WO2003016194A1 - Palonnier de suspension de conteneurs - Google Patents

Palonnier de suspension de conteneurs Download PDF

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Publication number
WO2003016194A1
WO2003016194A1 PCT/JP2002/008118 JP0208118W WO03016194A1 WO 2003016194 A1 WO2003016194 A1 WO 2003016194A1 JP 0208118 W JP0208118 W JP 0208118W WO 03016194 A1 WO03016194 A1 WO 03016194A1
Authority
WO
WIPO (PCT)
Prior art keywords
spreader
container
camera
television camera
camera device
Prior art date
Application number
PCT/JP2002/008118
Other languages
English (en)
Japanese (ja)
Inventor
Yuzo Shimizu
Original Assignee
Yuzo Shimizu
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 Yuzo Shimizu filed Critical Yuzo Shimizu
Publication of WO2003016194A1 publication Critical patent/WO2003016194A1/fr

Links

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
    • B66C13/18—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
    • 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
    • B66C1/62—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 comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—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 comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B66C1/663—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 comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • the present invention relates to a container suspending spreader that holds and lifts a container and transports the container at the time of container handling, ship handling, and yard container handling at a container terminal.
  • a container suspending spreader When landing the container on the spreader and the container suspended from the spreader in accordance with the target position, the spreader and the container suspended on the flat surface and in all directions from the target position
  • the present invention relates to a container suspending spreader provided with a means for easily photographing a displacement amount from a close distance with a precision required for work. Background art
  • a remote-operated container hanging spreader detachably engaged with the upper surface of the container is used as a hanger for holding the container. It is generally done.
  • These container-hanging spreaders are connected to a fork of a cat-top lid, which is suspended on a crane's hoisting line, or connected to the tip of a load-supporting rod of a reach stacker, and are used for cargo handling.
  • Figures 1-3 show one embodiment of a conventional spreader suspended on a crane's hoisting line. The operation of various functions of the cargo handling equipment, including the functions of the spreader, is remotely operated from a console or operation console separately provided on the cargo handling equipment.
  • the alignment work in container handling involves aligning the spreader onto the container and adjusting the suspended container. There are two tasks of positioning to the target position. The alignment of the spreader is performed by using the twist mouth fittings 15 shown in Figs.
  • the spreader 1 is moved by the steel width adjuster 16.
  • the device is naturally devised to be positioned in the container 20.
  • the steel width plate 16 is provided with a mechanism and a drive means that can change the position. When working in a narrow space, etc., it is indicated by reference numeral 16 in FIGS. 1 and 3. Is stored in a position that does not hinder the work.
  • the main objects to be aligned are the upper surface of the container, the flat section on the floor, the upper surface of the container transport vehicle, and the frontage of the cargo hold cell of the container ship.
  • the required alignment accuracy is less than plus or minus a few centimeters, just like a spreader, so if the distance between the console or the console room and the cargo handling position increases, the required level of positional deviation can be visually checked. It becomes practically difficult, and in some cases, it may be possible to achieve the desired alignment by repeating trial and error operations with intuition.
  • the driver can see only one side near the operator of the spreader or container, and the other side is hidden behind The fact that they cannot be seen is also a safety issue.
  • the console or console room provides the greatest common denominator for each field of view required to operate the cargo handling equipment. It will be installed in a position that satisfies the requirements, but does not necessarily satisfy all driving views.
  • the alignment of the suspended container just before landing is also performed by the operator of the cargo handling equipment directly from the operation console, but if there is an obstacle that blocks the view before the landing target position, for example, the landing target
  • the container is stacked high enough to obstruct the view between the position and the console, it may not be possible to visually check the suspended container and the target landing position. In this way, if the landing target position cannot be directly visually confirmed from the console, or if the landing target position is too far to be easily confirmed visually, a special location near the landing target position is required.
  • a checker is provided to the operator, and the operator of the equipment may operate the positioning and landing of the spreader or container suspended from the equipment according to a transceiver or hand signal from the checker.
  • a TV camera is installed on the side of the spreader to remotely control the landing position of the crane's spreader and hanging container in an office remote from the crane.
  • the image is attached and displayed on a television monitor screen provided in the office.
  • the work of aligning the spreader (hereinafter referred to as “hanging equipment”) and the container suspended from the container (hereinafter referred to as “hanging prayer”) consists of two work elements. .
  • One factor is to accurately detect the presence or absence of the deviation of the lifting gear or the load from the target position, and the other is to adjust the lifting gear or the load to the target position in order to adjust them.
  • the operation control of the position and the attitude has been improved to an almost satisfactory level due to remarkable progress in core technologies such as high-speed response technology for electric control equipment, low-speed operation control technology, and suspension load swing control technology.
  • the main method is to directly detect the driver directly from the console or console room, which is still far from the suspended load.
  • Equipped with a television camera on a spreader is a preferred method that can solve the above-mentioned problems, and in reality, in a transfer lane equipped with a spreader with a television camera, it is necessary to use a remote location for hanging equipment and loads. It functions effectively to check the alignment of the. However, this method is not used except in very special cases due to the problems described below.
  • FIG. 4 and 5 show an embodiment of a conventional spreader with a television camera, in which the television camera 50 is fixedly mounted so as to be considerably protruded from the top view of the container 20. I have. Therefore, this spreader is used for normal container handling work in a narrow work place as shown in Fig. 5 because the TV camera 50 interferes with the surrounding container 21 and is damaged. Absent. Disclosure of the invention
  • the present invention provides a means for directly and clearly photographing the relative positional relationship between a hanging tool or a suspended load at a cargo handling target position and a target position in a horizontal plane, which is indispensable for container cargo handling. It is intended to provide a container-hanging spreader that can cope with difficult work and severe work.
  • the container spreader of the first aspect of the present invention employs the following means.
  • An imaginary rectangular prism space (hereinafter referred to as the “space”) consisting of an extension plane of the front, rear, left, and right sides of the container suspended on the container suspending spreader structure or its attached structure, and below the spreader.
  • a small-diameter rod-shaped small CCD or CMOS camera is placed facing downward.
  • the method of supporting the small camera will be described in detail below, but while the above-mentioned arrangement position is the “regular arrangement position” of the small camera, it is not fixed to this position, but is The entire metal protection component is supported so as to be “movable” up to a position (hereinafter, referred to as a “retreat position”) that completely enters the “projection plane of the container upper surface”.
  • the camera is mounted and housed in strong metal protection parts for the purpose of protection from various external forces. Also, when the camera is in the above-mentioned “regularly arranged position”, the protrusion of the metal protection component from the “projection surface on the upper surface of the container” is made as small as possible, and the camera is placed on the spreader.
  • the camera must be mounted so that the metal protective part containing the TV camera can be swung without any problem to the "retracted position" described above, even in the narrow space available for mounting the camera.
  • Extremely small diameter (approximately 2 Omm or less in diameter) Use a small rod-shaped CCD or CMOS camera to reduce the size of the metal protection parts.
  • a part of the metal protective component containing the small-diameter rod-shaped small camera is connected to the spreader structure or its attached structure by a pin support, a pivot support, or a link support. It is movably supported around the center of movement.
  • an appropriate place of the metal protection component is pressed or pulled by a panel having one end connected to the spreader structure or its attached structure, and the metal protection component is moved from the above “regular arrangement position”. Press against a stopper that restricts outward movement, and hold the metal protective component at the “regularly arranged position” described above.
  • the metal protective part swings backward around the center of rotation of the bearing, and moves to the above-mentioned “retreat position” at the maximum.
  • the panel has a sufficient expansion / contraction allowance to swing to the “last 3 ⁇ 4 position” where the entire metal protection component enters the above-mentioned projection surface on the upper surface of the container.
  • Part of the metal protection component containing the small-diameter rod-shaped small CCD or CMOS camera is connected to the spreader body by a pin support, a pivot support or a link support, and can swing freely around the center of rotation of these supports. Supported.
  • an appropriate place of the metal protective part is pressed or pulled by a pneumatic or hydraulic cylinder having one end connected to the spreader body, and the metal part is moved from the above-mentioned “regularly arranged place”. Press the stopper against the stopper that restricts outward movement, and hold the metal protective part at the “regularly arranged position” described above.
  • a relief valve connected to the pneumatic cylinder or the hydraulic cylinder is operated to displace the cylinder, and the metal protection part is displaced.
  • the protection component pivots backward about the center of rotation of the bearing.
  • the pneumatic or hydraulic cylinder is a metal protective component. Is provided with a telescopic stroke sufficient to swing into the projection plane on the upper surface of the spreader.
  • FIG. 6 to 10 are views showing a first embodiment of the container hanging spreader of the present invention
  • FIG. 6 is a front view of the spreader 1
  • FIG. 7 is a plan view of the spreader 1
  • FIG. 8 is
  • FIG. 9 (a) and 9 (b) are enlarged views of the cross section ⁇ ⁇ ⁇ ⁇ taken along the line BB in FIG. 7, and
  • FIG. 9 (a) is an enlarged view of the television camera device 30.
  • Fig. 9 (b) is the state diagram when the camera is in the "normal arrangement position”
  • Fig. 9 (b) is the state diagram when the TV camera device 30 is in the "retreat position”
  • Fig. 10 (a) and Fig. 10 (b) Are cross-sectional views taken along arrows C-C in FIG.
  • the spreader 1 used in the present embodiment has the same configuration as the spreader 1 shown in the conventional example, and the same members as those in the conventional example are denoted by the same reference numerals as in FIG. Description is omitted.
  • the TV camera devices 30 are attached to the outer corners of the twist lock boxes 14 at both ends of the cross beam 13 at the front and rear of the spreader 11.
  • This is a television camera device for photographing the lower side of the spreader 11 below the mounting position and the lower side of the suspended container 20 and the periphery thereof.
  • this television camera device 30 has a small-diameter rod-shaped small CCD or CMOS camera 31, a metal protection component 32, a pin support 33. A stopper plate 34 and a support panel. Consists of 3 5
  • the TV camera device 30 has a stopper plate coupled to the metal protection component 32 by the support panel 15 when there is no obstacle in front of or around the device that interferes with or contacts the device.
  • 3 4 hits the inside of the swist lock box 14 And is held at the “regular placement position” shown in Fig. 9 (a).
  • the small-diameter rod-shaped small force mellar 31 puts the area between the line of sight lines 41 and 42 within its effective field of view. You can take pictures of the area around it.
  • FIG. 11 The technique shown in FIG. 11 is not included in the claims of the container hanging spreader according to the present invention, but will be described below as supplementary information for reference.
  • FIG. 11 shows an example in which an image shot by the television camera device 30 is displayed on the screen. Since the screen is divided into four sections and one section is assigned to one camera and displayed, the state of all four corners of the container can be displayed simultaneously on one screen, making it extremely easy to detect misalignment.
  • FIG. 6 ′ 1 is a front view showing a first embodiment of the container hanging spreader of the present invention
  • FIG. 8 Enlarged view of the part indicated by the ellipse A in Fig. 6,
  • FIG. 9A is a cross-sectional view taken along a line B-B in FIG.
  • FIG. 7 is a cross-sectional view taken along a line B-B in FIG.
  • FIG. 9B is a cross-sectional view taken along the line D-D in FIG.
  • Figure 11 Example of displaying the image taken by the television camera of the container-hanging spreader of the present invention on a television monitor screen.
  • the television camera is mounted on the side of the spreader structure, and the lower side of the spreader and the lower side of the container from there are approximately 0.5 m and approximately 3 m, respectively. Since the camera can shoot directly at a close distance of m, the image is clear and the view is not obstructed by any obstacles.
  • this photographed image is displayed on the console or the monitor screen of the console room at a location distant from the hanging equipment, the equipment operator can suspend the equipment regardless of the distance of the work target or the visibility. It is possible to perform the positioning operation of the hanging tool or the suspended load while always watching the video of the same size around the equipment or the suspended load. This greatly improves the work efficiency of the suspended load alignment work, and significantly reduces the physical and mental fatigue caused by the driver trying to see the work object and the target position better. .
  • the TV camera mounted on the container hanging spreader of the present invention is a small-diameter rod-shaped small CCD or CMOS camera, which is protected by strong metal protection parts.
  • the method that is, the camera is supported so that it can move freely between the “spreader limit dimensions” outside and inside.
  • the TV camera on the container and the hanging spreader must be located outside the “spreader limit dimensions”, in other words, outside the “hanging container top projection plane” to see the target well. .
  • the TV camera on the container and the hanging spreader must be located outside the “spreader limit dimensions”, in other words, outside the “hanging container top projection plane” to see the target well.
  • the TV camera on the container and the hanging spreader must be located outside the “spreader limit dimensions”, in other words, outside the “hanging container top projection plane” to see the target well.
  • the TV camera on the container and the hanging spreader must be located outside the “spreader limit dimensions”, in other words, outside the “hanging container top projection plane
  • the container suspension spreader of the present invention that balances these two conflicting requirements. Specifically, as described above, if the TV camera on the spreader does not interfere with the corresponding obstacle due to contact, collision, work in a narrow space, etc., the TV camera device An external force acts on the telecamera device, and the telecamera device retreats in the direction of avoiding the interference, that is, inside the “spreader limit dimension” to avoid the interference. Then, when the obstacle leaves, the TV camera returns to the “regularly arranged position” and the photographing function is restarted.
  • the mechanism used for the TV camera which is used here, is an extremely simple mechanism that does not use sophisticated equipment such as special sensors and automatic control devices, so its reliability in terms of function and strength is high.
  • the outside diameter of the TV camera is small, it is possible to reduce the protrusion from the "spreader limit dimension", so that it is different from the conventional spreader with a TV camera that uses a relatively large standard industrial camera.
  • the TV camera device can be used for work even in a narrower working space.
  • the camera itself is housed in a strong metal case, protecting the TV camera from external forces in the event of contact or collision with the adjacent container of the spreader, which may occur during container handling. I can do things.
  • the CCD or CMOS camera used has a large number of pixels, so the screen can be enlarged without losing image quality.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

Lorsqu'un dispositif à couplage de charge (CCD) de petite taille en forme de barre de petit diamètre est fixé sur la surface latérale de la boîte à verrou tournant (14) d'un palonnier (1) dans une position qui est quelque peu saillante par rapport à un conteneur suspendu (20), le dispositif CCD est alors orienté en direction d'un dispositif de caméra de télévision (30) consistant en une caméra CMOS. Ce dispositif de caméra de télévision enregistre clairement les images des zones inférieures et périphériques de la boîte à verrou tournant (14) du palonnier et des zones inférieures et périphériques du conteneur suspendu (20). Ces images sont transmises pour affichage à un écran de télévision dans la cabine du conducteur de la machine de manutention par le procédé habituellement utilisé, de telle sorte que le conducteur peut facilement détecter la position relative du dispositif de suspension ou de la charge suspendue par rapport à la position cible. D'autre part, si le dispositif de caméra de télévision (30) est laissé saillant au-delà de la surface latérale du conteneur, comme décrit ci-dessus, la caméra de télévision risque d'entrer en contact avec une structure opposée à elle et d'être endommagée, lorsqu'une opération de manutention est effectuée dans un espace limité au point de ne permettre le passage que d'un seul conteneur. Pour éviter ces inconvénients, cette invention prévoit que le dispositif de caméra de télévision (30) possède un mécanisme qui supporte ce dispositif en position basculante au moyen d'un support à pivot et au moyen d'un ressort, pour que, dans les conditions de travail décrites ci-dessus, le dispositif de caméra de télévision soit poussé par un obstacle, de façon à se rétracter automatiquement dans le palonnier, évitant ainsi les dommages.
PCT/JP2002/008118 2001-08-10 2002-08-08 Palonnier de suspension de conteneurs WO2003016194A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001277254A JP2003054871A (ja) 2001-08-10 2001-08-10 コンテナー吊用スプレッダー
JP2001-277254 2001-08-10

Publications (1)

Publication Number Publication Date
WO2003016194A1 true WO2003016194A1 (fr) 2003-02-27

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WO (1) WO2003016194A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008015106A1 (fr) * 2006-08-04 2008-02-07 G.M. Automation & Service Di Claudio Gabrieli Dispositif surélevé de manutention de boîtes
WO2011035893A1 (fr) * 2009-09-24 2011-03-31 Pfenning Elektroanlagen Gmbh Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des opérations de transport générales
CN106429863A (zh) * 2016-12-09 2017-02-22 李�诚 集装箱吊装偏离f‑tr锁智能报警装置
NL2016192B1 (nl) * 2016-02-01 2017-08-10 Stinis Beheer Bv Inrichting voor het waarnemen van een positie van een hijsframe en gebruik daarvan voor het besturen van een aan een kraan opgehangen hijsframe
US9796563B2 (en) 2012-10-02 2017-10-24 Konecranes Global Corporation Load handling by load handling device
CN109179197A (zh) * 2018-10-29 2019-01-11 黄安伦 集装箱装卸系统
WO2019115869A1 (fr) * 2017-12-11 2019-06-20 Konecranes Global Corporation Chariot élévateur de charges lourdes
CN112158732A (zh) * 2020-10-22 2021-01-01 上海海事大学 一种集装箱安全起吊监测系统的折叠连杆机构

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3296247A1 (fr) 2016-09-14 2018-03-21 Siemens Aktiengesellschaft Détection de dispositifs de verrouillage
CN106429788B (zh) * 2016-11-01 2018-05-18 山东电力建设第一工程公司 一种用于抬吊机舱的方法
CN110869305B (zh) * 2017-07-13 2020-11-20 住友重机械搬运系统工程株式会社 起重机装置
CN109399440B (zh) * 2018-11-09 2021-02-05 中船华南船舶机械有限公司 一种折臂式吊装设备定位销装置
CN109941885B (zh) * 2019-03-07 2024-07-26 上海安维尔信息科技股份有限公司 一种基于伸缩臂的集装箱箱号抓拍和识别装置及其方法

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EP0668236A1 (fr) * 1994-02-18 1995-08-23 Siemens Aktiengesellschaft Arrangement pour positioner des charges de grue
JPH08198584A (ja) * 1994-03-30 1996-08-06 Samsung Heavy Ind Co Ltd クレーンの無人運転方法及びその装置
JPH10167663A (ja) * 1996-12-06 1998-06-23 Mitsubishi Heavy Ind Ltd クレーンの巻き下げ衝突防止装置
JP2001097670A (ja) * 1999-09-28 2001-04-10 Mitsubishi Heavy Ind Ltd コンテナ位置検出装置

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Publication number Priority date Publication date Assignee Title
EP0668236A1 (fr) * 1994-02-18 1995-08-23 Siemens Aktiengesellschaft Arrangement pour positioner des charges de grue
JPH08198584A (ja) * 1994-03-30 1996-08-06 Samsung Heavy Ind Co Ltd クレーンの無人運転方法及びその装置
JPH10167663A (ja) * 1996-12-06 1998-06-23 Mitsubishi Heavy Ind Ltd クレーンの巻き下げ衝突防止装置
JP2001097670A (ja) * 1999-09-28 2001-04-10 Mitsubishi Heavy Ind Ltd コンテナ位置検出装置

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008015106A1 (fr) * 2006-08-04 2008-02-07 G.M. Automation & Service Di Claudio Gabrieli Dispositif surélevé de manutention de boîtes
WO2011035893A1 (fr) * 2009-09-24 2011-03-31 Pfenning Elektroanlagen Gmbh Chariot cavalier destiné à être utilisé dans des terminaux à conteneurs et pour des opérations de transport générales
CN102666354A (zh) * 2009-09-24 2012-09-12 普芬宁埃列克特罗安拉根有限公司 用于集装箱码头和用于一般运输任务的跨车
US9796563B2 (en) 2012-10-02 2017-10-24 Konecranes Global Corporation Load handling by load handling device
US20190031477A1 (en) * 2016-02-01 2019-01-31 Stinis Beheer B.V. Device for detecting a position of a hoisting frame and use thereof to control a hoisting frame suspended from a crane
WO2017135819A1 (fr) * 2016-02-01 2017-08-10 Stinis Beheer B.V. Dispositif de détection d'une position d'un cadre de levage et son utilisation pour commander un cadre de levage suspendu à une grue
NL2016192B1 (nl) * 2016-02-01 2017-08-10 Stinis Beheer Bv Inrichting voor het waarnemen van een positie van een hijsframe en gebruik daarvan voor het besturen van een aan een kraan opgehangen hijsframe
CN108602649A (zh) * 2016-02-01 2018-09-28 斯帝尼斯贝海尔有限公司 用于检测提升框架位置的设备及其控制悬挂在起重机上的提升框架的用途
US10981757B2 (en) 2016-02-01 2021-04-20 Stinis Beheer B.V. Device for detecting a position of a hoisting frame and use thereof to control a hoisting frame suspended from a crane
CN106429863A (zh) * 2016-12-09 2017-02-22 李�诚 集装箱吊装偏离f‑tr锁智能报警装置
WO2019115869A1 (fr) * 2017-12-11 2019-06-20 Konecranes Global Corporation Chariot élévateur de charges lourdes
CN109179197A (zh) * 2018-10-29 2019-01-11 黄安伦 集装箱装卸系统
CN112158732A (zh) * 2020-10-22 2021-01-01 上海海事大学 一种集装箱安全起吊监测系统的折叠连杆机构

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