KR20160049156A

KR20160049156A - Lifting device

Info

Publication number: KR20160049156A
Application number: KR1020140145341A
Authority: KR
Inventors: 김민석
Original assignee: 삼성중공업 주식회사
Priority date: 2014-10-24
Filing date: 2014-10-24
Publication date: 2016-05-09

Abstract

A lifting apparatus and a container horizontal holding method using the same are disclosed. According to an embodiment of the present invention, there is provided a lifting apparatus comprising: a plurality of position sensors installed corresponding to corners of a container; A fluid transfer module including a plurality of fluid storage portions connected by a transfer pipe; And a control unit for controlling fluid movement between the plurality of fluid storage units according to height differences of the respective corners measured by the plurality of position sensors.

Description

[0001] Lifting device [0002]

The present invention relates to a lifting device.

Container vessels are equipped with various facilities for berthing or unloading containers. In order to load or unload a container, it is necessary to stably lift the container up to a predetermined height. For this purpose, a lifting device such as a crane is used.

A variety of cargo can be loaded in a container, and the amount of cargo loaded per container may not be constant. In each of these cases, the position of the center of gravity of each container is not the same and may vary.

In addition, during the lifting process, an external force acts on the container in accordance with the change of the surrounding environment such as wind or storm, so that the center of gravity of the container may change in real time.

Therefore, there is a need for a countermeasure for stably lifting and lowering the container in accordance with the center-of-gravity difference for each container or the change of the center of gravity in real time even for one container.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

Korean Patent Laid-Open No. 10-2012-0049874 (wire rope living system for a random lift cargo container) discloses an apparatus for independently or simultaneously hoisting and lowering a pair of containers in order.

Korean Patent Laid-Open No. 10-2012-0049874

The present invention is to provide a lifting device capable of stably lifting in response to a change in the center of gravity of a large structure such as a container.

The present invention is intended to provide a lifting device that stabilizes the overall center of gravity by moving a fluid located at a heavy portion corresponding to a difference in position of each sensed edge to a lightweight portion.

Other objects of the present invention will become readily apparent from the following description.

According to an aspect of the present invention, there is provided a positioning apparatus including: a plurality of position sensors installed corresponding to respective corners of a container; A fluid transfer module including a plurality of fluid storage portions connected by a transfer pipe; And a control section for controlling fluid movement between the plurality of fluid storage sections in accordance with height differences of the respective corners measured at the plurality of position sensors.

The plurality of position sensors may include a supporter having the same height and a sensing unit for measuring a height at an end of the supporter.

The fluid transfer module includes: a base plate installed on an upper surface of the container; And a fluid transferring unit installed inside the base plate for transferring the fluid between the plurality of fluid storage units, wherein the plurality of fluid storage units can be installed at respective corners of the base plate.

The fluid transferring portion may include a valve for opening and closing the plurality of transfer pipes, and a pump for regulating fluid flow.

The control unit generates a control signal for controlling the transport path and the fluid flow so that the fluid stored in the fluid storage unit corresponding to a relatively low corner is transferred to the fluid storage unit corresponding to a relatively high corner according to the measured value of the position sensor To the fluid transfer module.

The control unit may calculate the amount of fluid to be transferred by reflecting at least one factor among the height difference, the interval between the plurality of fluid storage units, and the specific gravity of the fluid.

Wherein the fluid transfer module further includes a reference position sensor disposed at a center of the fluid transfer module so that the sensing unit is positioned at the same height as the plurality of position sensors, Of the fluid can be controlled to be transferred to the corner side having a high measurement height.

According to another aspect of the present invention, there is provided a method of maintaining a horizontal position by adjusting a flow of a fluid attached to an upper surface of a container in accordance with a tilt of the container, the control unit comprising height information from a position sensor provided corresponding to each corner of the container Receiving sensing information including the sensing information; Analyzing the sensing information and estimating heights of the corners; And performing a fluid transfer operation when the height of each of the corners is equal to the height of the corners, when the height of each of the corners is equal to the height of the corners, wherein the fluid transfer operation includes: Selecting a second corner having a high height; Calculating an amount of transferred fluid corresponding to a height difference between the first corner and the second corner; Wherein a fluid passage is formed between a fluid storage portion provided corresponding to the first corner and a fluid storage portion provided corresponding to the second corner and a fluid passage corresponding to the calculated amount of the transferred fluid from the first corner to the second corner, The method of claim 1, further comprising:

The calculating of the transferred fluid amount may calculate the amount of fluid to be transferred by reflecting at least one factor among the height difference, the interval between the plurality of fluid storage portions, and the specific gravity of the fluid.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiment of the present invention, it is possible to stably move up and down in response to a change in the center of gravity of a large structure such as a container.

In addition, by moving the fluid located at a heavy portion corresponding to the position difference of each sensed corner to a lightweight portion, the overall center of gravity can be stabilized.

1 is a perspective view of a lifting apparatus according to an embodiment of the present invention,
Fig. 2 is a front view of the lifting device shown in Fig. 1,
3 is a flowchart of a horizontal holding method of a lifting device performed in a control unit,
4 is a view illustrating a case where the center of gravity is placed in an unstable state during the lifting process,
5 is a view showing a case where the center of gravity is placed in a stable state through fluid transportation;
6 is a perspective view of a lifting device according to another embodiment of the present invention;

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Also, the terms " part, "" module," and the like, which are described in the specification, mean a unit for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software.

It is to be understood that the components of the embodiments described with reference to the drawings are not limited to the embodiments and may be embodied in other embodiments without departing from the spirit of the invention. It is to be understood that although the description is omitted, multiple embodiments may be implemented again in one integrated embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

FIG. 1 is a perspective view of a lifting apparatus according to an embodiment of the present invention, and FIG. 2 is a front view of a lifting apparatus shown in FIG. 1.

1 and 2 show a container 1, a lifting device 10, a wire 5, position sensors 20a, 20b, 20c and 20d (Collectively referred to as "24" hereinafter), a fluid transfer module 30, a base plate 32, fluid storage portions 34a, 34b, 34c, 34d (Collectively referred to as " 36 "), a fluid transfer unit 38, and a control unit 40 are shown.

The lifting device according to an embodiment of the present invention is a means for lifting and lowering a structure using a wire which is fastened to an upper part of a structure such as a container and changes the center of gravity of the container from the measured value of the position sensor installed at each corner of the structure So that the whole center of gravity is stabilized and the level of the structure such as the container is maintained.

Hereinafter, the present invention is described on the assumption that the container is a lifting object, but this is merely an embodiment, and it goes without saying that the technical idea of the present invention described below can be applied to a structure that can be lifted by a lifting device.

The lifting apparatus 10 according to the present embodiment includes a position sensor 20, a fluid transportation module 30 and a control unit 40. [

The position sensor 20 is installed at each corner of the upper surface of the container 1. For example, they may be spaced apart from each other by a predetermined distance in the medial center direction.

The position sensor 20 includes a support 22 having a predetermined height and a sensing unit 24 provided at an end of the support 22. Here, the sensing unit 24 measures its current height and outputs it as a sensing signal.

The position sensors 20 installed at the respective corners have the same height so that the sensing portions 24 are all at the same height when the container 1 is kept horizontal without being tilted.

If the center of gravity of the container 1 is unstable and the horizontal position is not maintained, if the container 1 is tilted to one side, the height measured by the position sensor 20 installed at the corner is lower than the height measured from the position sensor 20 provided at the other corner It will have a lower value than the measured height.

Here, since the position sensor 20 is installed at each corner of the container 1, the difference in height due to the tilting of the container 1 can be reflected at the maximum and sensed sensitively.

The controller 40 can check whether the container 1 is horizontal or not through the height difference of the sensing unit 24 that can be grasped by the sensing signal.

The fluid transfer module 30 includes a fluid storage portion 34, a transfer pipe 36, and a fluid transfer portion 38.

The base plate 32 is a rectangular flat plate provided on the upper surface of the container 1 and a fluid storage portion 34, a transfer pipe 36 and a fluid transfer portion 38 are provided on the upper surface thereof. That is, the base plate 32 allows the fluid storage portion 34, the transfer pipe 36, and the fluid transfer portion 38 to be easily detached and attached to the container 1 on a module basis.

The base plate 32 can be installed such that the respective corners correspond to the respective corners of the container 1 and the center portion lies in the center of the upper surface of the container 1. [

The fluid storage part 34 is installed at each corner of the base plate 32, has a predetermined height in the vertical direction, and may have a hollow column shape inside. Although the fluid storage part 34 is shown as a rectangular column in the drawing, it is obvious that the fluid storage part 34 may have a columnar shape having various cross sections such as a cylinder and a polygonal column.

The fluid storage portion 34 serves as a tank capable of accommodating a fluid such as water in the internal space.

One end of the transfer pipe 36 is connected to the lower end of the fluid storage part 34 so that the fluid may flow into the internal space or may flow out of the internal space through the transfer pipe 36.

The other end of the transfer pipe (36) is connected to a fluid transfer part (38) provided at the center of the base plate (32). That is, the transfer pipe 36 is connected between the fluid storage portion 34 and the fluid transfer portion 38.

The fluid transferring unit 38 transfers the fluid stored in the fluid storage unit 34 provided at one corner of each corner of the base plate 32 to another fluid storage unit 34 in accordance with a control signal of a control unit 40, . The transfer of the fluid is performed through the transfer pipe 36 connected to each fluid storage portion 34 around the fluid transfer portion 38.

The fluid transfer unit 38 may include a valve installed at a connection point with the other end of the transfer pipe 36 for opening and closing the transfer pipe 36 and a pump capable of regulating fluid flow. A transfer pipe 36 connected to a fluid storage portion 34 at one corner which is a transfer start point of the fluid at the time of transferring the fluid and a valve 36 connected to the transfer pipe 36 connected to the fluid storage portion 34 at the other corner, The valve may be opened and the other valve may be closed so that the fluid of one corner flows to the other corner by driving the pump.

The control unit 40 generates and outputs a control signal for transferring the fluid from the fluid transfer module 30 based on the sensing signal measured by the position sensor 20, as described above. The control method in the control unit 40 will be described later in detail with reference to related drawings.

The position sensor 20 is provided at each corner of the container 1 for convenience of installation and the position sensor 20 is installed at each corner of the container 1 for convenience of installation, . In this case, it is not necessary to separately install the position sensor 20 in the container 1 and the position sensor 20, the fluid storage portion 34, the transfer pipe 36, and the base plate It is possible to make the elevating and lowering work while maintaining the horizontal position of the container 1. [

Also, although the base plate 32 is shown as having a smaller size than the upper surface of the container 1, this is only an example, and the base plate 32 may have a size corresponding to the upper surface of the container 1 For example, the same size). In this case, the position sensor 20 may be installed at each corner of the base plate 32 as described above.

Hereinafter, a method of maintaining the level during the elevating operation through the control of the control unit 40 will be described in detail with reference to the related drawings.

FIG. 3 is a flow chart of a horizontal holding method of a lifting device performed by a control unit, FIG. 4 is a view illustrating a case where a center of gravity is placed in an unstable state during a lifting process, Fig.

Each step of FIG. 3 may be performed by the control unit 40 shown in FIG.

First, the control unit 40 receives the sensing signal measured by the position sensor 20 provided at each corner of the container 1 (step S100). Here, the sensing signal includes information corresponding to the height of the sensing unit 24 of each position sensor 20. Accordingly, the controller 40 can estimate the height of each corner of the container 1 through the analysis of the sensing signal (step S110).

The control unit 40 determines whether or not the heights of the estimated corners are the same (step S120). If the estimated heights of the corners are the same, the control unit 40 determines that the container 1 is kept horizontal and continuously performs the elevation work (step S125).

If the height of each of the estimated corners is different, the controller 40 determines that the container 1 is inclined due to the unbalance of the weight, and performs a fluid transfer operation to straighten and straighten the container 1 (step S130). The fluid transfer operation can be performed independently of the lifting operation, and can be performed simultaneously or sequentially.

The fluid transfer operation means transferring the fluid having a heavy weight to the corner with a light weight so that the entire container 1 provided with the fluid transfer module 30 can be kept horizontal.

If it is determined in step S120 that the heights of the corners are not the same, it can be seen that the corners with a smaller height are heavier corners than the corners with respect to the other corners.

Therefore, in order to correct such a weight imbalance and maintain the horizontal level, some or all of the fluid contained in the fluid storage portion 34 at the lower corner can be transferred to the opposite corner (that is, the higher corner). The weight unbalance of the fluid conveyance module 30 corresponding to the unbalance of the weight of the container 1 can be produced by the fluid conveyance as described above so that the center of gravity of the entire container 1 provided with the fluid conveyance module 30 is stable .

To this end, the controller 40 first selects corners with a low height and corners with a high height according to the analysis result of the sensing signal (step S132).

Then, the amount of fluid to be transferred is calculated corresponding to the height difference between the corners (step S134). Here, the amount of the fluid may be calculated by reflecting at least one of the spacing between the fluid storage portions 34 and the specific gravity of the fluid other than the height difference.

A fluid passage is formed between the fluid storage portions 34 positioned at the corners to which the fluid is to be transferred, and the fluid is transferred (Step S136). For example, the fluid delivery portion 38 opens only the valve corresponding to the corner and drives the pump so that fluid of low-height corner can be transported to a high-height corner.

Referring to Fig. 4, the first corner portion (right portion in the drawing) is heavier than the second corner portion (left portion in the drawing), and the container 1 is shown tilted.

Here, the height of the first position sensor 20a provided at the first corner is measured to be lower by H than the height of the second position sensor 20b provided at the second corner.

In this case, the control unit 40 controls the first transfer pipe 36a, the fluid transfer unit 38, and the second transfer unit 36b to transfer a part of the fluid in the first fluid storage unit 34a provided on the first corner side in the fluid transfer module 30, And transported to the second fluid storage portion 34b through the transfer pipe 36b.

5, the height of the fluid received in the second fluid storage portion 34b by the transfer of the fluid from the first fluid storage portion 34a to the second fluid storage portion 34b is greater than the height of the first fluid storage portion 34a, And the weight unbalance of the fluid conveyance module 30 generated due to the height difference may correspond to the unbalance of the weight of the container 1 so that the balance of the weight is balanced overall. Here, H and h are in a proportional relationship.

The control unit 40 may transfer the amount of fluid corresponding to the height difference of the position sensors 20a and 20b according to the result of analyzing the sensing signals of the position sensors 20a and 20b. That is, when the height difference is large, a large amount of fluid is transported, and when the height difference is small, a small amount of fluid can be transported.

6 is a perspective view of a lifting device according to another embodiment of the present invention.

A reference position sensor 50 may be additionally installed at the center of the fluid transfer module 30 in the lifting apparatus 10A shown in FIG.

The reference position sensor 50 may have a support for positioning the sensing unit at the same height as the position sensors 20a to 20d provided at the respective corners of the container 1. [ That is, when the container 1 is kept horizontal, the height measured by the reference position sensor 50 and the height measured by the position sensors 20a to 20d provided at the respective corners become equal to each other.

If the center of gravity of the container 1 is unstable and tilts to one side, the control unit 40 determines that the position sensor 20a-20d, which indicates a relatively low height based on the measurement height of the reference position sensor 50 It can be judged that the weight is being applied to the corner portion where any one of them is installed.

Accordingly, the control unit 40 can eliminate the weight unbalance by controlling the flow of the fluid so that the fluid on the corner side having a lower measurement height in comparison with the measurement height in the reference position sensor 50 is transferred to the corner with a higher measurement height .

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims And changes may be made without departing from the spirit and scope of the invention.

1: container 10, 10A: lifting device
20a, 20b, 20c, 20d: position sensors 22a, 22b:
24a, 24b: sensing unit 30: fluid transfer module
32: Base plate 34a, 34b, 34c, 34d:
36a, 36b, 36c, 36d: conveying pipe 38:
40: control unit 50: reference position sensor

Claims

A plurality of position sensors installed corresponding to respective corners of the container;
A fluid transfer module including a plurality of fluid storage portions connected by a transfer pipe; And
And a control unit for controlling fluid movement between the plurality of fluid storage units according to height differences of the respective corners measured by the plurality of position sensors.

The method according to claim 1,
Wherein the plurality of position sensors include a support having the same height and a sensing unit measuring a height at an end of the support.

The method according to claim 1,
The fluid transfer module includes:
A base plate installed on an upper surface of the container;
Further comprising a fluid transferring unit installed inside the base plate for transferring the fluid between the plurality of fluid storage units,
Wherein the plurality of fluid storage portions are installed at respective corners of the base plate.

The method of claim 3,
Wherein the fluid transferring portion includes a valve for opening and closing the plurality of transfer pipes, and a pump for regulating fluid flow.

The method of claim 3,
The control unit generates a control signal for controlling the transport path and the fluid flow so that the fluid stored in the fluid storage unit corresponding to a relatively low corner is transferred to the fluid storage unit corresponding to a relatively high corner according to the measured value of the position sensor To the fluid delivery module.

The method of claim 3,
Wherein the control unit calculates the amount of fluid to be conveyed by reflecting at least one factor among the height difference, the interval between the plurality of fluid storage units, and the specific gravity of the fluid.

The method according to claim 1,
Wherein the fluid transfer module further comprises a reference position sensor disposed at a center of the fluid transfer module such that the sensing unit is positioned at the same height as the plurality of position sensors,
Wherein the control unit controls the fluid flow so that the fluid on the corner side having a lower measurement height in comparison with the measurement height in the reference position sensor is transferred to a corner side having a higher measurement height.