US3858728A

US3858728A - Radio control crane and spreader system for handling containers

Info

Publication number: US3858728A
Application number: US432768A
Authority: US
Inventors: Jack E Fathauer
Original assignee: Midland Ross Corp
Current assignee: Midland Ross Corp; Bromma Inc
Priority date: 1974-01-11
Filing date: 1974-01-11
Publication date: 1975-01-07
Anticipated expiration: 1992-01-07
Also published as: CA1012480A; JPS50100761A

Abstract

Described herein is equipment comprising a crane and a cargo container spreader combination wherein the spreader is constructed as a repository for a self sufficient portable power unit adapted for quick connection with power consuming service mechanisms of the spreader. The power unit is equipped with UHF radio-actuated controls in the power transmission connections between the power generating facilities of the unit and the power consuming service facilities of the spreader. The crane is equipped with UHF radio transmission apparatus for radio projection of a sufficient variety of signals to effect the various radio controlled functions of the spreader.

Description

United States Patent Fathauer 1 Jan. 7, 11975 [54] RADIO CONTROL CRANE AND SPREADER 3,762,754 10/1973 Goyarts 294/67 DA SYSTEM O HANDLING CONTAINERS 3,789,998 2/1974 Fathuer et al 294/67 R Inventor: Jack E. Fathauer, Roxboro, N.C.

Midland-Ross Corporation, Cleveland, Ohio Filed: Jan. 11, 1974 Appl. No.: 432,768

Assignee:

US. Cl 212/42, 294/81 SF Int. Cl. B66c 3/00 Field of Search 212/42, 44, 21, 131;

294/81 SF, 67 R, 67 DA; 214/650, 658

References Cited UNITED STATES PATENTS 4/1969 Zweifel et a1. 294/67 R 7/1969 Nagy 294/67 R 2/1970 Wyrough.... 294/67 R 3/1970 Gray 294/67 R 1l/l97l Wright 294/81 SF Primary ExaminerRobert J. Spar Assistant Examiner-R. B. Johnson Attorney, Agent, or FirmWoodrow Portz [57] ABSTRACT Described herein is equipment comprising a crane and a cargo container spreader combination wherein the spreader'is constructed as a repository for a self sufficient portable power unit adapted for quick connection with power consuming service mechanisms of the spreader. The power unit is equipped with UHF radioactuated controls in the power transmission connections between the power generating facilities of the unit and the power consuming service facilities of the spreader. The crane is equipped with UHF radio transmission apparatus for radio projection of a sufficient variety of signals to effect the various radio controlled functions of the spreader.

6 Claims, 10 Drawing Figures PATENTED JAN 975 SHEET 3 OF A dwa wgn Q \w v wi QR mm JHHHHHU, MAA/KAA/KAAA! amt; Sm ZQE.

PAIEIIIEIII W5 3,858,728

SHEET I [IF &

I' I i fl I I LATCH I STATION I /I /I\ LOCK 4 I CONTROL I I l I I I LATCH I I UN LOCK I PARTY I I CONTROL I CCNRATOR NN I I I I oumomw I K I I 63 I MULTIPLEY I I I I AND msoumcv R I OUTBOARD l ZI AMPLIFIHI I /07*"I- GUIDES II DIGITAL I I ooum I I CONVURTER II I H I OH I IN BOARD I I II IIE I III J I I O II I cumcs I I I u? I I I I mao I I I I ARD /I- GUIDES I /0 vovm I I CLOCK I V I M Z TRANSMITTER I MIGIH W l I I STATION com: '1 I 7 I RECOGNITION I I I 52' If m SOLENOID a-CO vem REL Y I PARITY HOLD amvuma I w 74 I CHECK I I I I #2 9/A IALNTENNA 92 DATA 1 CONVER R fl-I RELAY I HOLD EIAMPIJYIER I 75 I /3 I I 5 D/A I SYN" SOLENOID I RI,- FREQUENCY CHRONOUB DATA 'DwIII/Emm RELAV 'I' 6 I SHIFT HOLD MMFLIFIER 7 RCIEVER ,ETECTOR H235; I I I I I 4 #4 D/A 5 30LCNOID DATA CDIJVERTER RELAY I I? HOLD aIIIIImI IERI 77 fi I #5 WA I I DATA coNveI\TcR RELAY WSOLENOIP I I ow cAI/Iwunm I 76 I SYNC SLAVE I I I cmcuws CLOCK #6 PM I sauznow I I 3'31: *ZIWIZJ 7? I ff J 55 RECIEVER WIUIQ RADIO CONTROL CRANE AND SPREADER SYSTEM FOR HANDLING CONTAINERS BACKGROUND OF THE INVENTION A modern cargo container spreader or grapplerspreader includes various power consuming mechanisms for separately accomplishing the functions for which the spreader is designed. Such mechanisms must be remotely controlled by an operator. Typical functions to be so controlled include operation of a latch system for locking the spreader to a container, movement of a plurality of corner guides into and out of operable position which in lower operable position assure registry of a spreader with a container, operation of mechanism for expanding and contracting the length of the spreader, operation of spreader level adjusting mechanism, and actuation of grappler arms. In addition, power must be supplied to the spreader to operate any safetyrelated features such as signal lights or other warning devices. In general, the power for controlling the service devices mounted on the spreader is electrical, even though final operation is performed hydraulically through various hydraulic motors deriving power from an electrically driven hydraulic pump-and reservoir system mounted on the spreader. As a result, the electrical line circuits for any transmission of power or control signals to the spreader are incorporated in a single multiple conductor cable extending from the spreader in coextensive relation with any supporting cable or other structure by which the spreader is supported from the crane to an energy source connected with the crane. All signal circuits necessarily extend into control panel at the operator's cab. In many instances, the crane must be capable of suspending the spreader from its boom or other structure defining the upper limit for vertically positioning the spreader a height of a hundred feet or more. The length of the cable or umbilical cord to the spreader is of sufficient length to accommodate maximum vertical spacing of the spreader from the point of cable suspension. Under windy conditions and considerable height of suspension of the spreader from the crane boom, severe difficulties frequently arise through whipping of the cable and inability to collect the cable during hoisting of the spreader. Furthermore, the cable is frequently damaged under such conditions. The cost of replacing cable is substantial and occurs from normal wear on the order of twice a year.

Perhaps the most burdensome situation in which the use of the crane-to-crane spreader cable occurs is in the case of the large all purpose crane which is normally and substantially used for purposes other than container handling. It is necessary to specially equip such a crane with cab controls and a cable extending therefrom to the point of suspension with sufficient cable to accommodate the lifting range of the crane. The cable, which is ordinarily stored in a collecting basket on the spreader, must then be stored on the crane during uses other than container handling. The alternative to such storage is a quick-disconnect coupling on the end of the crane boom and the inconvenience of climbing to the end of the boom to unco uple the cable. Moreover, the expense of so equipping a crane committed to occasional container handling is substantial in relation to actual container handling use.

Hence it is a primary object of the invention to render unnecssary the equipping of container handling cranes with conventional spreader controls and the usual umbilical cord-like cable normally provided for control and power circuits.

Another quite important object is the provision of a self sufficient portable power unit capable of being temporarily placed on a skeleton type spreader to furnish any type of power requirement needed to accomplish any of the functions for which the spreader is designed.

As objects ancillary to the last named object, interchangeable power units are to be provided which permit one or more substitute power units to be available for use whereby a power unit may be withdrawn from service for maintenance or other purposes, and further, the provision of portable power units which are transferable from spreader to spreader will avoid the duplication of integral cable power supplied facilities on each spreader of types heretofore constructed.

SUMMARY OF THE INVENTION The present invention resides in the provision of a crane and spreader combination for handling cargo containers comprising a spreader lacking the usual cable supplied power facilities, a portable self sufficient power unit having power generating and transmitting facilities such as electric lines, hydraulic lines, air lines, etc., with quick-disconnect fittings adapted to mate with corresponding fittings of the spreader. The power transmission lines of the power unit include a control means for each line corresponding to a function of the spreader responsive to an electronic actuator with an ultra high frequency (UHF) receiver mounted within the portable power unit. The crane, preferably the operator cab thereof, includes a UHF transmitter providing separate signalling facility for each function performed by the spreader corresponding to a separate UHF signal receiving facility in the UHF receiver of the portable power unit.

BRIEF DESCRIPTION OF THE DRAWING FIG. 1 is a perspective view of a craneand spreader combination showing a cargo container attached to the spreader.

FIG. 2 is a fragmentary end view of a portable power unit positioned on a spreader frame as shown in FIG. 1.

FIG. 3 is a shortened longitudinal side elevation of the spreader and attached power unit shown in FIG. 2.

FIG. 4 is a fragmentary, transversely shortened plan view of the top portable power unit and the spreader frame of FIGS. 1-3.

FIG. 5 is a hydraulic diagram of the spreader and the associated portable power unit of FIGS. 1-4.

FIG. 6 is a circuit diagram of a control system associated with a transmitter corresponding to the various functional operations of the spreader of FIGS. 1-5.

FIG. 6A is a schematic view of a button control console containing the circuitry of FIG. 6.

FIG. 7 is a circuit diagram of apparatus carried on the portable power unit and the spreader illustrating circuitry of electrical apparatus supported exteriorly of the radio receiver.

FIG. 8 is a function and flow diagram of electrical apparatus included in the transmitter as carried on the crane of FIG. I.

FIG. 9 is a function and flow diagram of all electrical apparatus carried on the spreader of FIGS. 1-5.

DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 depicts a mobile crane 5 comprising a boom 6 equipped for reeling in or feeding out a cable 7 to adjust the length of pendant portion of the cable 7 with reference to a suspension point in the top end 8 of the boom. As shown, a spreader 10 is connected in singlepoint suspended relation with the cable by sling 11. The spreader is shown with its corner guides 12 in downward position along the vertical dihedral corners of a container 13 latched to the spreader. In combination with the spreader is a self sufficient portable power unit 14 resting on upper platform surfaces of the spreader as provided by horizontally extending members of the spreader frame. The power unit 14 is prevented from shifting horizontally along supporting surfaces of the spreader 10 by pin-and-eye connections 17 typified by a pin 18 fixed to and projecting upwardly from the spreader frame through the aperture of an eye element 19 fixed to the frame 21 of the power unit. The four pin-and-eye connections 17 of FIG. 4 are shown similar and they are merely exemplary of arrangements which may be used to secure the power unit 14 from shifting along the top of the frame of the spreader 10.

An important design principle of the present invention is to provide a spreader system which may comprise a number of skeleton or slave type spreaders and one self sufficient portable power unit. The power unit incorporates portions of service mechanisms for the spreader to a maximum practical extent so as to avoid duplication of such mechanisms among the slave spreaders.

In the embodiment herein presented, the spreader service mechanisms consist of four corner guides 12 which are driven by hydraulic rotary motors 24 mounted atop latch housings 25 for enclosing mechanism of conventional standard twistlock latches 26. As a portion of this latter mechanism, a lever 27 protrudes from each latch housing 25. The spreader 10 further includes an actuating system connecting with the crank lever 27 comprising a push and pull rod 28 connecting the lever 27 with a double-arm centrally pivoted lever 31 mounted on a transverse shaft 32, and a hydraulic actuating cylinder 33 pivotally attached by one end to the spreader frame at 35 and to a lever 34 by its other end 36. As the diagram in FIG. 5 of the hydraulic system of the spreader and the power unit indicates, the hydraulic actuator motors or

power devices

23, 24, 33 are connected with respective solenoid operated twoposition reversing valves 41, 42, 43, respectively, through three different hydraulic circuits. These circuits contain quick-

disconnect couplings

44, 45, 46, 47, 48, 49 located conveniently at the periphery of the unit 14 to define termini of respective connected lines of the spreader and the unit 14 for circulating liquid to the

various devices

23, 24, 33.

In the use of a spreader having corner aligning guides, it is desirable at times to be able to have the guides at one side of the spreader up while the guides at the other side are down in order to facilitate the movement of the spreader in a horizontal direction into registry with a container. Hence, the guide motors 23 are in the hydraulic circuit served by the valve 41 whereas the circuit of valve 42 circulates fluid to the guide motors 24.

FIG. 5 further shows that the valves 41, 42, 43 are supplied from a reservoir 52 by a pump 53 through a line 54 connected with the valves. The valves discharge into the reservoir through a line 55. FIG. 5 comprises U.S.A. Standard graphic symbols for fluid power diagrams published by the American Society of Mechanical Engineers (ASME). The nature of elements of FIG. 5 not specifically mentioned herein may be determined by recourse to publications of the ASME on standard symbols.

Considering now the composition of the power unit 14, the frame 21 supports a motor 60 which typifies any first-stage torsion power source which may be incorporated along with its fuel supply within the portable power unit 14 for driving second-stage power generating media, such as a hydraulic pump 53, an electrical generator or alternator 61, or any other medium not shown. An engine selected for actual practice of the invention was a one-cylinder, air cooled diesel engine yielding 9 HP at 2,000 rpm equipped with an automotive type 20 volt, 60 ampere alternator, and an electric starter. The alternator is shown mounted on the motor in drive relation therewith through a belt and pulley system 62. Attached to the motor in coaxial drive relation therewith is a hydraulic pump 53 which, in actual practice, was a variable-volume pressure-compensated type designed to operate at a maximum pressure of approximately l,200 psi at a maximum delivery volume of 10 gpm.

The power unit 14 further includes an automotive type 12 volt battery 64 supported within a housing 65 and electrically connected with the alternator 61. The battery 64 and the alternator supply electrical power for a radio receiver 66 mounted on the frame 21; relays 67, 68, 69, 70, 71, 72;

solenoids

74, 75, 76, 77, 78, 79; and the signal lights 80, as electrically diagrammed in FIG. 7. Obviously, the solenoids 74 to 79 represent electrical extremities of circuits for effecting various service functions of the spreader and power unit combination. These functions are exemplary of others that can be performed or controlled in like fashion through the receiver 66, such as actuating the starting motor of the internal combustion motor 60, operating spreader length adjusting mechanism, special lights, etc. which may be included.

Illustrated in FIG. 6 is crane-mounted electrical equipment for exerting radio control of the electrical apparatus shown in FIG. 7. The electrical equipment of FIG. 6 is mounted, e.g., in an operators cab carried on the boom 6 of the crane 5 shown in FIG. 1. The electrical apparatus of FIG. 6 is housed except for a connecting cable in a push button console 82 and a transmitter 83 enshrouded in a cover housing 84.

The circuitry occurring in the transmitter 83 is known to those skilled in the art of UHF transmission and especially manufacturers of such equipment, e.g., the Controls Division of Moog, Inc. of East Aurora, N.Y. The purpose of the function and flow diagrams of FIGS. 8 and 9, especially UHF assemblies of apparatus comprising the transmitter 83 and the receiver 66, is to indicate the nature of known UHF equipment entering into the combination characterizing the present invention.

In eliminating the conventional power and signal transmission cable normally connecting a spreader and its supporting crane, FM (frequency modulated) radio transmission is utilized across the aerial gap between the operators station and the spreader. As a departure from the prior art, the source of power for service facilities and communication receiving as required by the spreader are stationed solely on the spreader power unit combination. The success of the present invention is attributable in a large measure to shockproofness of micro-circuitry embodied in recently evolved UHF equipment for transmitting signals converted to digital data by analog-to-digital conversion and receiving such converted signals and processing them by digital-toanalog conversion into signals which selectively operate valves, etc. The radio equipment contemplated is required presently to operate within the frequency band 450-470 megahertz MHZ) allocated by the U.S. FederalCommunications Commision. Equipment used in actual practice was designed to operate in a frequency of around 467 MHZ with plus or minus frequency of 5,000 cycles from the nominal frequency used. The variation range of 10,000 cycles represents the permitted range of frequency modulationutilized in signal transmission.

The electrical signal transmitting apparatus carried on the crane cab 85 is electrically diagrammed in FIG. 6. The circuitry of push button controllers portrayed in the face panel of FIG. 6a is obvious from the left side of FIG. 6. Such circuitry extends through an electrical coupling 87 with corresponding portions not shown in the transmitter 83. In FIG. 8 the various control buttons are shown functionally within the dotted line rectangle indicating the console 82. The rectangle 84 circumscribes the transmitter proper of which its various elements are labeled in accordance with function. Operation of any button in the console 82 develops an analog voltage registered by a signal sampler or multiplexer 88 that cyclically steps from channel to channel to sample any signal being passed from the push button of console 82. The multiplexer, as now constructed, samples each channel, e.g., times a second, for any signal passing thereover. Each signal of any specific channel is converted in a unique five-digital data byte by an analog-to-digital (a/D) converter. During each' cycle of the multiplexer, a unique digital station code is added to the byte of each channel to form a composite digital word. The digital word is then converted to a radio frequency carrier signal by a fre quency shift modulator 89 and passed through a radio frequency amplifier to the antennae 90 of the transmitter 83. The transmitting antennae may be of the order of 5 or 6 inches in length and preferably mounted on the transmitter housing 84, the operator cab 85, or on the tip portion of the boom 6 in line-of-sight relation with the spreader and power unit combination.

The receiver 66 decodes the radio frequency message in almost reverse fashion. The transmitted digital information contained in the RF signal synchronizes the receivers multiplexer 94 through a slave clock 95 with a transmitter frequency as established by transmitter clock 96. The multiplexer thereupon breaks down the digital word into a sequential station code and individual channel data bytes. Commands are then passed along respective data holds to digital-to-analog (D/a) converters which send out an energizing current to the various relays 97 to respective solenoids or other transducers which control functions corresponding in indicia to the labeling of FIG. 8 of the various push buttons of console 82. Solenoids 74 to 79 correspond to push buttons 104 to I09, respectively, of FIG. 8. In controlling the various functions of the spreader corresponding to solenoids 74 to 79, it may be noted that the analog value ofa signal resulting from depression of one of the button switches in the console 82 is reestablished twenty times a second in a manner sufficient to maintain continuous operation of the corresponding solenoid on the spreader limited to the period of time for which a corresponding push button is depressed. Accordingly, push

buttons

104, 105 lock and unlock, respectively, the latches 26 in respect to a container, such as the container I3. In operation, buttons I06, 107 may be alternately depressed to raise or lower, respectively, the outboard guides 23. In a like manner, the inboard arms 24 may be raised or lowered by alternate depression of push buttons 108, 1109, respectively.

The above described crane and spreader system is exemplary of any system in which an expandable spreader or grappler-spreader having a base frame, such as the expandable spreader described in U.S. Pat. No. 3,627,370 or the grappler-spreader described in U.S. Pat. No. 3,558,176, may be modified to incorporate actuating facilities to any practicalextent into a portable power unit of the type described above in combination with UHF transmission and receiving facilities which cover the additional functions entailed in the devices of these patents.

What is claimed is:

1. Equipment for handling cargo containers comprising:

a spreader having a frame and power consuming service mechanism comprising latching means for interlocking with corner portions of a container, said spreader frame providing a mounting station;

crane means including adjustable hoisting means connected to the spreader;

a self contained power unit detachably received in said mounting station comprising a frame, fuel storage means, combustion engine means connectd in fuel-receiving relation with said storage means, power converting and transmitting means in intermediate connected relation with said power consuming service means and said engine means, electrical control means contained in said transmitting means, ultra high frequency radio receiving and signal amplifying means electically connected with said control means and having an antenna, said control means being electrically connected to said receiving and amplifying means for response to signals therefrom;

said power converting and transmitting means ineluding electricalgenerating means in driven relation with said engine means and in power supplying relation with all of said electrical means carried on said power unit;

ultra high frequency radio transmitting means including an antenna mounted on said crane means in substantially structurally unobstructed relation with said first mentioned antenna; said mounting station is an upward facing platform having surfaces complementary to undersurfaces of said frame of the power unit;

said power unit frame and said spreader frame comprise cooperating fastening means for securing said power unit to said platform; and

said power converting and transmitting means comprises service lines extending from the power unit to said power consuming service means of the spreader, and quick disconnect couplings in said lines and manual signal means electrically connected with said radio transmitting means for operating said power consuming service mechanism through said radio transmitting and receiving means.

2. The equipment of claim 1 wherein:

said service mechanism of the spreader comprises independently operable service devices and said manual signal means comprises corresponding separate control elements for initiating eletrical signals for selectively operating said devices; and

said ultra high frequency transmitting and receiving means comprise complementary multiplexing circuit means for the radio transmission of separate signals between said control elements and corresponding service devices.

3. The equipment of claim 1 wherein:

said power consuming service mechanism includes a hydraulic cylinder piston assembly for actuating said latching means, and said power conversion and transmitting means includes a hydraulic pump in driven relation with said engine means and in fluid communication with said assembly.

4. The equipment of claim 2 wherein:

said power conversion and transmitting means includes a hydraulic power supply in driven relation with said engine means;

said power consuming service means includes rctractable container engaging guides pivotally mounted at the periphery of said spreader. and hydraulic motors in mechanical connection with said guides for the raising and lowering thereof. said hydraulic motors being connected in fluid communication with said pump.

5. The equipment of claim 1 wherein:

said power consuming service mechanism includes movable service elements, at least one electrical switch positioned for actuation by one of said elements, and an electrical warning device, said switch and said warning device being in circuit relation with said generating means.

6. The equipment of claim 1 wherein:

said power consuming service mechanism of the spreader comprises electrically operated means.

(5/69) *nr r' '1 r'\ w '1 11 \r 1 GIL-ii PH ILz-LHL Oi COfiB-ELl-iON Patent No. 3, 8 8, 728 Dated January 7, 1975 Inventor(s) Jack E. Fafl lauer It is certified. that-error appears in the above-identified patent and that said Letters Patent are hereby corrected. as shown below:

Column 4, line Z3, "20'' should be --l2--.

Column 5, line 16, "MHZ) should be --(MHZ)-.

Coiurnn 5, line 42, "in" should be --1:o---;

(SEALL Attest:

' I C-. .I-IARSHALL DANN RUTH C. MASON v Commissioner of Patents [attesting Officer and Trademarks

Claims

1. Equipment for handling cargo containers comprising: a spreader having a frame and power consuming service mechanism comprising latching means for interlocking with corner portions of a container, said spreader frame providing a mounting statiOn; crane means including adjustable hoisting means connected to the spreader; a self contained power unit detachably received in said mounting station comprising a frame, fuel storage means, combustion engine means connectd in fuel-receiving relation with said storage means, power converting and transmitting means in intermediate connected relation with said power consuming service means and said engine means, electrical control means contained in said transmitting means, ultra high frequency radio receiving and signal amplifying means electically connected with said control means and having an antenna, said control means being electrically connected to said receiving and amplifying means for response to signals therefrom; said power converting and transmitting means including electrical generating means in driven relation with said engine means and in power supplying relation with all of said electrical means carried on said power unit; ultra high frequency radio transmitting means including an antenna mounted on said crane means in substantially structurally unobstructed relation with said first mentioned antenna; said mounting station is an upward facing platform having surfaces complementary to undersurfaces of said frame of the power unit; said power unit frame and said spreader frame comprise cooperating fastening means for securing said power unit to said platform; and said power converting and transmitting means comprises service lines extending from the power unit to said power consuming service means of the spreader, and quick disconnect couplings in said lines and manual signal means electrically connected with said radio transmitting means for operating said power consuming service mechanism through said radio transmitting and receiving means.

2. The equipment of claim 1 wherein: said service mechanism of the spreader comprises independently operable service devices and said manual signal means comprises corresponding separate control elements for initiating eletrical signals for selectively operating said devices; and said ultra high frequency transmitting and receiving means comprise complementary multiplexing circuit means for the radio transmission of separate signals between said control elements and corresponding service devices.

3. The equipment of claim 1 wherein: said power consuming service mechanism includes a hydraulic cylinder piston assembly for actuating said latching means, and said power conversion and transmitting means includes a hydraulic pump in driven relation with said engine means and in fluid communication with said assembly.

4. The equipment of claim 2 wherein: said power conversion and transmitting means includes a hydraulic power supply in driven relation with said engine means; said power consuming service means includes retractable container engaging guides pivotally mounted at the periphery of said spreader, and hydraulic motors in mechanical connection with said guides for the raising and lowering thereof, said hydraulic motors being connected in fluid communication with said pump.

5. The equipment of claim 1 wherein: said power consuming service mechanism includes movable service elements, at least one electrical switch positioned for actuation by one of said elements, and an electrical warning device, said switch and said warning device being in circuit relation with said generating means.

6. The equipment of claim 1 wherein: said power consuming service mechanism of the spreader comprises electrically operated means.