WO2004022474A1 - Gantry crane - Google Patents

Gantry crane Download PDF

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Publication number
WO2004022474A1
WO2004022474A1 PCT/KR2003/001817 KR0301817W WO2004022474A1 WO 2004022474 A1 WO2004022474 A1 WO 2004022474A1 KR 0301817 W KR0301817 W KR 0301817W WO 2004022474 A1 WO2004022474 A1 WO 2004022474A1
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WO
WIPO (PCT)
Prior art keywords
container
chains
trolley
spreader
rails
Prior art date
Application number
PCT/KR2003/001817
Other languages
French (fr)
Inventor
Sang-Know Choi
Original Assignee
Sang-Know Choi
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 Sang-Know Choi filed Critical Sang-Know Choi
Publication of WO2004022474A1 publication Critical patent/WO2004022474A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00Base supporting structures with legs
    • B66C5/02Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • B65G35/06Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002Container cranes

Definitions

  • the present invention relates to a gantry crane used for the operation of loading containers onto a vessel or the operation of unloading containers from a vessel and more particularly, to a gantry crane which makes it possible to minimize the distance of movement of an operator, to drastically increase the speed of loading or unloading operation of containers and to minimize the number of stevedores who work on land, thereby improving the safety of loading or unloading operation.
  • a boom 52 is provided on posts
  • the boom 52 is provided with a trolley 53 that travels along rails fixed to the boom 52.
  • the trolley 53 is driven by driving means in a machine room 54 provided on the boom
  • the trolley 53 has also on its lower side with an operator's cab 57 where an operator can operate the gantry crane 50, in particular, the trolley 53, and a spreader 56 connected to a hoist provided in the trolley 53 via a wire rope 55.
  • the conventional gantry crane 50 as described above principally performs the operation for loading containers 59 on a trailer 58 onto a vessel 60 and the operation for unloading containers 59 on a trailer 58 from a vessel 60.
  • an operator first moves the trolley 53 toward the upper side of the trailer 58 on land. Then, the spreader 56 descends to grasp a container 59 and hoists the container 59 attached therewith. Next, the spreader 56 moves to the vessel 60 to put down the container 59 at a desired position.
  • the loading operation includes loading operation performed on a deck (hereinafter, referred to as deck operation) and loading operation performed in a holder below a deck (hereinafter, referred to as holder operation).
  • deck operation the operation using cones for connecting loaded and stacked containers 59 (hereinafter, referred to as coning operation) should be separately performed so as to prevent the containers 59 from rocking.
  • a container 59 on the trailer 58 is first hoisted up by the spreader 56. Then, the trailer 58 is moved to other place and the spreader 56 is hoisted down again. Next, the cones are respectively combined with the four lower corners of the container 59. Thereafter, the container 59 is loaded as described above. Otherwise, after a container 59 is loaded to a desired position on the vessel 60, and cones are combined with the corners of the loaded container 59, another container 59 to be loaded are stacked on the loaded container 59.
  • the unloading operation is the operation to load onto the trailer 58 containers 59 that are placed on the vessel 60.
  • the deck operation is performed during the unloading operation, the operation for detaching the cones combined with the corners of the container 59 should be first performed before loading a container onto the trailer 58.
  • a container 59 stacked on the vessel 60 is first grasped by the spreader 56 and then, after it is hoisted down on land, the cones are detached from the container. Then, the container 59 is moved upward. Thereafter, the container 59 is loaded onto the trailer 58 stopped at a position where the container is unloaded. At this time, the detached cones are left near a quay during the loading and unloading operation. After the loading and unloading operation has been completely performed, the cones are collected and kept for the next use.
  • a conventional gantry crane has been equipped with a spreader for carrying two containers simultaneously, each having a length of about twenty feet.
  • container seal number checking operation the operation of checking a seal number of containers (hereinafter, referred to as container seal number checking operation) and the conning operation cannot be performed in the conventional gantry crane
  • the gantry crane may be kept standby for a long time with a container being attached thereto. Further, since a transportation vehicle such as a trailer cannot get to a position below the gantry crane due to the quay condition, unnecessarily long standby time is rendered to the crane to perform its operation.
  • the present inventors have studied and developed the present invention so as to solve the above problems encountered with the conventional gantry crane.
  • a gantry crane in which a trolley and an operator's cab are separately constructed such that they are independently driven, at least one container loading/unloading terminal is provided at intermediate portions of posts, a trolley is adopted to reciprocate from the upper side of a vessel to the upper side of the container loading/unloading terminal, and the operator's cab is adopted to move only above a vessel, which makes it possible to minimize the distance of movement of an operator, to perform the operation of attaching cones onto or detaching them from a container on the container loading/unloading terminal, thereby drastically reducing the number of stevedores who work on land and avoiding the possibility of an accident, to drastically reduce the operation time, and to promptly perform the loading or unloading operation of containers.
  • the present invention provides the following constructions.
  • a gantry crane comprising: a boom 4 provided on posts 3 traveling along rails 2 which is arranged parallel to each other on land; a trolley 5 provided in the boom 4 so as to travel along
  • the boom 4 and controlled by a machine room la; a hoist 8 provided in the trolley 5 and connected to a spreader 6 via a wire rope 7 and; an operator's cab
  • trolley 5 and the operator's cab 9 are separately constructed such that they are independently driven, and wherein at least one container loading/unloading terminal 11 is provided at intermediate portions of the posts 3.
  • the container loading/unloading terminal 11 is provided at intermediate portions of the posts 3 and the container loading/unloading terminal 11 is fixed to the posts 3 or is capable of being moved left and right toward land or toward a vessel, wherein the container loading/unloading terminal 11 comprising: rails 16 respectively fixed onto a pair of horizontal frames 15 provided with operation spaces 15a on one side thereof; sprockets 18 pivotally mounted at both ends of the rails 16, driven by a reciprocal motor 17, stopped by stopping means such as a stopping switch or a sensor, and interlinked by the chains 19; rollers 19a constituting the chains 19 and adopted to roll along the rails 16; a guide hopper 10 formed above the chains 19 on the side of vessel 13 for accurately guiding containers 14; a hoist 25 provided on the horizontal frames 15 opposite to the guide hopper 10 and connected to a spreader 23 via a wire rope 24, and; a trolley 22 provided to be capable of traveling left and right and controlled by stopping means 26 such as a stopping switch or a sensor.
  • stopping means 26 such as a
  • two pairs of rails 16, sprockets 18 and chains 19 are provided on the horizontal frames 15 in the container loading/unloading terminal 11, wherein two operation spaces 15a are provided at inside of the horizontal frames 15 and one operation space 15b is provided between the two pairs of rails 16 or chains 19, and wherein a plurality of rollers 19b is provided between the respective two pairs of rails 16 or chains 19 so as to ascend or descend, thereby to adjust their own height.
  • trolley 22 installed in the container loading/unlading terminal 11 is as follows.
  • the trolley 22 traveling along the horizontal frames 15 comprising: a pair of roller mounts 28 rested inside an outer frame 22a so as to be moved right and left by a hydraulic cylinder 27; several variable rollers 29 pivotally connected to the roller mounts 28; guide rollers 30 pivotally mounted in four corners of the outer frame 22a; and two wire ropes 24 having their both ends fixed to the spreader 23 and hung in zigzags on the variable rollers 29 and the guide rollers 30, wherein as the hydraulic cylinder 27 is activated, the spreader 23 ascends or descends, thereby minimizing the installation space and activating the spreader 23 smoothly.
  • Fig. 1 illustrates a schematic construction of a conventional gantry crane.
  • Fig. 2 illustrates a schematic construction of a gantry crane according to the present invention.
  • Fig. 3 illustrates a state in which a trolley is combined to an operator's cab in accordance with the present invention.
  • Fig. 4 is a broken-away exploded view of a container loading/unloading terminal according to the present invention.
  • Fig. 5a is a partial cutaway plan view of the container loading/unloading terminal according to the present invention.
  • Fig. 5b is a partial cutaway plan view of the container loading/unloading terminal according to the present invention when two pairs of rails are employed.
  • Fig. 5c is a partial cutaway plan view of the container loading/unloading terminal according to the present invention when two pairs of rails are employed without any container being loaded.
  • Fig. 6 is a sectional side elevation view for illustrating the construction of the container loading/unloading terminal according to the present invention.
  • Fig. 7 is a perspective view illustrating another embodiment of a trolley provided in the container loading/unloading terminal according to the present invention.
  • Fig. 8 is a sectional view illustrating an operational state of the container loading/unloading terminal in Fig. 7
  • Fig. 2 illustrates a schematic construction of a gantry crane according to the present invention.
  • Fig. 3 illustrates a state in which a trolley is combined to an operator's cab in accordance with the present invention.
  • a gantry crane 1 according to the present invention includes a boom 4 provided on posts 3 that travel along rails 2 arranged parallel to each other on land, a trolley 5 that is provided in the boom 4, travels along rails fixed to the boom 4, and driven by driving means in a machine room la provided on the boom 4, and an operator's cab 9 where an operator can generally operate the gantry crane 1, in particular, a hoist 8 connected to a spreader 6 via a wire rope 7.
  • the trolley 5 for carrying or hoisting and descending the spreader 6, and the operator's cab 9 are separately driven. As a result, it is possible to drastically reduce the operator's operating distance. Further, according to the present invention, at least one stage of container loading/unloading terminal 11 having a guide hopper 10 thereon is provided at intermediate portions of the posts 3. As a result, when the loading operation is performed from a trailer 12 to a vessel 13 or the unloading operation is performed from the vessel 13 to the trailer 12, it is possible to make a smooth supply of containers 14 and to easily perform the operation for attaching or detaching cones for connecting two adjacent upper and lower containers 14 to each other.
  • Fig. 4 is a broken-away exploded view of a container loading/unloading terminal according to the present invention
  • Fig. 5 a to 5 c are a partial cutaway plan view of the container loading/unloading terminal according to the present invention
  • Fig. 6 is a sectional side elevation view for illustrating the construction of the container loading/unloading terminal according to the present invention.
  • the container loading/unloading terminal 11 is provided at intermediate positions of the posts 3 of the gantry crane 3, i.e., at positions slightly higher than the height of the trailer 12.
  • This construction allows the ends of the container loading/unloading terminal 11 to be fixed to the posts 3, as illustrated in Fig 4, or the container loading/unloading terminal 11 to be movable left and right toward a vessel or land, thereby guaranteeing a maximum operation space.
  • rails 16 are fixed to a pair of horizontal frame 15, sprockets 18 are pivotally provided at longitudinal both ends of the rails 16, driven by a reciprocal motor 17, and interlinked with each other by driving chains 19. Rollers 19a constituting the driving chains 19 rolls along the rails 16.
  • the spacing between the driving chains 19 is set to be slightly narrower than the length of the container 14 and operation spaces 15a are formed inside the horizontal frames 15 so that the cones can be attached onto or detached from the container 14 that is conveyed on the driving chains 19.
  • stopping means 20 such as a stopping switch or a sensor, which is connected electrically to the reciprocal motor 17, is provided on the horizontal frames 15. The stopping means 20 causes the driving of the reciprocal motor 17 to stop when the container 14 has arrived at any one of the longitudinal both ends of the driving chains 19.
  • a guide hopper 10 is formed above the driving chains 19 at the side of the vessel 13 of the container loading/unloading terminal 11 so as to precisely guide the container 14. Further, stopping means 21 such as a stopping switch or a sensor is provided on the boom 4 above the guide hopper 10 so that, when the spreader 6 comes in close contact with the guide hopper 10, the trolley 5 can be stopped.
  • stopping means 21 such as a stopping switch or a sensor is provided on the boom 4 above the guide hopper 10 so that, when the spreader 6 comes in close contact with the guide hopper 10, the trolley 5 can be stopped.
  • the upper end of the guide hopper 10 be made wider than the remaining portion thereof so that, although the trolley 5 is not precisely controlled, the container 14 is accurately put down on the driving chains 19 below the guide hopper 10, which is located in the operation spaces 15a on the container loading/unloading terminal 11. Further, the upper end of the guide hopper 10 brought in close contact with the spreader 6 is provided with a shock absorbing device such as a shock absorber so as to absorb shock.
  • a trolley 22 is provided opposite to the guide hopper 10 so as to move left and right along the upper horizontal frame 15.
  • the trolley 22 is provided with a hoist 25 connected with a spreader 23 via wire ropes 24.
  • stopping means 27 such as a stopping switch or a sensor that is located in the horizontal frame 15.
  • FIG. 5 a is a partial cutaway plan view of the container loading/unloading terminal according to the present invention, illustrating a construction in which a plurality of containers 14 can be conveyed in series.
  • Fig. 5b is a partial cutaway plan view of a container loading/unloading terminal according to another embodiment of the present invention in which two pairs of chains 19 rolling along two pairs of rails 16 are employed so as to convey two or more containers 14a in rows.
  • Fig. 5c is a partial cutaway plan view of the container loading/unloading terminal according to the present invention for illustrating a state where containers 14a are removed.
  • containers 14 having a length of forty feet are conveyed in series as illustrated in Fig. 5a, whereas containers 14a having a length of twenty feet are conveyed in rows as illustrated in Fig. 5b.
  • a plurality of pairs of rollers 19b is provided inside both the rails 16 and the chains 19 so that they can be moved up or down to adjust their own height. In other words, when the rollers ascend, they are located above the chains 19, whereas when the rollers descend, they are located below the chains 19. Accordingly, as illustrated in Fig.
  • a pair of containers 14a put down on the chains 19 is first conveyed by the driving of the reciprocal motor 17 while they comes in contact with the chains 19.
  • the reciprocal motor 17 is stopped by the stopping means.
  • the pair of containers 14a is spaced apart from the chains 19 and is brought in contact with only the pairs of rollers 19b.
  • the pairs of containers 14a having a length of twenty feet are completely brought in contact with each other side to side.
  • the pair of containers 14a can be hoisted up and loaded onto the trailer 12 using the spreader 23.
  • the coning operation or the container seal number checking operation is performed in two operation spaces 15a that are provided inside the horizontal frames 15 and an operation space 15b that is provided below between two pairs of rails 16.
  • the number of the container loading/unloading terminals 11 may increase or decrease depending on the size of the gantry crane 1.
  • Figs. 7 and 8 illustrate another embodiment of the trolley 22 that is provided in the container loading/unloading terminals 11 according to the present invention. This allows an installation space to be minimized and the spreader 23 to be smoothly activated.
  • a pair of roller mounts 28 is rested inside an outer frame 22a constituting the trolley 22 so as to be shifted right and left by a hydraulic cylinder 27.
  • Several variable rollers 29 are pivotally mounted to the roller mounts 28.
  • guide rollers 30 are pivotally mounted in four corners of the outer frame 22a.
  • two wire ropes 24 having both ends fixed to the spreader 23 are hung in zigzags on the variable rollers 29 and the guide rollers 30.
  • the gantry crane 1 of the present invention it is possible to minimize the movement of an operator, to promptly perform the loading or unloading operation of containers 14, and to simply perform the coning operation for connecting the containers 14 to be stacked to each other.
  • the trailer 12 moves first to the container loading/unloading terminal 11 and stops below the container loading/unloading terminal 11, and the trolley 22 is activated to move the spreader 23 toward the upper side of the container 14 on the trailer 12. Then, the hoist 25 is activated to hoist down the spreader 23 to grasp the container 14. Thereafter, when the container 14 is completely hoisted up, the trolley 22 moves toward the upper side of the chains 19.
  • the trolley 22 that has moved toward the upper side of the chains 19 is stopped by the stopping means 26.
  • the spreader 23 hoists down and thereby the container 14 is put down on the chains 19. Then, the spreader 23 is separated from the container 14.
  • the trailer 12 that has completed the loading operation moves, and then another standby trailer 12 moves toward the container loading/unloading terminal 11 and then stopped below the container loading/unloading terminal 11.
  • the container 14 on the chains 19 is conveyed toward the lower side of the guide hopper 10 while being put on the chains 19 traveling along the rails by the reciprocal motor 17.
  • the trolley 22 moves toward the upper side of the standby trailer 12. Then, the trolley 22 hoists up a container 14 and puts down the container 14 on the chains 19 as described above.
  • the coning operation should be performed for the containers 14.
  • This coning operation can be performed simply by attaching cones onto or detaching them from the containers 14 conveyed on the chains 19 in the operation spaces 15a that are formed in the horizontal frames 15 of the container loading/unloading terminal 11.
  • the reciprocal motor 17 is stopped by the stopping means 21.
  • the trolley 5 traveling along the boom 4 moves toward the upper side of the guide hopper 10 and stops at a position where one side of the spreader 6 faces the guide hopper 10.
  • the hoist 8 is activated to hoist down the spreader 6.
  • the spreader 6 accurately ascends to the upper side of container 14 to grasp the container 14.
  • the spreader 6 grasping the container 14 is hoisted up by the activation of the hoist 8 and trolley 5 and moved toward the vessel 13.
  • the operator moves the operator's cab 9 to a position where the container 14 is intended to be loaded. In this state, the operator is on standby. Thereafter, when the trolley 5 arrives at the operator's cab 9, the spreader 6 hoists down to load the container 14
  • the operation reverse to the above procedure is performed. Specifically, the operator's cab 9 moves first toward the upper side of a container 14 to be unloaded, the spreader 6 which is connected to the hoist 8 provided in the trolley 5 and the wire rope 7 hoists down to grasp the container 14 to be unloaded. Then, the spreader 6 hoists up and the trolley 5 moves toward the upper side of the guide hopper 10.
  • the container 14 put on the chains 19 is conveyed by the driving of the reciprocal motor 17. At this time, the cones can be separated from the container 14 (this is limited to the deck operation).
  • the spreader 23 hoists up and moves toward the upper side of a trailer 12 to load the container 14 onto the trailer 12.
  • the holder operation for unloading containers 14 stacked in holders below the deck is performed.
  • one container 14 is hoisted up and put down on the container loading/unloading terminal 11, and then an empty spreader 6 does not move toward the upper side of the vessel 13 for the unloading operation in the next holder, but the spreader 6 hoists up another container stacked on the other container loading/unloading terminal 11 to load the container into the holder where the unloading operation was first completed.
  • the trolley 5 and the operator's cab 9 are independently constructed so as to separately move along the boom 4. Further, the container loading/unloading terminal 11 is provided at intermediate portions of the posts 3. Moreover, the trolley 5 moving along the boom 4 is adopted to reciprocate from the upper side of the vessel 13 to the upper side of the container loading/unloading terminal 11. Furthermore, the operator's cab 9 is adopted to move only above the vessel 13 so as to minimize the distance of movement of the operator. Moreover, the container loading/unloading terminal 11 is provided with a separate trolley 22 that is automatically controlled by the stopping means 26.
  • the horizontal frame 15 is provided with the reciprocal motor 17, and the chains 19 traveling along the rails 16 that are automatically controlled by the stopping means 20 on its upper side, so that the container 14 is automatically loaded onto the trailer 12 and unloaded from the trailer 12.
  • the trolley 5 and the operator's cab 9 moving along the boom 4 are separately constructed and independently driven. Thus, it is possible to minimize an operator's operating radius. Further, the trolley 5 moves only from the upper side of the vessel 13 to the upper side of the guide hopper 10 in the container loading/unloading terminal 11. Thus, it is possible to maximize the operation efficiency with small working power.
  • the coning operation for fixing the upper and lower containers 14 can be performed while the containers 14 are conveyed on the chains 19 in the container loading/unloading terminal 11.
  • the container loading/unloading terminal 11 it is possible to minimize the time it takes to load or unload the containers 14. It is possible to drastically reduce stevedores who work on land and thereby to avoid the possibility of an accident.
  • two pairs of rails 16 and two pairs of driving chains 19 are employed on a container loading/unloading terminal 11, it is possible to simultaneously perform the operation for a container having a length of forty feet as well as for two containers having a length of twenty feet.

Abstract

The present invention relates to a gantry crane used for the operation of loading containers onto a vessel or the operation of unloading containers from a vessel. It is an object of the present invention to provide a gantry crane which makes it possible to minimize the distance of movement of an operator, to drastically increase the speed of loading or unloading operation of containers and to minimize the number of stevedores who work on land, thereby improving the safety of loading or unloading operation. According to the present invention, a gantry crane provided with the trolley and operator’s cab which are separately constructed and independently driven, and at least one container loading/unloading terminal provided at intermediate portions of the posts is disclosed.

Description

GANTRY CRANE
Technical Field
The present invention relates to a gantry crane used for the operation of loading containers onto a vessel or the operation of unloading containers from a vessel and more particularly, to a gantry crane which makes it possible to minimize the distance of movement of an operator, to drastically increase the speed of loading or unloading operation of containers and to minimize the number of stevedores who work on land, thereby improving the safety of loading or unloading operation.
Background Art
In a conventionally used gantry crane 50, a boom 52 is provided on posts
51, which travel along rails arranged parallel to each other on land. The boom 52 is provided with a trolley 53 that travels along rails fixed to the boom 52. The trolley 53 is driven by driving means in a machine room 54 provided on the boom
52. The trolley 53 has also on its lower side with an operator's cab 57 where an operator can operate the gantry crane 50, in particular, the trolley 53, and a spreader 56 connected to a hoist provided in the trolley 53 via a wire rope 55. The conventional gantry crane 50 as described above principally performs the operation for loading containers 59 on a trailer 58 onto a vessel 60 and the operation for unloading containers 59 on a trailer 58 from a vessel 60.
In case of the loading operation, an operator first moves the trolley 53 toward the upper side of the trailer 58 on land. Then, the spreader 56 descends to grasp a container 59 and hoists the container 59 attached therewith. Next, the spreader 56 moves to the vessel 60 to put down the container 59 at a desired position.
Generally, the loading operation includes loading operation performed on a deck (hereinafter, referred to as deck operation) and loading operation performed in a holder below a deck (hereinafter, referred to as holder operation). In case of the deck operation, the operation using cones for connecting loaded and stacked containers 59 (hereinafter, referred to as coning operation) should be separately performed so as to prevent the containers 59 from rocking.
When the coning operation is required, a container 59 on the trailer 58 is first hoisted up by the spreader 56. Then, the trailer 58 is moved to other place and the spreader 56 is hoisted down again. Next, the cones are respectively combined with the four lower corners of the container 59. Thereafter, the container 59 is loaded as described above. Otherwise, after a container 59 is loaded to a desired position on the vessel 60, and cones are combined with the corners of the loaded container 59, another container 59 to be loaded are stacked on the loaded container 59.
On the contrary, the unloading operation is the operation to load onto the trailer 58 containers 59 that are placed on the vessel 60. When the deck operation is performed during the unloading operation, the operation for detaching the cones combined with the corners of the container 59 should be first performed before loading a container onto the trailer 58.
In case of detaching cones from a container, a container 59 stacked on the vessel 60 is first grasped by the spreader 56 and then, after it is hoisted down on land, the cones are detached from the container. Then, the container 59 is moved upward. Thereafter, the container 59 is loaded onto the trailer 58 stopped at a position where the container is unloaded. At this time, the detached cones are left near a quay during the loading and unloading operation. After the loading and unloading operation has been completely performed, the cones are collected and kept for the next use.
As described above, in the conventional gantry crane 50 by which a container 59 is loaded onto the vessel 60 or unloaded therefrom, there are several problems as follows:
1. An operator should perform all the operation by himself. Thus, the operation efficiency is lowered in case of working for a long time;
2. The traveling distance of the trolley 53 is long. Thus, the operation progresses slowly; 3. The time it takes to load or unload containers is delayed due to the coning operation on land during deck operation.
4. Since a large number of stevedores who will work on land below the gantry crane is required, the scene of labor is crowded, the possibility of an accident is high, and the possibility of missing the cones is very high; 5. A conventional gantry crane has been equipped with a spreader for carrying two containers simultaneously, each having a length of about twenty feet. However, the operation of checking a seal number of containers (hereinafter, referred to as container seal number checking operation) and the conning operation cannot be performed in the conventional gantry crane
6. When the space for containers to be loaded or unloaded is not easily secured due to a quay circumference in case of loading or unloading operation of containers, the gantry crane may be kept standby for a long time with a container being attached thereto. Further, since a transportation vehicle such as a trailer cannot get to a position below the gantry crane due to the quay condition, unnecessarily long standby time is rendered to the crane to perform its operation.
Disclosure of Invention
Thus, the present inventors have studied and developed the present invention so as to solve the above problems encountered with the conventional gantry crane.
That is, it is an object of the present invention to provide a gantry crane in which a trolley and an operator's cab are separately constructed such that they are independently driven, at least one container loading/unloading terminal is provided at intermediate portions of posts, a trolley is adopted to reciprocate from the upper side of a vessel to the upper side of the container loading/unloading terminal, and the operator's cab is adopted to move only above a vessel, which makes it possible to minimize the distance of movement of an operator, to perform the operation of attaching cones onto or detaching them from a container on the container loading/unloading terminal, thereby drastically reducing the number of stevedores who work on land and avoiding the possibility of an accident, to drastically reduce the operation time, and to promptly perform the loading or unloading operation of containers.
In order to achieve the above object, specifically, the present invention provides the following constructions.
According to the present invention, a gantry crane is provided comprising: a boom 4 provided on posts 3 traveling along rails 2 which is arranged parallel to each other on land; a trolley 5 provided in the boom 4 so as to travel along
. the boom 4, and controlled by a machine room la; a hoist 8 provided in the trolley 5 and connected to a spreader 6 via a wire rope 7 and; an operator's cab
9, wherein the trolley 5 and the operator's cab 9 are separately constructed such that they are independently driven, and wherein at least one container loading/unloading terminal 11 is provided at intermediate portions of the posts 3.
Preferably, according to the present invention, the container loading/unloading terminal 11 is provided at intermediate portions of the posts 3 and the container loading/unloading terminal 11 is fixed to the posts 3 or is capable of being moved left and right toward land or toward a vessel, wherein the container loading/unloading terminal 11 comprising: rails 16 respectively fixed onto a pair of horizontal frames 15 provided with operation spaces 15a on one side thereof; sprockets 18 pivotally mounted at both ends of the rails 16, driven by a reciprocal motor 17, stopped by stopping means such as a stopping switch or a sensor, and interlinked by the chains 19; rollers 19a constituting the chains 19 and adopted to roll along the rails 16; a guide hopper 10 formed above the chains 19 on the side of vessel 13 for accurately guiding containers 14; a hoist 25 provided on the horizontal frames 15 opposite to the guide hopper 10 and connected to a spreader 23 via a wire rope 24, and; a trolley 22 provided to be capable of traveling left and right and controlled by stopping means 26 such as a stopping switch or a sensor.
Further, according to another aspect of the present invention, two pairs of rails 16, sprockets 18 and chains 19 are provided on the horizontal frames 15 in the container loading/unloading terminal 11, wherein two operation spaces 15a are provided at inside of the horizontal frames 15 and one operation space 15b is provided between the two pairs of rails 16 or chains 19, and wherein a plurality of rollers 19b is provided between the respective two pairs of rails 16 or chains 19 so as to ascend or descend, thereby to adjust their own height.
Moreover, another aspect of trolley 22 installed in the container loading/unlading terminal 11 is as follows.
That is, the trolley 22 traveling along the horizontal frames 15 comprising: a pair of roller mounts 28 rested inside an outer frame 22a so as to be moved right and left by a hydraulic cylinder 27; several variable rollers 29 pivotally connected to the roller mounts 28; guide rollers 30 pivotally mounted in four corners of the outer frame 22a; and two wire ropes 24 having their both ends fixed to the spreader 23 and hung in zigzags on the variable rollers 29 and the guide rollers 30, wherein as the hydraulic cylinder 27 is activated, the spreader 23 ascends or descends, thereby minimizing the installation space and activating the spreader 23 smoothly.
Brief Description of the Drawings
Fig. 1 illustrates a schematic construction of a conventional gantry crane.
Fig. 2 illustrates a schematic construction of a gantry crane according to the present invention.
Fig. 3 illustrates a state in which a trolley is combined to an operator's cab in accordance with the present invention.
Fig. 4 is a broken-away exploded view of a container loading/unloading terminal according to the present invention. Fig. 5a is a partial cutaway plan view of the container loading/unloading terminal according to the present invention.
Fig. 5b is a partial cutaway plan view of the container loading/unloading terminal according to the present invention when two pairs of rails are employed.
Fig. 5c is a partial cutaway plan view of the container loading/unloading terminal according to the present invention when two pairs of rails are employed without any container being loaded. Fig. 6 is a sectional side elevation view for illustrating the construction of the container loading/unloading terminal according to the present invention.
Fig. 7 is a perspective view illustrating another embodiment of a trolley provided in the container loading/unloading terminal according to the present invention.
Fig. 8 is a sectional view illustrating an operational state of the container loading/unloading terminal in Fig. 7
Best Mode for Carrying Out the Invention The gantry crane according to the present invention constructed as described above will now be described in detail with reference to the accompanying drawings.
Fig. 2 illustrates a schematic construction of a gantry crane according to the present invention. Fig. 3 illustrates a state in which a trolley is combined to an operator's cab in accordance with the present invention. Generally, a gantry crane 1 according to the present invention includes a boom 4 provided on posts 3 that travel along rails 2 arranged parallel to each other on land, a trolley 5 that is provided in the boom 4, travels along rails fixed to the boom 4, and driven by driving means in a machine room la provided on the boom 4, and an operator's cab 9 where an operator can generally operate the gantry crane 1, in particular, a hoist 8 connected to a spreader 6 via a wire rope 7.
According to the present invention, the trolley 5 for carrying or hoisting and descending the spreader 6, and the operator's cab 9 are separately driven. As a result, it is possible to drastically reduce the operator's operating distance. Further, according to the present invention, at least one stage of container loading/unloading terminal 11 having a guide hopper 10 thereon is provided at intermediate portions of the posts 3. As a result, when the loading operation is performed from a trailer 12 to a vessel 13 or the unloading operation is performed from the vessel 13 to the trailer 12, it is possible to make a smooth supply of containers 14 and to easily perform the operation for attaching or detaching cones for connecting two adjacent upper and lower containers 14 to each other.
The construction of the container loading/unloading terminal 11 will be now be described with reference to the accompanying drawings.
Fig. 4 is a broken-away exploded view of a container loading/unloading terminal according to the present invention, Fig. 5 a to 5 c are a partial cutaway plan view of the container loading/unloading terminal according to the present invention, and Fig. 6 is a sectional side elevation view for illustrating the construction of the container loading/unloading terminal according to the present invention.
The container loading/unloading terminal 11 according to the present invention is provided at intermediate positions of the posts 3 of the gantry crane 3, i.e., at positions slightly higher than the height of the trailer 12. This construction allows the ends of the container loading/unloading terminal 11 to be fixed to the posts 3, as illustrated in Fig 4, or the container loading/unloading terminal 11 to be movable left and right toward a vessel or land, thereby guaranteeing a maximum operation space. Further, in the container loading/unloading terminal 11, rails 16 are fixed to a pair of horizontal frame 15, sprockets 18 are pivotally provided at longitudinal both ends of the rails 16, driven by a reciprocal motor 17, and interlinked with each other by driving chains 19. Rollers 19a constituting the driving chains 19 rolls along the rails 16. In that case, the spacing between the driving chains 19 is set to be slightly narrower than the length of the container 14 and operation spaces 15a are formed inside the horizontal frames 15 so that the cones can be attached onto or detached from the container 14 that is conveyed on the driving chains 19. Moreover, stopping means 20 such as a stopping switch or a sensor, which is connected electrically to the reciprocal motor 17, is provided on the horizontal frames 15. The stopping means 20 causes the driving of the reciprocal motor 17 to stop when the container 14 has arrived at any one of the longitudinal both ends of the driving chains 19.
A guide hopper 10 is formed above the driving chains 19 at the side of the vessel 13 of the container loading/unloading terminal 11 so as to precisely guide the container 14. Further, stopping means 21 such as a stopping switch or a sensor is provided on the boom 4 above the guide hopper 10 so that, when the spreader 6 comes in close contact with the guide hopper 10, the trolley 5 can be stopped.
In that case, it is preferable that the upper end of the guide hopper 10 be made wider than the remaining portion thereof so that, although the trolley 5 is not precisely controlled, the container 14 is accurately put down on the driving chains 19 below the guide hopper 10, which is located in the operation spaces 15a on the container loading/unloading terminal 11. Further, the upper end of the guide hopper 10 brought in close contact with the spreader 6 is provided with a shock absorbing device such as a shock absorber so as to absorb shock.
Also, a trolley 22 is provided opposite to the guide hopper 10 so as to move left and right along the upper horizontal frame 15. The trolley 22 is provided with a hoist 25 connected with a spreader 23 via wire ropes 24. As a result, a container 14 on a trailer 12 can be hoisted up onto the chains 19, or a container 14 on the chains 19 can be loaded onto a trailer 12.
In that case, the movement distance of the trolley 22 is limited by stopping means 27 such as a stopping switch or a sensor that is located in the horizontal frame 15.
On the other hand, Fig. 5 a is a partial cutaway plan view of the container loading/unloading terminal according to the present invention, illustrating a construction in which a plurality of containers 14 can be conveyed in series. Fig. 5b is a partial cutaway plan view of a container loading/unloading terminal according to another embodiment of the present invention in which two pairs of chains 19 rolling along two pairs of rails 16 are employed so as to convey two or more containers 14a in rows. Fig. 5c is a partial cutaway plan view of the container loading/unloading terminal according to the present invention for illustrating a state where containers 14a are removed.
For example, containers 14 having a length of forty feet are conveyed in series as illustrated in Fig. 5a, whereas containers 14a having a length of twenty feet are conveyed in rows as illustrated in Fig. 5b. In case of containers 14a being conveyed in rows, as illustrated in Fig. 5c, a plurality of pairs of rollers 19b is provided inside both the rails 16 and the chains 19 so that they can be moved up or down to adjust their own height. In other words, when the rollers ascend, they are located above the chains 19, whereas when the rollers descend, they are located below the chains 19. Accordingly, as illustrated in Fig. 5b, a pair of containers 14a put down on the chains 19 is first conveyed by the driving of the reciprocal motor 17 while they comes in contact with the chains 19. However, when the pair of containers 14a arrives at the ends of the chains 19, the reciprocal motor 17 is stopped by the stopping means. At this time, when a pair of rollers 19b located at the ends of chains 19 ascends, the pair of containers 14a is spaced apart from the chains 19 and is brought in contact with only the pairs of rollers 19b. Thereafter, when the pair of containers 14a is pushed from the sides thereof so as to contact to each other, the pairs of containers 14a having a length of twenty feet are completely brought in contact with each other side to side. Then, the pair of containers 14a can be hoisted up and loaded onto the trailer 12 using the spreader 23. At this time, the coning operation or the container seal number checking operation is performed in two operation spaces 15a that are provided inside the horizontal frames 15 and an operation space 15b that is provided below between two pairs of rails 16.
Further, in case that a container 14a exists on a pair of chains 19 but another container corresponding to the container 14a does not exist on the other pair of chains 19 during the conveyance of the containers 14a in rows, the reciprocal motor 17 is stopped. Then, a pair of rollers 19b relating to the container 14a on the pair of chains 19 ascends, and thereby the container 14a ceases to be conveyed. Thereafter, the container 14a is not conveyed, though the reciprocal motor 17 is again driven. On the other hand, when any corresponding container, which continues to be conveyed on the other pair of chains 19 where rollers 19b do not ascend, arrives at a point next to the container 14a which is not conveyed, the reciprocal motor 17 is again stopped and the roller 19b which was ascending descends. Then, the container 14a, which is not conveyed, comes in contact with the pair of chains 19 again. Thereafter, the reciprocal motor 17 is again driven to convey the containers 14a and the corresponding container together.
At that time, while the reciprocal motor 17 is driven to convey the container 14a on the chains 19, the rollers 19b do not ascend or descend by the control of the control device.
In the present invention, an example in which two container loading/unloading terminals 11 are located is illustrated. However, the number of the container loading/unloading terminals 11 may increase or decrease depending on the size of the gantry crane 1.
Figs. 7 and 8 illustrate another embodiment of the trolley 22 that is provided in the container loading/unloading terminals 11 according to the present invention. This allows an installation space to be minimized and the spreader 23 to be smoothly activated.
More specifically, a pair of roller mounts 28 is rested inside an outer frame 22a constituting the trolley 22 so as to be shifted right and left by a hydraulic cylinder 27. Several variable rollers 29 are pivotally mounted to the roller mounts 28. Further, guide rollers 30 are pivotally mounted in four corners of the outer frame 22a. Moreover, two wire ropes 24 having both ends fixed to the spreader 23 are hung in zigzags on the variable rollers 29 and the guide rollers 30. As a result, as the hydraulic cylinder 27 is activated, the roller mounts 28 are shifted left and right and the spreader 23 is hoisted up and down.
As described above, according to the gantry crane 1 of the present invention, it is possible to minimize the movement of an operator, to promptly perform the loading or unloading operation of containers 14, and to simply perform the coning operation for connecting the containers 14 to be stacked to each other.
Applications and effects of the present invention will now be described.
When it is intended to load a container 14 put on a trailer 12 onto a vessel
13, the trailer 12 moves first to the container loading/unloading terminal 11 and stops below the container loading/unloading terminal 11, and the trolley 22 is activated to move the spreader 23 toward the upper side of the container 14 on the trailer 12. Then, the hoist 25 is activated to hoist down the spreader 23 to grasp the container 14. Thereafter, when the container 14 is completely hoisted up, the trolley 22 moves toward the upper side of the chains 19.
Subsequently, the trolley 22 that has moved toward the upper side of the chains 19 is stopped by the stopping means 26. Next, the spreader 23 hoists down and thereby the container 14 is put down on the chains 19. Then, the spreader 23 is separated from the container 14.
At that time, the trailer 12 that has completed the loading operation moves, and then another standby trailer 12 moves toward the container loading/unloading terminal 11 and then stopped below the container loading/unloading terminal 11. Next, the container 14 on the chains 19 is conveyed toward the lower side of the guide hopper 10 while being put on the chains 19 traveling along the rails by the reciprocal motor 17. Thereafter, the trolley 22 moves toward the upper side of the standby trailer 12. Then, the trolley 22 hoists up a container 14 and puts down the container 14 on the chains 19 as described above.
Meanwhile, when containers 14 being conveyed on the chains 19 is intended to be loaded to a loading position on the vessel 13, i.e., the deck of the vessel 13, the coning operation should be performed for the containers 14. This coning operation can be performed simply by attaching cones onto or detaching them from the containers 14 conveyed on the chains 19 in the operation spaces 15a that are formed in the horizontal frames 15 of the container loading/unloading terminal 11.
When the containers 14 that are put down and on which the conning operation is performed, arrive at below the guide hopper 10, the reciprocal motor 17 is stopped by the stopping means 21. At this time, the trolley 5 traveling along the boom 4 moves toward the upper side of the guide hopper 10 and stops at a position where one side of the spreader 6 faces the guide hopper 10. Next, the hoist 8 is activated to hoist down the spreader 6. Then, the spreader 6 accurately ascends to the upper side of container 14 to grasp the container 14. Thereafter, the spreader 6 grasping the container 14 is hoisted up by the activation of the hoist 8 and trolley 5 and moved toward the vessel 13.
At that time, the operator moves the operator's cab 9 to a position where the container 14 is intended to be loaded. In this state, the operator is on standby. Thereafter, when the trolley 5 arrives at the operator's cab 9, the spreader 6 hoists down to load the container 14 On the other hand, when it is intended to unload a container 14 on the vessel 13, the operation reverse to the above procedure is performed. Specifically, the operator's cab 9 moves first toward the upper side of a container 14 to be unloaded, the spreader 6 which is connected to the hoist 8 provided in the trolley 5 and the wire rope 7 hoists down to grasp the container 14 to be unloaded. Then, the spreader 6 hoists up and the trolley 5 moves toward the upper side of the guide hopper 10.
When one side of the container 14 moved toward the upper side of the guide hopper 10 comes into close contact with the guide hopper 10, the trolley 5 is stopped by the stopping means 20. Then, the spreader 6 descends to put down the container 14 on the chains 19 of the container loading/unloading terminal 11 and ascends again.
At that time, the operator moves to the upper side of a next container 14 to be unloaded, and is on standby.
The container 14 put on the chains 19 is conveyed by the driving of the reciprocal motor 17. At this time, the cones can be separated from the container 14 (this is limited to the deck operation). When the container 14 arrives at a position opposite to the guide hopper 10 and the reciprocal motor 17 is stopped by the stopping means 21, the spreader 23 hung on the trolley 22 on the horizontal frame 15 descends to grasp the container
14. Then, the spreader 23 hoists up and moves toward the upper side of a trailer 12 to load the container 14 onto the trailer 12.
According to the present invention, it is possible to perform double cycle operation in which the loading and unloading operation of containers 14 is simultaneously performed.
More specifically, after the deck operation has been completed by unloading all the containers 14 stacked on the deck of vessel 13, the holder operation for unloading containers 14 stacked in holders below the deck is performed. In case of the unloading operation in the next holder after the unloading operation in one holder has been completed, one container 14 is hoisted up and put down on the container loading/unloading terminal 11, and then an empty spreader 6 does not move toward the upper side of the vessel 13 for the unloading operation in the next holder, but the spreader 6 hoists up another container stacked on the other container loading/unloading terminal 11 to load the container into the holder where the unloading operation was first completed. Accordingly, it is possible to perform the double cycle operation by continuing to perform the unloading operation in a holder where the unloading operation is being performed, and by continuing to perform the loading operation in another holder where the loading operation is being performed. At this time, in case two container loading/unloading terminals 11 are provided, a container 14 is conveyed on the chains 19 from the vessel toward land in the container loading/unloading terminal 11 which is used for the unloading operation, whereas a container 14 is conveyed on the chains 19 from land toward the vessel in the other container loading/unloading terminal 11 which is used for the loading operation.
Industrial Applicability
Summarizing the gantry crane 1 of the present invention constructed and operated as described above, the trolley 5 and the operator's cab 9 are independently constructed so as to separately move along the boom 4. Further, the container loading/unloading terminal 11 is provided at intermediate portions of the posts 3. Moreover, the trolley 5 moving along the boom 4 is adopted to reciprocate from the upper side of the vessel 13 to the upper side of the container loading/unloading terminal 11. Furthermore, the operator's cab 9 is adopted to move only above the vessel 13 so as to minimize the distance of movement of the operator. Moreover, the container loading/unloading terminal 11 is provided with a separate trolley 22 that is automatically controlled by the stopping means 26.
The horizontal frame 15 is provided with the reciprocal motor 17, and the chains 19 traveling along the rails 16 that are automatically controlled by the stopping means 20 on its upper side, so that the container 14 is automatically loaded onto the trailer 12 and unloaded from the trailer 12.
According to the present invention of this construction, the following effects can be obtained: 1. The trolley 5 and the operator's cab 9 moving along the boom 4 are separately constructed and independently driven. Thus, it is possible to minimize an operator's operating radius. Further, the trolley 5 moves only from the upper side of the vessel 13 to the upper side of the guide hopper 10 in the container loading/unloading terminal 11. Thus, it is possible to maximize the operation efficiency with small working power.
2. At the time of the deck operation, the coning operation for fixing the upper and lower containers 14 can be performed while the containers 14 are conveyed on the chains 19 in the container loading/unloading terminal 11. Thus, it is possible to minimize the time it takes to load or unload the containers 14. It is possible to drastically reduce stevedores who work on land and thereby to avoid the possibility of an accident. If two pairs of rails 16 and two pairs of driving chains 19 are employed on a container loading/unloading terminal 11, it is possible to simultaneously perform the operation for a container having a length of forty feet as well as for two containers having a length of twenty feet. It is possible to continue to load a plurality of containers 14 on the driving chains 19 in the container loading/unloading terminal 11, though there occurs a situation in which an operator should be on standby due to quay condition. Thus, the standby time is very short. Further, if two or more container loading/unloading terminals 11 are employed, it is possible to perform a quick double cycle operation.

Claims

1. A gantry crane comprising: a boom 4 provided on posts 3 traveling along rails 2 which is arranged parallel to each other on land; a trolley 5 provided in the boom 4 so as to travel along the boom 4, and controlled by a machine room la; a hoist 8 provided in the trolley 5 and connected to a spreader 6 via a wire rope 7 and; an operator's cab 9, wherein the trolley 5 and the operator's cab 9 are separately constructed such that they are independently driven, and wherein at least one container loading/unloading terminal 11 is provided at intermediate portions of the posts 3.
2. A gantry crane according to Claim 1, wherein the container loading/unloading terminal 11 is fixed to the posts 3 or is capable of being moved left and right toward land or toward a vessel, wherein the container loading/unloading terminal 11 comprising: rails 16 respectively fixed onto a pair of horizontal frames 15 provided with operation spaces 15a on one side thereof; sprockets 18 pivotally mounted at both ends of the rails 16, driven by a reciprocal motor 17, stopped by stopping means such as a stopping switch or a sensor, and interlinked by the chains 19; rollers 19a constituting the chains 19 and adopted to roll along the rails 16; a guide hopper 10 formed above the chains 19 on the side of vessel 13 for accurately guiding containers 14; a hoist 25 provided on the horizontal frames 15 opposite to the guide hopper 10 and connected to a spreader 23 via a wire rope 24, and; a trolley 22 provided to be capable of traveling left and right and controlled by stopping means 26 such as a stopping switch or a sensor.
3. A gantry crane according to Claim 2, wherein two pairs of rails 16, sprockets 18 and chains 19 are provided on the horizontal frames 15 in the container loading/unloading terminal 11 , wherein two operation spaces 15a are provided at inside of the horizontal frames 15 and one operation space 15b is provided between the two pairs of rails 16 or chains 19, and wherein a plurality of rollers 19b is provided between the respective two pairs of rails 16 or chains 19 so as to ascend or descend, thereby to adjust their own height.
4. A gantry crane according to Claim 2 or 3, wherein the trolley 22 traveling along the horizontal frames 15 comprising: a pair of roller mounts 28 rested inside an outer frame 22a so as to be moved right and left by a hydraulic cylinder 27; several variable rollers 29 pivotally connected to the roller mounts 28; guide rollers 30 pivotally mounted in four corners of the outer frame 22a; and two wire ropes 24 having their both ends fixed to the spreader 23 and hung in zigzags on the variable rollers 29 and the guide rollers 30, wherein as the hydraulic cylinder 27 is activated, the spreader 23 ascends or descends, thereby minimizing the installation space and activating the spreader 23 smoothly.
PCT/KR2003/001817 2002-09-06 2003-09-04 Gantry crane WO2004022474A1 (en)

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EP1820768A4 (en) * 2005-10-08 2009-11-11 Shanghai Zhenhua Port Mach Co A double-trolley container crane capable of lifting dual 40-foot containers
US8225948B2 (en) 2006-11-17 2012-07-24 Apm Terminals Management B.V. Plant for transporting cargo and/or from a ship
CN102639425A (en) * 2009-11-18 2012-08-15 金耕汉 Container crane apparatus and container loading/unloading method using same
US9617124B2 (en) 2011-11-29 2017-04-11 Apm Terminals Bv Crane
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EP3786099A4 (en) * 2018-04-25 2022-04-06 Nuctech Company Limited Container inspection system, port facility, and container inspection method
CN112850505A (en) * 2019-11-28 2021-05-28 苏州科岛起重机械工程有限公司 Gantry program control crane

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