bracket 267 that protrudes horizontally toward the inside of the dock is fixed to the upper part of the side wall 2 on the back side of the storage platform 263 on the back side of the dock. A rectangular connecting hole 268 that is slightly larger than the pin 222 is provided (see FIG. 47). Storage platform 264 on the dock entrance side
A recess 269 is provided in the upper part of the side wall 2 slightly closer to the entrance, and a second storage bracket 270 is provided on the wall of the recess 269 and projects horizontally into the recess 269 toward the inside of the dock. This bracket 270 is provided with a rectangular connecting hole 271 that is slightly larger than the second storage pin 241.

In the above, when performing input/output work,
As shown below, the loading/unloading truck 6 is connected to the inside of the dock of the driving truck 4 (Figs. 8 to 10, 32
(see Figures and Figure 38).

That is, the upper and lower connecting plates 16 of the input/outlet truck 6
5,166 are upper and lower connecting plates 62,6 of the drive truck 4
3, there is a connecting hole 167 for the upper and lower sides of the input/outlet truck 6.
is directly above the upper and lower connecting pin guides 65 of the driving truck 4, and the push-up pin 193 of the input/output truck 6 is placed directly above the upper and lower connecting pin guides 65 of the driving truck 4.
are located directly above the push-up pin support surface 98 of the connection block 67, respectively, and the connection surface 17 of the input/output truck 6
0 comes into pressure contact with the connection surface 74 of the drive truck 4, so that the weight of the input/outlet truck 6 is supported by the drive truck 4. At this time, the push-up pin 19 of the input/outlet truck 6
3 moves upward, pushing up pin 193 and drive cart 4
There is a slight gap between the push-up pin support surface 98 and the push-up pin support surface 98. In addition, the lower connecting plate 166 of the input/outlet truck 6
The flange 273 of the connecting pin guide 65 of the lower liner fixing plate 272 and the lower connecting plate 63 of the drive truck 4
There is also a little gap between them. Connecting pin 18
3 passes through the upper and lower connecting holes 167 of the input/outlet truck 6 and the guide 65 of the drive truck 4 and descends to the lower end position, and the relative horizontal movement of the two trucks 4 and 6 is controlled by the connecting pin 183. blocked. Also,
Inclined surface 19 of connecting block 195 of input/outlet truck 6
6 is the inclined surface 68 of the connecting block 67 of the drive truck 4
There is a slight gap between these inclined surfaces 68 and 196. The contact between these inclined surfaces 68 and 196 prevents relative twisting of the two carts 4 and 6 in the horizontal plane. In this way, since the inclined surfaces 68, 196 of the blocks 67, 195 of the two carts 4, 6 receive a reaction force against the above-mentioned relative torsion, a large torsional force is not applied to the connecting pin 183. There is no need to make the connecting pin 183 particularly large.

Also, at this time, the hydraulic cylinder 210 for temporary connection of the loading and unloading truck 6 is tilted upward, its rod 212 is retracted, and the U-shaped member 213 is stored between the storage guides 221. The first storage pin 222 is raised to the upper end position, and the second storage pin 241 is pivoted to the retracted position and raised to the upper end position. Note that the horizontal pin 10 at the base end of the arm 101 of the suction cup 107 of the input/output truck 6 connected to the drive truck 4
2 is located at approximately the same height as the horizontal wheels 35, 36 of the drive truck 4 (see FIG. 8).

The driving truck 4, the surface treatment truck 5 that is always connected to the driving truck 4, and the input/output truck 6 that is connected to the driving truck 4 as described above are connected to the drive device 34 of the driving truck 4.
As a result, the vehicle travels along the upper and lower tracks 8 and 9. At this time, the weight of these trucks 4, 5, and 6 is received by the vertical wheel rail 22 of the upper track 8 via the vertical drive wheels 33 of the drive truck 4 and the vertical driven wheels 71 of the surface treatment truck 5. In addition, these trolleys 4,
An overturning moment acts on the upper parts of the carriages 5 and 6 in a direction in which they tilt toward the inside of the dock.
2 and the horizontal wheel rails 27, 32 of the upper and lower tracks 8, 9 via the horizontal wheels 73, 93 at the lower ends of the legs 70, 90 of the surface treatment truck 5 and the input/outlet truck 6.
These trolleys 4, 5, and 6 will not fall because they can be received by the ground.

When loading and unloading work is not being performed, such as when performing surface treatment work, the loading and unloading truck 6 connected to the driving truck 4 is separated from the driving truck 4 by the procedure shown in FIGS. 32 to 37. Storage stand 26
3,264.

First, as described above, the input/output truck 6 is moved to the drive truck 4.
In the connected state, the carts 4, 5, and 6 are moved to a storage preparation position slightly on the entrance side of the storage platform 264 on the dock entrance side (see FIG. 32). At this time, the lower surfaces of the storage blocks 261, 262 of the input/output truck 6 are connected to the blocks 265, 26 of the corresponding platforms 263, 264.
6 Located approximately 30mm below the top surface.

Next, in the storage preparation position, the push-up pin 193 of the input/outlet truck 6 is advanced to the lower end position with respect to the truck 6 (see FIGS. 33 and 39). As a result, the push-up pin 193 comes into pressure contact with the support surface 98 of the connecting block 67 of the driving truck 4, and the input/outlet truck 6 is lifted approximately 60 mm above the connected state with respect to the driving truck 4. As a result, the lower surfaces of the storage blocks 261 and 262 of the input/output truck 6 are connected to the corresponding storage blocks 26
Approximately from the top of block 265, 266 of 3,264
It rises up to 30mm upwards. In this state, the blocks 261 and 262 of the input/output truck 6 are connected to the blocks 265 and 26 of the corresponding platforms 263 and 264.
Move the carts 4, 5, and 6 to the storage position directly above the cart. As a result, the first storage pin 222 of the docking truck 6 is positioned directly above the connection hole 268 of the first storage bracket 267 of the dock side wall 2, and the upper and lower guide plates 238, 239 of this pin 222 are It is located slightly above and just below the bracket 267. In addition, the second storage pin 241 of the input/output truck 6
is located inside the dock in the recess 269 of the dock side wall 2,
The lower end of this pin 241 is slightly above the second bracket 270 in the recess 269. When moving the loading/unloading truck 6 to the storage position, the lower surfaces of the storage blocks 261 and 262 of the truck 6 move to the corresponding platform 26.
Since it is located above the upper surfaces of the blocks 265 and 266 of 3,264, there is no possibility that these will collide.
Also, since the top surface of the block 266 on the platform 264 on the dock entrance side is lower than the top surface of the block 265 on the platform 263 on the back side, the block 261 on the back side of the dock of the docking/unloading cart 6 will touch the block 266 of the platform 264 on the entrance side during movement.
There is no risk of collision. Furthermore, since the thickness of all the storage blocks 261, 262, 265, 266 is greater than 30 mm, even if the loading/unloading cart 6 is moved to the storage position without lifting it, the blocks 261, 262, 265, 266 just collide. The blocks 265, 266 of the platforms 263, 264 are only sandwiched from the outside and inside of the dock by a pair of vertical plates 274 fixed to the upper surfaces of the platforms 263, 264 (Fig. 50). ), when the blocks 261 and 262 of the input/output truck 6 collide, the blocks 263 and 2
It comes off easily from 64. Therefore, block 2
Even if comrades 61, 262, 265, and 266 collide, there is no risk of damage to the input/outlet truck 6 or the storage platforms 263, 264. Further, since the second storage bracket 270 is located within the recess 269 of the dock side wall 2, there is no possibility that the first storage pin 222 or its guides 238, 239 will collide with this bracket 270 during movement.

Next, in the storage position, the push-up pin 193 of the input/outlet cart 6 is moved back to the upper end position (see FIGS. 34 and 40). As the push-up pin 193 moves back and forth, the loading and unloading cart 6 gradually descends, and when it has descended approximately 30 mm from the lifted state, the storage blocks 161 and 162 of the loading and unloading truck 6 move to the corresponding storage platform 16.
3,164 blocks 165, 166, the loading/unloading truck 6 stops. After this, only the push-up pin 193 separates from the support surface 98 of the truck 4 and rises to the upper end position. When the input/output cart 6 is received on the storage platforms 163, 164 in this way, the input/output cart 6 is approximately 30 mm above the connected state, and the drive cart 4 and the input/output cart 6 are positioned approximately 30 mm above the connected state.
There is a gap of about 30 mm between the connecting surfaces 74 and 170.

Next, after hooking the temporary connection pins 207 on both sides of the input/output truck 6 to the corresponding hooks 69 of the drive truck 4, the first and second storage pins 222, 2
41 into the connecting holes 268, 271 of the first and second brackets 267, 270 of the dock side wall 2 (see FIGS. 35 and 45 to 47).
The operation for hooking the temporary connection pin 207 onto the hook 69 is performed as follows. That is, first, the rod 212 of the hydraulic cylinder 210 for temporary connection is extended, and the pin 207 stored between the guides 221 is extended as shown by the chain line A in FIG.
is moved to the outside of the dock through above the hook 69, as shown by the chain line B in the figure. After turning the temporary connection hydraulic cylinder 210 to a horizontal position as shown by the chain line C in the figure, the rod 212 is retracted as shown by the solid line in the figure, and the pin 207 is hooked. 69
, and pull the upper part of the input/outlet truck 6 slightly toward the drive truck 4 side. As a result, the overturning moment of the loading and unloading cart 6, which was borne by the connecting pin 183, is borne by the temporary connecting pin 207 and the hook 69. In order to prevent the pin 207 and the hook 69 from completely fitting together, the outer diameter of the pin 207 is made smaller than the diameter of the arc of the portion of the hook 69 on which it is hooked. In order to insert the first storage pin 222 into the connection hole 268 of the first bracket 267, the storage pin support tube 233 may be lowered to the lower end position. Thereby, the storage pin 222 is inserted into the guide hole 240 of the upper guide plate 238, the connecting hole 268 of the bracket 267, and the lower guide plate 23, as shown in detail in FIG.
9 and descends to the lower end position to connect them. The second storage pin 241 is inserted as follows. That is, first, the arm 260 of the second storage pin 241 is rotated to the advanced position. As a result, the storage pin 24
1 enters the recess 269 in the dock side wall 2 and stops directly above the connecting hole 271 of the second bracket 270, so the storage pin 241 is lowered to the lower end position and inserted into the connecting hole 271.

Next, the connecting pin 183 of the input/outlet truck 6 is raised to the upper end position, and the upper and lower guides 6 of the drive truck 4 are
5 and the upper and lower connecting holes 167 of the input/outlet truck 6 (see FIGS. 36 and 43).
At this time, the pin 207 for temporary connection and the hook 69
The overturning moment of the input/output cart 6 is borne by the guide 65 and the connecting hole 167.
Since the oil-free liners 66, 168 are provided on the inner surface of the connecting pin 183, it is easy to pull out the connecting pin 183. In addition, the storage pins 222 and 24 of the input/outlet truck 6
1 and storage brackets 267, 27 on the dock side wall 2
There is a slight gap between the connecting holes 268 and 271 between the pin 20 and the temporary connecting pin 20.
Since the connecting pin 183 is pulled out while bearing the overturning moment of the loading/unloading cart 6 by the hook 69 and the hook 69, when the connecting pin 183 is pulled out from the guide 65 and the connecting hole 167, the storage pins 222, 24
No impact force is generated between the brackets 267 and 270. Once the connecting pin 183 has risen to the upper end position, the fall prevention plate 201 of the fall prevention device 197 is moved to the inside of the dock, and the connecting pin 18
3 and the fall prevention plate 201 is placed in the recesses 189 and 194 of the push-up pin 193 that has already risen to the upper end position.
Fit the protrusion 203 (Fig. 43 and 4).
(See Figure 4). As a result, the hydraulic cylinder 180,
The falling of the connecting pin 183 and the push-up pin 193 due to internal leakage of the connecting pin 191, especially the heavy connecting pin 183, is reliably prevented from falling.

Next, the temporary connection pin 207 is separated from the hook 69 by the reverse operation to the above, and the guide 221 is removed.
Finally, the driving truck 4 and the surface treatment truck 5 are moved to the dock entrance side (see FIG. 37).
As the rod 212 of the hydraulic cylinder 210 for temporary connection in the horizontal state gradually extends, the upper part of the docking truck 6 tilts slightly toward the inside of the dock, and eventually the storage pins 222, 241 and brackets 267, 270 move the loading/unloading truck 6 toward the inside of the dock. 6 fall moments will be borne. Then, after this, pin 207 for temporary connection
is stored at the position indicated by chain line A via the positions indicated by chain lines C and B in FIG. Since the lower surfaces of the storage blocks 261, 262 of the input/output truck 6 are cylindrical, these parts move smoothly when the input/outlet truck 6 is tilted. After the temporary connection pin 207 is separated, the overturning moment of the input/outlet truck 6 is:
Upper and lower guide plates 238 of the first storage pin 222,
239 and the first storage pin 222
Bracket 267 and the second
is received by the second bracket 270 via the shaft 247 of the storage pin 241, the arm 260 and the second storage pin 241. At this time, the cylindrical portion 234 of the first storage pin 222 and the hole 237 of the storage pin support cylinder bottom plate 236 are designed so that the shaft 228, arm 232, etc. of the first storage pin 222 do not bear the overturning moment of the input/output truck 6. The gap between the inner surface and
The size of the gap between the first storage pin 222, the guide hole 240 of the guide plate 238, and the inner surface of the connecting hole 268 of the first bracket 267 is determined appropriately. In this way, the input/output truck 6 is transferred to the storage platform 2.
63, 264, there is nothing between the drive truck 4 and the input/outlet truck 6 that connects them or interferes with each other, so the drive truck 4 and the surface treatment truck 5 are separated from the input/outlet truck 6. You will be able to move to the dock entrance side.

The driving truck 4 and the surface treatment truck 5 separated from the input/outlet truck 6 travel along the upper and lower tracks 8 and 9 by the drive device 34 of the driving truck 4. At this time, the overturning moment of the surface treatment cart 5 is transmitted to the horizontal wheel rails 27 and 3 of the upper and lower tracks 8 and 9 via its horizontal wheels 72 and the horizontal wheels 73 at the lower ends of the legs 70.
You can receive it at The drive bogie 4 only rests on the upper track 8 with a vertical drive wheel 33 and horizontal wheels 35 and 36, but the connection part with the surface treatment bogie 5 is rotated around an axis parallel to the upper track 8 as described above. The structure is such that it does not allow relative twisting of the
The overturning moment of the driving truck 4 is received by the surface treatment truck 5, and the driving truck 4 is prevented from overturning. Furthermore, although the surface treatment truck 5 is equipped with a long jib 78, the truck 5 itself is long and thin, and since the long and thin drive truck 4 is always connected to one end thereof, it has very good stability. Since the loads of these carts 4 and 5 are supported by the vertical drive wheels 33 and the vertical driven wheels 71 at three locations, the loads of the carts 4 and 5 are
The deflection of 5 is also small. Although it is desirable that the upper track 8 be installed in a completely straight line, some waviness in the vertical and horizontal planes is unavoidable. However, the driving truck 4 and the surface treatment truck 5 are connected to the horizontal pin 82 and the vertical pin 8.
Since they are connected so that they can rotate relative to each other around 4, even if the upper track 8 is meandering, the 3
Vertical rings 33, 71 and horizontal rings 35, 3
6 and 72 are always in contact with the rails 22 and 27 of the upper track 8. For example, assuming that the drive truck 4 and the surface treatment truck 5 are made into a single unit that cannot rotate with respect to each other, if the upper track 8 is meandering, it is impossible for the wheels at three locations to be in constant contact with the rails 22 and 27. It is possible. This problem can be solved by having wheels at two locations, but this results in undesirable structural problems such as the distance between the supporting points (the distance between the vertical wheels) of the elongated truck becoming longer and the deflection of the truck increasing. Further, since the drive wheels 33 of the drive truck 4 support about half of the weight of the surface treatment truck 5, the wheel weight of the drive wheels 33 increases and a large driving force can be obtained. In each drive device 34 of the drive truck 4, the two drive wheels 33 are each driven by a hydraulic motor 41.
Moreover, since these driving wheels 33 are connected to each other by idle gears 40, these driving forces can be balanced to prevent one-sided load, and the driving wheels 33 can be prevented from rusting. Even if the rail 22 is uneven, one drive wheel 33 will not be overloaded.

In order to reconnect the loading/unloading cart 6 stored on the storage platforms 263, 264 of the dock side wall 2 to the driving cart 4, the following operation may be performed in reverse.

That is, first, the driving truck 4 and the surface treatment truck 5 are moved to the storage position, and the upper and lower connecting pin guides 65 of the driving truck 4 are positioned approximately directly below the upper and lower connecting holes 167 of the input/outlet truck 6, and then, The pin 207 for temporary connection of the input/output truck 6 is connected to the drive truck 4.
hook 69 and pull the upper part of the input/output truck 6 slightly toward the drive truck 4 side. Then, the fall prevention plate 201 of the fall prevention device 197 is moved to the outside of the dock, the protrusion 203 is pulled out from the recesses 189, 194 of the connection pin 183 and the push-up pin 193, and the connection pin 183 is lowered to the lower end position. Then, insert it into the upper and lower connecting holes 167 of the input/outlet truck 6 and the upper and lower guides 65 of the drive truck 4. If the driving truck 4 is simply moved to the storage position, the position of the connecting hole 167 between the guide 65 and the docking truck 6 will be slightly shifted in the direction perpendicular to the dock side wall 2, but as described above, the connecting hole 167 of the loading and unloading truck 6 By slightly pulling the drive truck 4 toward the drive truck 4 side, these positions will almost match.
Since the lower end of the connecting pin 183 is formed into a tapered shape, the connecting pin 183 can be lowered even if the positions of the drive truck 4 and the input/output truck 6 are slightly shifted in the length direction of the truck 4. Its tapered part 1
88 into the connection hole 167 of the input/outlet truck 6 and the guide 65 of the drive truck 4, the drive truck 4 is moved to the normal position. At this time, since the length of the temporary connection pin 207 is considerably larger than the width of the hook 69, the movement of the drive carriage 4 is not hindered by these pins.

Next, the first storage pin 222 of the docking truck 6 is raised to the upper end position and pulled out upward from the guide hole 240 of the lower guide plate 239 and the connecting hole 268 of the first bracket 267 of the dock side wall 2. At the same time, the second storage pin 24 of the input/output truck 6
1 is raised to the upper end position and extracted upward from the connecting hole 271 of the second bracket 270 of the dock side wall 2, and then turned to the retracted position.

Next, the temporary connection pin 207 is separated from the hook 69 and stored between the guides 221, and then the press pin 193 of the input/outlet truck 6 is advanced to the lower end position. As a result, the input/output truck 6 is transferred to the drive truck 4.
It is lifted approximately 60mm above the connected state,
The storage blocks 261 and 262 of the loading and unloading truck 6 are separated from the blocks 265 and 266 of the storage platforms 263 and 264 and raised to about 30 mm above.

Next, with the input and output dunnage truck 6 lifted as described above, the drive truck 4 and the surface treatment truck 5 are moved to the storage preparation position, and finally, the push-up pin 193 of the input and output conduit truck 6 is moved upward and retracted. The truck 6 is lowered to bring the connection surface 170 of the input/output truck 6 into contact with the connection surface 74 of the drive truck 4.

The loading/unloading cart 3 on the dock entrance side is also attached to the same upper and lower tracks 8, 9 as above, and a pair of storage platforms 263, 264 are also installed on the side wall 2 on the dock entrance side.
etc. are also provided. The entry/exit device 3 and storage platforms 263, 264 on the dock entrance side are located at the back of the dock with respect to the vertical plane perpendicular to the dock side wall 2.
It is symmetrical. In addition, the docking/unloading device 3 and the storage platforms 263, 264 on the side wall 2 of the dock on one side are
It is symmetrical with the corresponding docking device 3 and storage platforms 263, 264 on the side wall 2 on the opposite side with respect to the central vertical plane of the dock 1 parallel to the side wall 2. The storage and connection of the input/output carts 6 in each input/output device 3 are performed in the same manner as described above.

The dock 1 is equipped with the following equipment and an automatic installation device for docked ships (see Figure 51).

That is, the dock 1 includes a winch 276 for opening and closing the gate 275, a gate detector 277 for detecting the opening and closing of the gate 275, two main drainage pumps 278, two auxiliary drainage pumps 279,
One residual water pump 280 and water level detector 281
etc. are provided. Further, on the ditch bottom 282, a plurality of keel boards arranged in the center thereof,
A plurality of belly plates 283 are provided on both sides of these plates, and the belly plates 283 are equipped with a belly plate detector 2 for detecting when the belly plates 283 have come into contact with the bottom of the ship.
84 are provided.

In addition to the docking and undocking device 3, the automatic installation device for the docking ship includes a gate control device 285, a drainage pump control device 286, an automatic belly deck control device 287, a keel deck detector 288, a ship position detection device 289, and an input/output device. 290, a central control device 291, and the like.

The gate control device 285 controls the winch 276 for opening and closing the gate 275, and the output of the gate detector 277 is input to this control device 285.

The drainage pump control device 286 is the main drainage pump 27
8. Auxiliary drainage pump 279 and residual water pump 28
0, and the output of the water level detector 281 is input to this control device 286.

The automatic belly plank control device 287 is for automatically inserting the belly plank 283 into the bottom of the ship, and the output of the belly plank detector 284 is input to this control device 287.

The keel board detector 288 is for detecting that the bottom of the ship has come into contact with the keel board, and the output of this detector 288 is input to the central controller 291.

The ship position detection device 289 detects the position of the ship in the dock 1, that is, the position in the length direction, the position in the width direction, the deflection of the ship in the horizontal plane, the distance between the bottom of the ship and the keel board, and the length of the ship in the vertical plane. Tilt in direction (trim) and tilt in width direction (heel)
It is for detecting a plurality of detectors 29.
It is equipped with 2. The output of the ship position detection device 289 is then input to the central control device 291.

The input/output device 290 is for inputting data necessary for automatic installation control to the central control device 291, and includes a keyboard, CRT, and the like.

The central control device 291 controls the entire automatic installation device, and is composed of an input/output circuit and a control circuit that transfer signals with other parts, and a data processing section that processes collected data. There is.

The docking work of the ship 293 is performed as follows with the docking/undocking truck 6 of each docking device 3 connected to the drive truck 4 as described above (see FIG. 1a).

That is, first, the ship 293 is guided to the vicinity of the dock entrance using a tugboat (not shown), and its bow section is put into the dock 1. At this time, both side walls of the dock 2
The four sets of docking devices 3 are located near the entrance of the dock, and the suction arm 101 of the docking truck 6 is in an almost horizontal state as shown in FIG. He retired between 1992 and 1992. Ship 2
Once the bow of the ship 93 has entered the dock 1 to some extent, the arms 10 of the two sets of dock entry/exit devices 3 on the back side of the dock
1 inward and attach the suction cup 107 to the ship 293.
At the same time, adjust the inclination of the suction cup 107 as appropriate, and move the hull side plate on the bow side to the suction cup 107.
Adsorb with. Once the bow has been suctioned in this way, while adjusting the attitude of the vessel 293 using a tugboat, move the two sets of docking/undocking devices 3, namely the drive truck 4, the surface treatment truck 5, and the loading/unloading truck 6, to the back side of the dock. By moving the ship 293 to the dock 1, the ship 293 is pulled into the dock 1. Once most of the ship 293 has entered the dock 1, the suction cups 107 of the two sets of dock entry/exit devices 3 on the dock entrance side will suck the ship's side outer plate at the stern in the same manner as described above, and the four sets of entry/exit dock devices 3 to the back of the dock, the ship 293 is further drawn into the dock 1. Once the vessel 293 has been pulled in to the predetermined position, the four sets of docking/docking devices 3 are stopped and the vessel 293 is pulled in by a tugboat connected to the stern.
By braking and stopping 93 and appropriately rotating the suction cup arm 101 of each device 3, the ship 29
3. Positioning in the width direction is performed. Then, the tugboat is separated from the vessel 293 and taken out of the dock 1.

On the other hand, the central control device 2 of the automatic installation device of the docked ship
91 is an input/output device 29 that stores data necessary for installation work such as the length, width, water intake, and installation position of the docked ship.
It is input from 0, and as above, the ship 293
When the ship is pulled into a predetermined position in the dock 1, a person issues a command from the input/output device 290 to start the installation work. This activates the automatic installation device, and the vessel 293 is automatically installed on the keel board and belly board 283 of the culvert bottom 282 as follows. At this time, the central control device 291 constantly monitors the position of the ship 293 measured by the ship position detection device 289 and controls the docking/docking device 3 to control the position of the ship 293.
The other devices 285, 286, and 287 are monitored and controlled while always maintaining the installed position.

When the start of installation work is commanded from the input/output device 290 of the automatic installation device, a gate closing command signal is sent from the central control device 291 to the gate control device 285, and the gate control device 285 controls the winch 276 to close the gate 275. will be closed. When the detector 277 detects that the gate 275 has been closed, a gate closing completion signal is sent from the gate control device 285 to the central control device 291.

When the central control device 291 receives the gate closing completion signal, it outputs a drainage command signal to the drainage pump control device 286 and starts drainage work. The drainage pump control device 286 receives the drainage command signal.
First, start the two main drainage pumps 278,
Drain the water in Dock 1 at full speed. As a result, the water level in dock 1 gradually decreases, and as a result, the water level in dock 1 gradually decreases, and accordingly
93 also gradually descends, so the distance between the bottom of the ship and the keel board gradually becomes smaller.

When the ship position detection device 289 detects that the distance between the bottom of the ship and the keel board has reached, for example, 300 mm, one main drainage pump 278 is stopped and one pump is pumped until the bottom of the ship comes into contact with the keel board. Main drain pump 278 drains at half speed.

During this time, the central control device 291 monitors the output of the ship position detection device 289 and gives appropriate commands to the docking/undocking device 3 to make final adjustments so that the position of the ship 293 is at the installation position. Note that if this adjustment cannot be made, the remaining main drainage pumps 278 are also stopped to temporarily stop drainage.

If the keel board detector 288 detects that the bottom of the ship has contacted the keel board, the central control unit 291 stores the water level at this time and uses the data input from the input/output device 290. Based on this, the water level at which the belly plate 283 should be inserted into the bottom of the ship is calculated. At the same time, one main drainage pump 278 that had been stopped was restarted, and the water level detector 2
While monitoring the output of pump 81, the two main drainage pumps 278 continue to drain water at full speed.

When the water level detector 281 detects that the water in the dock 1 has been drained to the level at which the belly slab 283 should be inserted, the central control device 291 causes the automatic belly slab control device 287 to insert the belly slab. A command signal is sent, and the belly plate control device 287 moves the belly plate 283 to the bottom of the ship.
automatically inserted. When the detector 284 detects that the base board 283 has been completely inserted, a base board insertion completion signal is sent from the base board control device 287 to the central control device 291.

The central control device 291 recognizes that the installation work of the ship 293 is completed by the belly board insertion completion signal, and each device 3, 285, 286, 287, 28
9,290 to output an installation work completion signal. After receiving this signal, a confirmation signal is sent back from each device to the central control device 291.

After this, the drainage pump control device 286 continues the drainage work while monitoring the output of the water level detector 281. Then, in response to a command from the drainage pump control device 286 based on the output of the water level detector 281, the main drainage pump 278 is sequentially switched to the auxiliary drainage pump 279 and the remaining water pump 280, and all the water in the dock 1 is drained.

Each device of the automatic installation device is automatically controlled as described above according to the installation work procedure when performing automatic installation work, but is capable of independent operation at other times.

During the docking work as described above, the hull suction cup 107 of the docking/docking truck 6 is operated by the vacuum pump unit 139. This water ring vacuum pump of unit 139 obtains a vacuum by circulating water in the pump, and due to the turbulence on the inner surface of the water circulation, the water in the pump becomes water droplets together with the compressed air and is discharged. Since it is discharged from the exit, during operation,
It is necessary to constantly replenish water to the pump. Also,
In order to prevent the water temperature inside the pump from rising, it is necessary to discharge a certain amount of water from the discharge port and replenish the amount of water from the suction port. Therefore, in the above-mentioned input/outlet truck 6, the water in the fresh water tank 140 is pumped to the vacuum pump unit 139 as follows.
Water is circulated between the vacuum pump and the vacuum pump. In other words, the suction cup 107
When suctioning the outer panel, the arm 101 is rotated to press the suction cup 107 against the outer panel, the fresh water pump 150 is started, and the fresh water supply pipe 1 is
47 solenoid valve 153 opens. As a result, the water in the tank 140 is sent to the vacuum pump unit 139 through the supply pipe 147, and the strainer 15
2, foreign objects in the water are removed. At this time, the flow rate of water is detected by the flow switch 154, and when the flow rate reaches a predetermined value, the vacuum pump unit 13
9 is activated, the air between the suction cup 107 and the outer plate is removed and maintained in a vacuum state. When the vacuum pressure gauge 160 detects that a predetermined vacuum pressure has been obtained, a hull suction completion signal is output.
On the other hand, the water discharged from the vacuum pump outlet is
returns to the tank 140 through the fresh water return pipe 157;
It is recycled and used again. The water supplied to the vacuum pump unit 139 not only compensates for the exhaust from the vacuum pump, but also serves to remove compression heat, prevent internal leakage of gas, and perform mechanical flushing. Also, vacuum pump unit 1
39 is equipped with two safety devices that function as follows. One device monitors the output of the flow switch 154 during hull suction (while maintaining the vacuum state), and when the flow rate of the supply water exceeds the above-mentioned predetermined value, it stops the vacuum pump unit 139, and at the same time , closes the solenoid valve 153 and stops the fresh water pump 150. At this time, the solenoid valve 15
3 is closed in order to prevent water from flowing back from the vacuum pump unit 139 located above the tank 140 due to siphon action and causing no water in the vacuum pump unit 139. Further, this is done because in a water ring vacuum pump, it is necessary to fill the pump with about 1/2 to 1/4 of the predetermined amount of water before starting the pump. Another device is the suction cup 107 that is suctioning the ship 293 during docking work.
When an excessive force is applied to the swing hydraulic cylinder 96, the input/output truck 6, etc.,
The amount of distortion of the suction cup 107 is detected and suction is released.
Then, in response to the adsorption release signal, the vacuum pump unit 139 and fresh water pump 150 are stopped and the solenoid valve 153 is closed at the same time.

When a docked ship is suctioned by the suction cup 107 of the docking/docking truck 6 connected to the driving truck 4, the tip of the suction cup arm 101 of the docking/docking truck 6 has wind pressure acting on the ship, pushing or pulling the ship. A horizontal external force acts due to the force of the tugboat moving the ship and the force of kinetic energy when stopping the moving ship. horizontal force (parallel horizontal force).

In this case, the suction cup arm 10 of the input/output truck 6
Since the center of the horizontal pin 102 at the base end is at almost the same height as the horizontal wheels 35 and 36 of the drive truck 4, the right angle horizontal force from the ship is mainly applied to the turning hydraulic cylinder 96 of the input/output truck 6, Input/outlet truck 6, drive truck 4
It is received by the horizontal wheel rail 27 of the upper track 8 via the horizontal wheels 35, 36 of the drive truck 4, etc. Therefore, if the perpendicular horizontal force becomes too large, there is a risk that various parts such as the input/output truck 6 and the drive truck 4 will be damaged, and in order to prevent this,
It is necessary to limit the perpendicular horizontal force to below a certain permissible value. The maximum value of the perpendicular horizontal force that the input/output truck 6 etc. receives is limited by the maximum value of the torque that turns the arm 101, that is, the maximum value of the oil pressure of the turning hydraulic cylinder 96, but if the maximum value of this torque is kept constant. In this case, the maximum value of the perpendicular horizontal force changes depending on the turning angle of the arm 101 with respect to the input and output conduit truck 6 as follows. That is, in FIG. 26, if the length of the arm 101 is l and the torque for turning it is T, then the force P acting on the tip of the arm 101 in a direction perpendicular thereto is as follows.

P=T/l Furthermore, if the rotation angle of the arm 101 is θ, then
The perpendicular horizontal force F acting on the tip of the arm 101 is as follows.

F=P・cosθ=(T/l)・cosθ Therefore, the above-mentioned hydraulic control device 120 of the input/output truck 6 controls the two rotation hydraulic cylinders 96 according to the rotation angle of the arm 101 as follows. The set pressures of the electromagnetic proportional relief valves 121 and 122 are individually controlled, thereby limiting the perpendicular horizontal force to a certain allowable value or less. That is, the hydraulic control device 12
The zero angle detector 123 constantly detects the rotation angle of the arm 101, and its output signal is input to the calculation control unit 124 by the digital input circuit 125. The output signal of the angle detector 123 is expressed in an alternating binary code, and this signal is converted into a pure binary code by a conversion circuit 126. On the other hand, the table of the calculation control unit 124 shows the pressure setting values of the two relief valves 121 and 122 on the head side and rod side of the swing hydraulic cylinder 96 for the swing angle of the arm 101, based on the above-mentioned relationship. Two relief valves 121 and 122 are stored individually, and the table reference circuit 127 corresponds to the output of the conversion circuit 126, that is, the rotation angle of the arm 101.
The pressure setting values of are individually output to the calculation circuit 128. The pressure setting value in the table is stored as a voltage value in a 9-bit pure binary code, and is stored in the arithmetic circuit 12.
8 multiplies the two output signals (pressure setting values) of the table reference circuit 127 by eight times, converts them into 12-bit pure binary codes, and outputs these to the corresponding analog output circuits 129 and 130, respectively. Each analog output circuit 129, 130 is an arithmetic circuit 12
The output of 8 is digital-to-analog converted and the analog signal corresponding to the pressure set value is sent to the corresponding amplifier 13.
Output to 1,132. And each amplifier 13
Reference numerals 1 and 132 flow current corresponding to the input signal (voltage) to the corresponding relief valves 121 and 122 to control the set pressures of the relief valves 121 and 122. As a result, the set pressures of the two relief valves 121 and 122 are individually controlled to values according to the swing angle of the arm 101, and the oil pressure in the two oil chambers 115 and 116 of the swing hydraulic cylinder 96 is controlled by the corresponding relief valve. 1
Since the set pressure of 21 and 122 will not be exceeded,
Even if the rotation angle of arm 101 changes, arm 1
The perpendicular horizontal force acting on the tip of 01 is always limited to a certain allowable value or less. Note that when the swing angle of the arm 101 is 90 degrees, the swing torque of the arm 101 to receive the right angle horizontal force becomes infinite, so the use of the hydraulic control device 120 is restricted. In addition, the parallel horizontal force acting on the input/output truck 6 etc. is
By limiting the running force of the drive unit 34 for driving the drive truck 4, the running force is limited to a certain allowable value or less.

In addition, the ship in the dock 1 experiences fluctuations such as up-and-down movement, rolling, or pitching due to changes in the water level in the dock 1, and the suction cup 107 of the docking truck 6 connected to the drive truck 4 prevents such a ship from moving. When suctioned, a vertical force acts on the tip of the suction cup arm 101 of the input/outlet truck 6 to move it up and down. In the above-mentioned loading/unloading truck 6, when the suction cup 107 is suctioning the ship, the suction cup 107
Hydraulic cylinder 103 for elevation to lift up 07
Pressure oil is supplied only to the oil chamber 133 on the head side of the arm 101 and the suction plate 10 by the relief valve 138.
The suction cup 107 moves up and down following the up-and-down movement and oscillation of the ship. However, the hull will not be lifted by the suction cup 107. At this time, only a small force corresponding to the above-mentioned additional pressure is applied to the attachment part of the elevation hydraulic cylinder 103 to the turning post 94, so that the input/outlet truck 6
The horizontal ring 93 of the leg 90 and the rail 32 of the lower track 9
The force acting between them is small. Furthermore, as described above, since the center of the horizontal pin 102 at the base end of the arm 101 is at approximately the same height as the horizontal wheels 35 and 36 of the drive truck 4, the right angle horizontal force from the ship is mainly applied to these horizontal wheels 35 and 36. , 36 on the horizontal wheel rail 27 of the upper track 8. Therefore, even when a right-angled horizontal force toward the outside of the dock acts, the horizontal wheels 93 of the legs 90 of the docking truck 6 and the rails 3 of the lower track 9
The force acting between 2 and 2 is small. From these points, it becomes possible to reduce the number and size of the horizontal wheels 93 of the legs 90 of the input/outlet truck 6 and to make the lower track 9 smaller. Further, the horizontal wheels 93 of the legs 90 of the docking/unloading truck 6 are urged in the direction of being pressed against the rails 32 of the lower track 9 (toward the outside of the dock) due to the overturning moment of the truck 6 itself in the direction in which the upper part is tilted toward the inside of the dock. As mentioned above, they are urged in the same direction by the additional pressure of the elevation hydraulic cylinder 103. As mentioned above, the right angle horizontal force from the ship is mainly received by the horizontal wheel rail 27 of the upper track 8 via the horizontal wheels 35 and 36 of the drive bogie 4, so the right angle horizontal force inward of the dock acts. Even in this case, almost no force is exerted to separate the horizontal wheels 93 of the legs 90 of the input/outlet truck 6 from the rails 32 of the lower track 9. In this way, even if an external force acts on the input/outlet truck 6, there is almost no force acting to separate the horizontal wheels 93 of the legs 90 from the rails 32 of the lower track 9, and the horizontal wheels 93 are always pressed against the rails 32. Since the leg 90 is biased in this direction, there is no need to provide a horizontal ring or the like at the bottom of the leg 90 to prevent it from moving away from the lower track 9. Therefore, the configuration of the lower part of the leg 90, the configuration of the lower track 9, etc. can be simplified.

As mentioned above, the right-angled horizontal force from the ship is mainly applied to the upper track 8 via the horizontal wheels 35 and 36 of the drive bogie 4.
Since the horizontal wheels 35 and 36 of the drive bogie 4 are received by the horizontal wheel rails 27, a considerably large force acts on the mounting portions of the horizontal wheels 35 and 36 of the drive bogie 4, and this force is applied to the horizontal wheel housing 4.
8, is transmitted to the truck 4 by the liner 61 and stoppers 54, 55. Since these are in surface contact with each other, the mounting portions of the horizontal wheels 35 and 36 can withstand large forces. In addition, the housing 4 has horizontal wheels 35 and 36 attached in advance.
8 is attached to the trolley 4 as described above, it is very easy to perform the attachment work and ensure attachment accuracy.

When the docking and installation work of the ship 293 is completed, the docking and undocking truck 6 is separated from the driving truck 4 and stored on the storage platforms 263 and 264 as described above, and only the driving truck 4 and the surface treatment truck 5 are allowed to travel. . Then, using the hull surface treatment device of the surface treatment trolley 5, the hull surface is first cleaned with high pressure water to remove salt.
A series of hull surface treatment operations are carried out, including removing deposits, then plastering rust areas, and finally painting the hull surface (see Figure 1b).

When the ship 193 is to be docked after the hull surface treatment work is completed, the above-described docking work may be reversed.

According to the above-described docking/docking device 3, by connecting the docking/docking truck 6 to the drive truck 4, it is possible to carry out docking/undocking work of a ship without using a towing wire rope, and it is also possible to automate the work. It is. Therefore, it does not require as many workers as in the past,
It is possible to save labor and improve safety in input/output operations. In addition, when carrying out hull surface treatment work, the loading and undocking truck 6 can be separated from the driving truck 4 and only the driving truck 4 and the surface treatment truck 5 can run, so there is no operating cost for the frequently used surface treatment truck 5. It is economical. Further, only the drive truck 4 is provided with a traveling drive device 34,
Since the surface treatment truck 5 and the input/outlet truck 6 are not provided with a driving device for traveling, it is economical.

In the embodiment described above, the docking and unloading carts 6 are attached to the side walls 2 on both sides of the dock 1, but the docking and unloading carts 6 may be provided only on one side wall 2. Also,
In the embodiment described above, two docking and unloading trucks 6 are provided on one side wall 2 of the dock 1, but only one loading and unloading truck 6 may be provided on one side wall 2.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of a dock and docking device schematically showing two states during docking and docking work and ship surface treatment work;
Figure 2 is a front view of the drive truck and surface treatment truck;
Figure 3 is a plan view of the same, Figure 4 is a side view of the same, Figure 5 is a front view of the input/output truck, Figure 6 is a plan view of the same, Figure 7 is a side view of the same, and Figure 8 is a view of the drive truck. A front view of the input/output device showing the state in which the input/output carts are connected, FIG. 9 is a cutaway plan view of the same part, FIG. 10 is a side view of the same,
Figure 1 is an enlarged sectional view taken along the line S11-S11 in Figure 2, Figure 12 is an enlarged sectional view taken along the line S12-S12 in Figure 2, and Figure 13 is a driving device for driving the drive cart in Figure 2. FIG. 14 is an enlarged front view showing the part shown in FIG.
A sectional view taken along line S14, Figure 15 is S in Figure 13.
15-S15 line, Figure 16 is the 13th
17 is an enlarged sectional view taken along line S17-S17 in FIG. 2, FIG. 18 is an enlarged sectional view taken along line S18-S18 in FIG. The figure is a bottom view of the housing support plate of the drive bogie with the horizontal wheel housing removed from FIG. 18, FIG. 20 is a plan view of the horizontal wheel housing of the drive bogie, and FIG. 21 is S21- in FIG.
22 is an enlarged view of the main part of FIG. 18, FIG. 23 is a horizontal sectional view of the connecting part between the drive truck and the surface treatment truck, and FIG. 24 is the S of FIG. 23.
24-S24 line, Figure 25 is the 23rd
A sectional view taken along line S25-S25 in the figure, FIG. 26 is a partially cutaway plan view of the docking truck showing the hull suction cup in a state where it has advanced from the docking truck, and FIG. 27 is a partially cutaway plan view of the
Enlarged arrow view along line S27-S27 in Figure 6, No. 2
FIG. 8 is a view along the line S28-S28 in FIG. 27, and FIG. 29 is a hydraulic and electrical system diagram showing the hydraulic control device for the turning hydraulic cylinder of the input/output truck.
Figure 30 is a hydraulic system diagram of the hydraulic cylinder for elevating the input/output truck, and Figure 31 is the hull suction cup of the input/output truck.
The air and water system diagram between the vacuum pump unit for the suction cup and the fresh water tank, and FIGS. 32 to 37 are diagrams sequentially showing the operation of separating the input/output truck from the drive truck and storing it on the storage platform. , each figure a is a side view of the docking and unloading truck seen from the back side of the dock, and each figure b is a side view with the middle omitted.
38 is an enlarged sectional view taken along line S38-S38 in FIG. 32a, and FIG. 39 is S39 in FIG. 33a.
- An enlarged sectional view along the line S39, Figure 40 is the 36th
Enlarged sectional view along line S40-S40 in Figure a, No. 4
1 is an enlarged sectional view taken along the line S41-S41 in FIG. 39, FIG. 42 is an enlarged sectional view taken along the line S42-S42 in FIG. 38, and FIG. 43 is an enlarged sectional view taken along the line S43-S41 in FIG.
FIG. 44 is an enlarged sectional view taken along line S43 in FIG. Fig. 46 is an enlarged view of the main part of Fig. 35 and a partially cutaway view, Fig. 46 is a view taken along the line S46-S46 of Fig. 45, and Fig. 47 is an enlarged view of the main part of Fig. 35 a and FIG. 48 is an enlarged view of the main part of FIG. 35b and a partially cut-away view, FIG. 49 is a sectional view taken along line S49-S49 in FIG. 48, and FIG.
The figure is an enlarged view of the main part of FIG. 34a, and FIG. 51 is a block diagram of an automatic installation device for a docked ship. 6...Input/outlet truck, 94...Swivel post, 96
... Hydraulic cylinder for swinging, 101... Arm for suction cup, 107... Hydraulic cylinder for swinging, 115,
116...Oil chamber, 120...Hydraulic control device, 12
1,122...Solenoid proportional relief valve, 123...
Angle detector, 124... Arithmetic control unit.

Claims (1)

[Claims] 1. An input/output ditch truck equipped with a suction cup arm 101 that can rotate about a substantially vertical axis, a hull suction cup 107 attached to the tip of the arm 101, and a turning hydraulic cylinder 96 that turns the arm 101. , an angle detector 123 that detects the rotation angle of the arm 101, and two relief valves 121 that are connected to the oil chambers 115 and 116 on both sides of the rotation hydraulic cylinder 96 and that can control the set pressure, respectively.
122, the swing angle of the arm 101 and the two relief valves 1 to keep the maximum value of the horizontal force perpendicular to the input/outlet truck acting on the tip of the arm 101 constant.
21 and 122, and controls the set pressures of the two relief valves 121 and 122 according to the output of the angle detector 123 based on this relationship. A hydraulic control device for a suction cup arm.