KR960041037A - Automatic container demounting device for crane - Google Patents

Automatic container demounting device for crane Download PDF

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Publication number
KR960041037A
KR960041037A KR1019950013583A KR19950013583A KR960041037A KR 960041037 A KR960041037 A KR 960041037A KR 1019950013583 A KR1019950013583 A KR 1019950013583A KR 19950013583 A KR19950013583 A KR 19950013583A KR 960041037 A KR960041037 A KR 960041037A
Authority
KR
South Korea
Prior art keywords
container
spreader
crane
detection means
trolley
Prior art date
Application number
KR1019950013583A
Other languages
Korean (ko)
Other versions
KR100378948B1 (en
Inventor
이형록
Original Assignee
이해규
삼성중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 이해규, 삼성중공업 주식회사 filed Critical 이해규
Priority to KR1019950013583A priority Critical patent/KR100378948B1/en
Publication of KR960041037A publication Critical patent/KR960041037A/en
Application granted granted Critical
Publication of KR100378948B1 publication Critical patent/KR100378948B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works

Abstract

본 발명은 크레인을 무인운행하기 위해서 컨테이너를 자동으로 착탈하는 장치에 관한 것으로, 특히 목표컨테이너의 위치 및 자세를 검출하여 보정함으로써 정확한 위치로 목표컨테이너를 착탈시키거나 주행할 수 있도록 함으로써 궁극적으로 크레인의 무인자동화를 구현할 수 있는 크레인의 컨테이너 자동착탈장치에 관한 것이다.The present invention relates to an apparatus for automatically detaching a container for unmanned operation of the crane, and in particular, by detecting and correcting the position and attitude of the target container so that the target container can be detached or driven to the correct position. The present invention relates to a crane container detachable device capable of implementing unmanned automation.

본 장치는 검출수단을 2중으로 구성하여 두단계에 걸쳐 컨테이너의 위치 및 자세를 인식하고, 그 오차를 보정함으로써 정확한 착탈이 가능하다. 특히, 레이저광을 이용한 감지센서를 사용함으로써 기상상태등의 외란적요인에 영향을 거의 받지 않고 정확한 위치검출이 가능한 장점을 갖는다. 또한, 크레인을 조정하기 위한 운전자가 필요없으므로 인력절감의 효과도 갖는다.The device is configured with a double detection means to recognize the position and attitude of the container in two steps, and by correcting the error can be accurately removed. In particular, by using a sensor using a laser light has the advantage that it is possible to accurately detect the position without being affected by disturbance factors such as weather conditions. In addition, since there is no need for an operator to adjust the crane, it also has the effect of reducing manpower.

Description

크레인의 컨테이너 자동착탈장치Automatic container demounting device for crane

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명에 따른 크레인의 컨테이너 자동착탈장치의 구성을 나타낸 블록도, 제2도는 제1검출수단이 취부된 크레인의 트롤리부를 나타낸 사시도.1 is a block diagram showing the configuration of the automatic container container detachment device of the crane according to the present invention, Figure 2 is a perspective view showing a trolley portion of the crane with the first detection means.

Claims (5)

크레인을 자동으로 운행하여 트롤리 하부에 귄취된 스플레더로 컨테이너를 장착하여 목표지점으로 이송하고,이송한 후 정확한 목표위치에서 탈리하여 적재하기 위한 컨테이너 착탈장치에 있어서, 상기 트롤리의 소정 부위에 취부되며, 트롤리의 위치를 1차적으로 보상하도록 상기 스프레더 및 컨테이너의 위치를 감지하는 제1검출수단; 상기 스프레더의 소정부위에 취부되고, 스프레더가 하강하여 목표착탈위치 근접시 스프레더의 오차를 보정하여 정확한 동작수행을 위한 2차보상을 실행하도록 상기 목표컨테이너 또는 목표위치를 감지하여 검출수단제어부로 전송하는 제2검출수단; 상기 제1, 제2검출수단으로부터 감지된 신호를 입력받아 상기 스프레더 및 컨테이너의 위치를 인식하고, 상기 제1, 제2검출수단의 작동을 제어하는 검출수단제어부; 및 상기 검출수단제어부로부터 입력된 정보를 기설정된 기정치와 비교연산함으로써 운행에 필요한 정보를 얻어 이상상태를보상하는 크레인제어부를 포함하는 크레인의 컨테이너 자동착탈장치.In the container detachable device for automatically driving the crane and mounting the container with the spreader picked up in the lower part of the trolley and transporting it to the target point, and removing and loading it at the correct target position, it is mounted on a predetermined part of the trolley. First detecting means for sensing positions of the spreader and the container to primarily compensate the position of the trolley; It is attached to a predetermined portion of the spreader, and the spreader descends to detect the target container or the target position so as to correct the error of the spreader when the target detachable position is carried out to perform the correct operation, and transmits it to the detection means control unit. Second detecting means; A detection means control unit which receives the detected signals from the first and second detection means, recognizes the positions of the spreader and the container, and controls the operation of the first and second detection means; And a crane control unit for compensating for an abnormal state by obtaining information necessary for operation by comparing and calculating the information input from the detection means control unit with a predetermined preset value. 제1항에 있어서, 상기 제1검출수단은 상기 트롤리의 전후양단부상에 대각선으로 취부되어 그 하부에 취부된 제1, 제2감지센서를 컨테이너의 길이방향으로 이송시키는 한쌍의 센서부착기구와, 상기 각각의 센서부착기구의 저면부상에 이동가능케 취부되며, 상기 스프레더 및 컨테이너의 위치를 감지하여 상기 검출수단제어부로 출력하는 제1, 제2감지센서로 이루어진 것을 특징으로 하는 크레인의 컨테이너 자동착탈장치.The method of claim 1, wherein the first detection means is a pair of sensor attachment mechanism for diagonally mounted on the front and rear ends of the trolley to transfer the first and second detection sensors mounted on the lower portion in the longitudinal direction of the container; It is mounted so as to be movable on the bottom surface of each sensor mounting mechanism, the container automatic detachment device of the crane, characterized in that the first and second detection sensors for detecting the position of the spreader and the container and outputs to the detection means control unit . 제1항에 있어서, 상기 제2검출수단은 상기 스프레더의 대각선 양측부에 취부된 제3, 제4감지센서와, 상기 스프레더의 이송대의 측부에 부착된 제5감지센서로 구성됨을 특징으로 하는 크레인의 컨테이너 자동착탈장치.The crane according to claim 1, wherein the second detection means comprises third and fourth detection sensors mounted on both sides of the diagonal of the spreader, and a fifth detection sensor attached to the side of the conveyer of the spreader. Container automatic removal device. 제3항에 있어서, 상기 스프레더의 이송대는 상기 컨테이너의 길이방향으로 이동하여 크기가 상이한 컨테이너들의 캔트리방향 에지를 검출할수 있도록 제5감지센서를 이송함을 특징으로 하는 크레인의 컨테이너 자동착탈장치.4. The crane container detaching device of claim 3, wherein the spreader of the spreader transports a fifth detection sensor to move in the longitudinal direction of the container to detect edges of cantrees of containers having different sizes. 제1항에 있어서, 위치오차측정에 있어서 트롤리 아래에 설치된 제1검출수단의 2개의 감지센서를 임의의 각만큼 회전시켜 고정하여 트롤리방향오차, 스큐각오차 뿐만아니라 캔드리방향오차측정을 가능케 한 것을 특징으로 하는 크레인의 컨테이너 자동착탈장치.The method of claim 1, wherein in the position error measurement, the two detection sensors of the first detecting means installed under the trolley are rotated and fixed by an arbitrary angle to enable the measurement of the direction of the trolley and the skew angle as well as the candley direction error. Container automatic detachment device of the crane. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950013583A 1995-05-27 1995-05-27 Automatic container attaching device of crane KR100378948B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950013583A KR100378948B1 (en) 1995-05-27 1995-05-27 Automatic container attaching device of crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950013583A KR100378948B1 (en) 1995-05-27 1995-05-27 Automatic container attaching device of crane

Publications (2)

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KR960041037A true KR960041037A (en) 1996-12-17
KR100378948B1 KR100378948B1 (en) 2003-05-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101321167B1 (en) * 2000-10-27 2013-10-23 에이비비 에이비 Chassis alignment system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100844576B1 (en) * 2007-05-22 2008-07-09 (주)오경컴텍 Yard tractor control apparatus of gantry crane system
KR20200025879A (en) 2018-08-31 2020-03-10 (주) 케이에스아이 Structure of anti glare for median

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101321167B1 (en) * 2000-10-27 2013-10-23 에이비비 에이비 Chassis alignment system

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