KR101141599B1 - Crane and ship loading thereof - Google Patents

Abstract

The present invention relates to a crane capable of controlling a container (Trim-List-Skew) in the transport of the container to be conveyed by the crane and to prevent the shaking, the spreader is via a first trolley pulley disposed on the trolley A crane supported by a load-bearing rope connected to a first spreader pulley disposed on the spreader, wherein the crane is provided on a pair of additional ropes and on a trolley, in a direction perpendicular to the direction of movement of the trolley. A pair of second trolley pulleys disposed on the outside and installed in opposing positions about the girder, a pair of second spreader pulleys arranged on the spreader, and supporting one end of the additional rope, A hoist drum for winding up and unloading, the additional rope from the hoist drum via a second trolley pulley Further coupled to the pulley, the second pulley spreader has the effect that by placing on the inside with respect to the first spreader sheave in a direction perpendicular to the direction of motion of the trolley, to attenuate the lateral swing of the spreader or container.

Description

CRANE AND SHIP LOADING THEREOF}

The present invention relates to a crane that can control the container (Trim-List-Skew) of the container in transporting the container to be conveyed by the crane and to prevent the shaking, more specifically, such as a mobile harbor (Mobile Harbor) When transporting a container using a crane mounted on a moving vessel, and a crane that can control the attitude of the container and at the same time can control the lateral shaking of the container shaken by various external factors and a ship equipped with the same.

Recently, with the increase of intercity trade between countries, the volume of transportation is also increasing. Among them, the volume of transportation through sea lanes with low transportation cost is increasing dramatically. As described above, containers have been used for a long time in order to load as much cargo as possible in the logistics through sea, that is, in order to facilitate the convenience and speed of loading and unloading the transported goods.

In general, cranes are used for loading or unloading containers into vessels. These container cranes are equipment for loading and unloading containers between ships and docks, and the loading and unloading speeds of these container cranes have become a key factor in determining the cargo handling capacity of the entire dock.

The crane vertically raises the container in a state in which the spreader is coupled to the container, moves it horizontally, and then loads the container by vertically lowering the container to the desired position. However, since the spreader is suspended through the rope to the trolley to move left and right, the container can be shaken with the trolley in the direction parallel to the trolley's movement direction when the trolley moves or stops, and the rope is caused by the wind blowing from the shore. The container may swing in any direction. When such a shake occurs in the container, the crane operator has to spend a lot of time and effort manually to attenuate the shake in order to accurately load the container in the intended position. It leads to a problem of deterioration. Accordingly, various techniques for preventing the shaking of the container have been developed.

EP 1894881 proposes an apparatus and a method for controlling the posture and shaking of the spreader by precisely adjusting the length of the rope with an actuator or the like in the spreader suspended from the trolley via the rope. 1 specifically illustrates such a device. The spreader 4 is suspended from the trolley 3 by four ropes. The four ropes have their ends fixed to the hoist drum 1 and wound and unwound as the hoist drum 1 rotates. The ropes from the hoist drum 1 are pulleys 6, 6 ′, 6 ″, 6 on the spreader 4 via pulleys 5, 5 ′, 5 ″, 5 ′ ″ on the trolley 3. '' '). The rope is again actuated (ball screw jacks: 2, 2 ', 2' ', precisely adjusting the length of the rope via the pulleys 7, 7', 7 '', 7 '' 'of the trolley 3). 2 '' '). The hoist drum 1 adjusts the relative height of the spreader 4 relative to the trolley 3 as a whole by winding and unwinding the rope. In addition, actuators 7, 7 ', 7' ', 7' '' are provided for each rope to adjust the length of each rope individually, thereby rotating the spreader 4 about the x, y and z axes. Control the exercises Trim, List, and Skew. By doing so, the attitude of the spreader 4 is controlled.

Meanwhile, the applicant of the present application also adopts the principle of an active mass damping system used for the purpose of seismic in high-rise buildings in Korean Laid-Open Patent Publication No. 2005-0007248, and by spreading the trolley in a direction to reduce the shaking of the spreader We have proposed a method to control the shaking of the.

However, the above-described prior arts have a problem that although the spreader or container can control the shaking in the trolley movement direction, the shake in the direction perpendicular to the movement direction of the trolley (side direction) cannot be controlled. If the crane is fixedly installed in a place where there is no lateral movement, such as a pier, the lateral movement of the container is not a problem. However, when the crane is installed on a marine structure such as a mobile harbor or ship, Since these offshore structures are rocking, the container or spreader hanging on the crane mounted on these offshore structures can be shaken greatly in the lateral direction, so that the container can be smoothly loaded and shipped without controlling the shake in the lateral direction. Unloading work is not possible.

The present invention has been made in consideration of the problems of the prior art as described above, and an object of the present invention is to provide a device capable of controlling the shaking in the direction perpendicular to the direction of movement of the trolley.

According to an aspect of the present invention, a crane having a crane structure, a girder supported by the crane structure, a trolley traversed along the girder, and a spreader coupled to the container, comprising: a hoist drum; A first trolley pulley disposed on the trolley; A first spreader pulley disposed on the spreader; A load supporting rope having one end connected to the hoist drum to be wound and unwound, extending in the direction of the trolley movement, and connected to the first spreader pulley via the first trolley pulley; An actuator for a load supporting rope connected to the other end of the load supporting rope and adjusting a length of the load supporting rope; A second trolley pulley provided on the trolley and disposed outside the first trolley pulley in a direction perpendicular to the movement direction of the trolley; A second spreader pulley provided on the spreader and disposed inward of the first spreader pulley in a direction perpendicular to the movement direction of the trolley; An additional rope having one end connected to the hoist drum to be wound and unwound and connected to the second spreader pulley via the second trolley pulley in a direction perpendicular to the trolley movement direction; A direction provided in the trolley, the direction of the additional rope being changed so that the additional rope extends in a direction perpendicular to the direction of movement of the trolley toward the second trolley pulley, and a direction perpendicular to the direction of movement of the trolley A third trolley pulley disposed inside of the second trolley pulley; And an additional drum connected to the other end of the additional rope, the additional drum adjusting the length of the additional rope, for controlling the spreader swinging in a direction perpendicular to the direction of movement of the trolley. The second spreader pulley and the additional rope and the third trolley pulley are provided in pairs in opposite directions in a direction perpendicular to the direction of movement of the trolley, and by adjusting the length of the additional rope with the additional drum the A crane can be provided which is characterized by controlling a directional shake perpendicular to the direction of movement of the trolley.

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According to the crane of the present invention, by using a pair of additional ropes to control the shaking in the direction perpendicular to the direction of movement of the trolley, it is possible to quickly and accurately load the container in the intended position, thereby, Has the effect of improving the processing power.

DETAILED DESCRIPTION Hereinafter, a plurality of embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. However, these embodiments are only examples and the present invention is limited thereto. It is not.

2 is a view showing the connection and arrangement of the rope in the crane according to the first embodiment of the present invention, Figure 3 is a rope disposed between the trolley and the spreader in the crane according to the first embodiment of the present invention Figure 4 is a side view showing the connection and arrangement of, Figure 4 is a view showing the connection and arrangement of the rope in the crane according to a second embodiment of the present invention.

As shown in FIG. 2, the crane of the first embodiment includes four load supporting ropes 102, 102 ′, 102 ″, 102 ′ ″ and two additional ropes 202, 202 ′. Figure 2 omitted the specific structure of the crane and is shown around the connection of the rope. Specifically, the crane is largely supported by a crane structure (not shown), a girder (not shown) supported by it, a trolley 104 traversing from side to side along the girder, and a load support via the trolley 104. And a spreader 105 supported by ropes 102, 102 ', 102 ", 102' ", which rises toward or descends from trolley 104 side according to adjustment of the rope length. The container is fixedly coupled to the spreader 105 so that the container is lifted, moved, and lowered according to the rising, moving, and lowering of the spreader 105, and the container is loaded and unloaded.

The tips of the load bearing ropes 102, 102 ′, 102 ″, 102 ′ ″ are fixed to the hoist drum 101, and are wound on the hoist drum 101 or rotated by the hoist drum 101. 101). In this embodiment, all four load supporting ropes 102, 102 ', 102' ', 102' '' are all secured to ensure that the load supporting ropes are wound on the hoist drum by the same length or unwound by the same length from the hoist drum. Is configured to be wound around one hoist drum 101, the load supporting rope may be wound around a plurality of hoist drums as long as the balance of the spreader 105 can be maintained.

The load bearing ropes 102, 102 ′, 102 ″, 102 ′ ″ are provided via trolley pulleys 106, 106 ′, 106 ″, 106 ′ ″ disposed at four corners on the trolley 104. Trolley pulleys 108, 108 ′, 108 which extend to spreader pulleys 107, 107 ′, 107 ″, 107 ′ ″ disposed at four corners on spreader 105, and in turn are installed at four corners on trolley 104. '', 108 '' ', and the rear end thereof is fixed to the actuators 103, 103', 103 '', 103 '' '.

Load hoisting ropes 102, 102 ', 102 ", 102' " are mounted using a hoist drum 101 that fixes the tips of the load carrying ropes 102, 102 ', 102 ", 102' ". When it is wound up, the length of the load supporting ropes 102, 102 ', 102 ", 102' " becomes short, so that the spreader 105 rises toward the trolley 104. FIG. In contrast, when the hoist drum 101 unwinds the load supporting ropes 102, 102 ′, 102 ″, 102 ′ ″, the length of the load supporting ropes 102, 102 ′, 102 ″, 102 ′ ″. Lengthens, and the spreader 105 descends away from the trolley.

The rear ends of the load supporting ropes 102, 102 ', 102 ", 102' " are fixed to the actuators 103, 103 ', 103 ", 103' ", and are driven by the actuators. 102, 102 ', 102' ', 102' '' can be precisely adjusted. Since the actuators 103, 103 ', 103 " and 103' " finely adjust the lengths of the load supporting ropes 102, 102 ', 102 " and 102' ", the posture of the spreader 105 It is used to control.

For example, the direction of movement of the trolley 104 is referred to as the x direction, and the direction perpendicular to the direction of movement of the trolley 104 on the surface formed by the trolley 104 is referred to as the y direction and perpendicular to these x and y. If one direction is called the z direction, the rotation of the spreader in the x direction is called Trim, the rotation in the y direction is called List, the rotation in the z direction is called Skew, and the spread of the spreader using the six values The posture can be displayed. That is, the parallel movement of the spreader 105 may be represented by the values of x, y, and z, and the rotational movement of the spreader 105 may be displayed by the values of Trim, List, and Skew.

The four load-bearing ropes 102, 102 ', 102' ', 102' '' are each independently driven actuators 103, 103 ', 103' ', 103' '' and precisely controlled in length. With this, x, y, z, Trim, List and Skew values can also be precisely controlled. By appropriately adjusting these values, it is possible to control the spreader to take an arbitrary posture.

Next, the additional ropes 202 and 202 'will be described. The tips of the additional ropes 202, 202 ′ are fixedly coupled to the hoist drum 101. When the hoist drum 101 winds up additional ropes 202 and 202 ', the length of the rope substantially used to support the spreader 105, i.e., the additional drums 203 and 203' described later from the hoist drum 101. The length of the further ropes 202, 202 'leading to decreases. When the additional rope 202 is unwound from the hoist drum 101, the length of the additional ropes 202, 202 'described above is increased. The additional ropes 202, 202 ′ are pulled from the hoist drum 101 via trolley pulleys 204, 204 ′ on the trolley 104 in a direction perpendicular to the direction of movement of the trolley 104. Spreader pulleys 206, 206 ′ on the spreader 105 via trolley pulleys 205, 205 ′ disposed in an outwardly protruding portion (eg, about 1.5 m) outside the side, 106 ″, 106 ′ ″. )

The spreader pulleys 206, 206 ′ are positioned inward of the spreader pulleys 107, 107 ′, 107 ″, 107 ′ ″ via the load bearing ropes 102, 102 ′, 102 ″, 102 ′ ″. Is placed. Placing the spreader pulleys 206, 206 'inward (e.g. about 2.5 m) results in smaller angles α1, α2 of the additional ropes 202, 202' with the trolley 104, so that the same The amount of movement in the lateral direction of the spreader 105 can be increased with respect to the change in the length of the additional ropes 202 and 202 '.

In addition, the container is generally stacked in multiple layers in order to increase the loading density of the vessel, when the container is loaded using a crane often occurs when the crane must work between the containers. At this time, since the additional ropes 202 and 202 'extend from the portion protruding laterally than the spreader 105 to the lower spreader 105, the additional ropes 202 and 202' protrude laterally than the spreader 105. ) May cause interference with neighboring containers. In this embodiment, the spreader pulleys 206 and 206 'are arranged inside the spreader pulleys 107, 107', 107 " and 107 '", so that such interference does not occur as much as possible.

The additional ropes 202, 202 ′ then pass through the trolley pulleys 207, 208; 207 ′, 208 ′ on the trolley 104 again via the spreader pulleys 206, 206 ′. ') Is fixedly coupled. The additional drums 203, 203 'wind up or unwind additional ropes 202, 202' according to the direction of rotation, thereby controlling the length of the additional ropes 202, 202 '.

As described above, the additional ropes 202, 202 'support the spreader 105 in a diagonal direction when viewed from the side as shown in FIG. Thus, increasing or decreasing the length of the additional ropes 202, 202 'causes the spreader 105 to move in the left and right directions (direction perpendicular to the direction of motion of the trolley) in FIG. This embodiment can attenuate the shaking of the spreader 105 by adjusting the length of both additional ropes 202, 202 'when the spreader 105 is shaken laterally by disturbance.

Meanwhile, the spreader pulleys 206 and 206 'are fixed to the spreader 105 via an actuator on the spreader 105. The actuator can precisely move the spreader pulleys 206, 206 ′ in the transverse direction as well as the longitudinal direction on the spreader 105. When the positions of the spreader pulleys 206 and 206 'via the additional ropes 202 and 202' are changed, the point of action of the force exerted on the spreader 105 by the additional ropes 202 and 202 'changes. By appropriate control, the rotation of the spreader 105, that is, Trim, List and Skew, can be adjusted. In addition, it is possible to precisely attenuate the minute shake of the spreader 105 using this. For example, if the actuators move in directions opposite to each other in the x direction (movement direction of the trolley), it is possible to control the rotational movement of the spreader 105 about the x axis, and the actuator is in the y direction (direction perpendicular to the movement direction of the trolley). By moving in the same direction, it is possible to finely move the spreader 105 in the y direction by using this it is possible to attenuate the lateral shaking of the spreader 105.

The actuator is a combination of two hydraulic motors or electric motors supporting one-way movement, which allows the spreader pulleys 206 and 206 'to be minutely moved in all directions in the longitudinal and transverse directions. have.

4 shows a second embodiment of the present invention, in which the same components as those in FIG. 2 will be omitted with reference numerals and descriptions, and only different portions will be described with reference numerals.

In the second embodiment, actuators 221 and 221 'are provided in addition to the hoist drum 101 and the additional drums 203 and 203' as a means for controlling the length of the additional ropes 202 and 202 '. When the actuators 221, 221 ′ control the moving pulleys 222, 222 ′ back and forth (the direction of the trolley's movement), the additional ropes 202, 202 ′ are pulled or released, thereby additional ropes 202. 202 ') is adjusted. As such, by adjusting the lengths of the additional ropes 202, 202 ′, the attitude and lateral shaking of the spreader 105 can be controlled previously described with reference to the first embodiment.

Further, in the second embodiment, actuators 222 and 222 'capable of moving the spreader pulleys 206 and 206' in the direction of the trolley movement are provided on the spreader 105. As shown in FIG. By changing the positions of the spreader pulleys 206 and 206 'by driving the actuators 222 and 222', the attitude and lateral shaking of the spreader 105 can be controlled finely and precisely. This has already been explained.

Although the crane according to the present invention and a ship equipped with the same have been described as specific embodiments, this is only an example, and the present invention is not limited thereto and should be construed as having the widest scope according to the basic idea disclosed herein. do. Those skilled in the art can easily change the material, size, etc. of each component according to the application field, and can be combined / substituted the disclosed embodiments to implement a pattern of a timeless shape, but this also does not depart from the scope of the present invention will be. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications belong to the scope of the present invention.

1 is a view showing the connection and arrangement of the rope in the crane according to the prior art.

2 is a view showing the connection and arrangement of the rope in the crane according to the first embodiment of the present invention.

3 is a side view showing the connection and arrangement of the rope disposed between the trolley and the spreader in the crane according to the first embodiment of the present invention.

4 is a view showing the connection and arrangement of the rope in the crane according to a second embodiment of the present invention.

<Description of main parts of drawing>

101: hoist drum

102,102 ', 102' ', 102' '': Load-bearing rope

103,103 ', 103``, 103' '': Actuator

104: trolley

105: spreader

106,106 ', 106' ', 106' '': trolley pulley

106,106 ', 106``, 106' '': Spreader Pulleys

202,202 ': extra rope

203,203 ': additional drum

205,205 ': trolley pulley

206,206 ': Spreader pulley

210,210 ': Actuator for spreader pulley position control

221,221 ': Actuator for additional rope

222,222 ': Actuator for spreader pulley position control

Claims (22)

A crane comprising a crane structure, a girder supported by the crane structure, a trolley running horizontally along the girder, and a spreader coupled to the container, Hoist drum; A first trolley pulley disposed on the trolley; A first spreader pulley disposed on the spreader; A load supporting rope having one end connected to the hoist drum to be wound and unwound, extending in the direction of the trolley movement, and connected to the first spreader pulley via the first trolley pulley; An actuator for a load supporting rope connected to the other end of the load supporting rope and adjusting a length of the load supporting rope; A second trolley pulley provided on the trolley and disposed outside the first trolley pulley in a direction perpendicular to the movement direction of the trolley; A second spreader pulley provided on the spreader and disposed inward of the first spreader pulley in a direction perpendicular to the movement direction of the trolley; An additional rope having one end connected to the hoist drum to be wound and unwound and connected to the second spreader pulley via the second trolley pulley in a direction perpendicular to the trolley movement direction; A direction provided in the trolley, the direction of the additional rope being changed so that the additional rope extends in a direction perpendicular to the direction of movement of the trolley toward the second trolley pulley, and a direction perpendicular to the direction of movement of the trolley A third trolley pulley disposed inside of the second trolley pulley; And An additional drum connected to the other end of the additional rope, the additional drum adjusting the length of the additional rope, The second trolley pulley, the second spreader pulley, the additional rope and the third trolley pulley are in a direction perpendicular to the movement direction of the trolley to control the spreader swinging in a direction perpendicular to the direction of movement of the trolley. Paired oppositely, Controlling directional shake perpendicular to the direction of movement of the trolley of the spreader by adjusting the length of the additional rope with the additional drum; Crane characterized in that. delete delete delete delete The method of claim 1, The spreader has an actuator for spreader pulley position control, And said spreader pulley position control actuator changes a position on said spreader of said second spreader pulley. The method of claim 6, The spreader pulley position control actuator is characterized in that for moving the second spreader pulley in the movement direction and the direction perpendicular to the trolley. crane. delete delete delete delete The method of claim 1, And the second trolley pulley is located at least 1.5 m outside the first trolley pulley in a direction perpendicular to the direction of movement of the trolley. The method of claim 1, And the second spreader pulley is located 2.5 m or more inward of the first spreader pulley in a direction perpendicular to the direction of movement of the trolley. delete delete The method of claim 1, An operating pulley connected to the additional rope between the hoist drum and the second trolley pulley; And an actuator for the actuation pulley for moving the actuation pulley in the direction of movement of the trolley. A ship equipped with a crane according to any one of claims 1, 6, 7, 12, 13, and 16. delete delete delete delete delete

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