WO2010070797A1

WO2010070797A1 - Tired gantry crane and tired gantry crane system

Info

Publication number: WO2010070797A1
Application number: PCT/JP2009/005485
Authority: WO
Inventors: 内田浩二; 阪本俊彦; 藤澤昇; 吉川博文
Original assignee: 三菱重工業株式会社
Priority date: 2008-12-16
Filing date: 2009-10-20
Publication date: 2010-06-24
Also published as: JP4699508B2; JP2010143650A; TW201026587A

Abstract

A tired gantry crane is provided with a crane body formed in the shape of an arch by a pair of legs and a beam extended between the legs, travel means provided to the lower ends of the legs, respectively, and traveling on a road surface using tires, a cable extended from the crane body and connected to an external facility, a cable reel provided to the crane body and taking up and paying out the cable, and a space distance holding means for maintaining a space distance between the travel means and that portion of the cable which is extended along the road surface.

Description

Tire-type portal crane and tire-type portal crane system

TECHNICAL FIELD The present invention relates to a tire-type portal crane and a tire-type portal crane system that can be performed while running power supply from an external power supply or input or output of signals or the like via a cable with external equipment. .
This application claims priority based on Japanese Patent Application No. 2008-319515 filed in Japan on December 16, 2008, the contents of which are incorporated herein by reference.

Conventionally, the technique shown in Patent Document 1 is known as this type of tire-type portal crane. In the tire-type portal crane shown in Patent Document 1, a trolley having a spreader for lifting a container is disposed on an upper portion of a portal crane main body that travels by a tire. In addition, a power supply cable for supplying power is connected to the crane body. This power supply cable extends on the road surface along the length direction of the travel lane (lateral travel direction), and is connected to an external power source installed as an external facility. The tire-type portal crane travels in the length direction along the travel lane by so-called power supply from the external power source (so-called lateral travel).

JP 2003-137493 A

By the way, in the above-mentioned tire-type portal crane, when traveling laterally in the travel lane, the cable reel provided on the crane body is rotated to wind the feeding cable extended on the road surface, or the road surface Unwind the power cable above. In that case, the crane main body may meander in the width direction orthogonal to the extending direction of the traveling lane. The amount of meandering is usually about ± 50 mm and may be up to ± 150 mm. As the crane main body meanders, the power supply cable extending from the cable reel provided in the crane main body also meanders, and there is a possibility that the tire provided in the crane main body and the power supply cable come into contact with each other. As shown in FIG. 17, in the tire type portal crane, the mounting angle between the beam portion 201 of the crane main body 200 and the pair of leg portions 202 provided on both sides of the beam portion 201 changes during traveling, so-called crotch opening. This phenomenon occurs. For this reason, even if the tire type portal crane moves straight as a whole, there is a possibility that the feeding cable 203 meanders due to the crotch opening and contacts with the tire 204.

The present invention has been made in view of the above-described circumstances, and provides a tire-type portal crane and a tire-type portal crane system that can travel so that a tire and a cable connected to external equipment do not come into contact with each other.

In order to solve the above problems, the present invention proposes the following means.
The tire-type portal crane of the present invention is provided at the lower end of each of the crane main body and the crane main body configured in a gate shape by a pair of leg portions and a beam portion extending between the leg portions, Traveling means for traveling on a road surface with tires, a cable extending from the crane main body and connected to external equipment, a cable reel provided on the crane main body for winding and unwinding the cable, and the traveling And a separation distance holding means for holding a separation distance of a portion extending along the road surface of the cable.

In this case, the separation distance holding means can hold the separation distance between the traveling means that travels on the road surface by the tire and the portion that extends along the road surface of the cable. For this reason, even if the crane main body meanders or the crotch opening occurs during traveling, the separation distance between the traveling means and the portion extending along the road surface of the cable by the separation distance holding means. Can be maintained and contact with each other can be prevented.

The separation distance holding means adjusts a relative position in the traveling lane width direction of a reference position set on one side in the extending direction of the beam portion of the crane body with respect to the traveling lane provided on the road surface. The cable reel may be provided on one side in the extending direction of the beam portion, which is on the same side as the reference position.

In this case, the adjusting means can maintain the relative position with respect to the traveling lane on the one side in the extending direction of the beam portion of the crane body where the reference position is set substantially constant in the traveling lane width direction. For this reason, even if crotch opening occurs with traveling, it is possible to go straight on the traveling lane for one side in the extending direction of the beam portion of the crane body where the reference position is set.
In addition, since the cable reel for extending the cable and the reference position are provided on the same side in the extending direction of the beam portion, the cable extending from the cable reel can be separated from the crane body on the road surface. Since it is maintained substantially constant, it can be extended substantially linearly. For this reason, the distance between the traveling means of the crane body and the portion extending along the road surface of the cable is maintained, and mutual contact can be prevented.

The adjustment means is provided at the reference position and detects a relative position in the travel lane width direction, and a travel means control unit controls the travel direction by the travel means based on the detection result by the position sensor. May be provided.

In this case, since the position sensor is provided at the reference position, the relative position of the reference position and the travel lane in the travel lane width direction can be detected. Then, by controlling the traveling means by the traveling means control unit based on the detection result by the position sensor, the relative position on one side of the extending direction of the beam portion of the crane body where the reference position is set is set in the traveling lane width direction. It can be made to go straight as almost constant. For this reason, the distance between the traveling means of the crane body and the portion extending along the road surface of the cable is maintained, and mutual contact can be prevented.

The separation distance holding unit may include a regulating member that is provided in the traveling unit and regulates the approach of the cable.

In this case, the approach of the cable can be regulated by a regulating member provided in the traveling means. That is, even if the travel meanders by the travel means, or the cable meanders on the road surface, the distance between the travel means and the portion extending along the road surface of the cable is greater than the distance defined by the regulating member. Are kept so as not to be small, and contact with each other can be prevented.

The cable may be connected to the external equipment through a state of being housed in the cable housing groove formed on the road surface, and from the state of being housed in the cable housing groove toward the crane body. You may provide the guide means to which the extension part of the said extended cable is relatively moved with respect to the said crane main body, and is arrange | positioned above the said cable accommodation groove | channel.

In this case, since the cable is accommodated in the cable accommodation groove formed on the road surface, it is possible to more reliably prevent the traveling means and the cable from coming into contact with each other.
Moreover, the extension part of the cable extended toward a crane main body from the state accommodated in the cable accommodation groove is arrange | positioned above a cable accommodation groove by a guide means. For this reason, the guide means always places the extension portion of the power supply cable above the cable housing groove, and when the power supply cable is pulled out from the cable housing groove or the power supply cable is sent out to the cable housing groove, the cable It is possible to reliably prevent the power feeding cable from being removed from the housing groove and disposed on the road surface, and the power feeding cable from being slidably damaged by the cable housing groove. Here, the cable can be moved straight on the traveling lane with the relative position being substantially constant in the traveling lane width direction with respect to one side of the extending direction of the beam portion of the crane body where the reference position is set by the adjusting means. The relative position with respect to the cable housing groove in which the cable is housed can also be made substantially constant. For this reason, the range in which the cable needs to be relatively moved by the guide means can be minimized, and the guide means can be miniaturized.

The guide means includes a cable guide portion for guiding the cable extended from the crane body from above to below, and the cable guide portion relative to the crane body in the extending direction of the beam portion. And a position adjusting unit that disposes the cable guide unit above the cable housing groove.

In this case, the cable guide portion that guides the power feeding cable connected to the crane body in the vertical direction is held by the holding portion so as to be relatively movable along the direction of approaching and separating from the crane body, and the position adjustment portion. Can be arranged above the cable receiving groove. That is, the cable guide portion, the holding portion, and the position adjusting portion of the guide means can always place the extension portion of the power supply cable above the cable housing groove. When pulling out the feeding cable from the cable housing groove or sending the feeding cable to the cable housing groove, the feeding cable is removed from the cable housing groove and disposed on the road surface. It is possible to reliably prevent the sliding contact and damage. In addition, since the position of one side in the extending direction of the beam portion of the crane body is adjusted by the adjusting means, the movement range of the cable guide portion is minimized, and the holding portion that holds the cable guide portion can be downsized. Can be planned.

The position adjusting portion protrudes downward from the cable guide portion so as to be inserted into the cable receiving groove, and is configured by a protruding member that can slide or roll on the wall surface of the cable receiving groove. Also good.

According to this configuration, the projecting member of the position adjusting unit is provided so as to project downward from the cable guide unit and be inserted into the cable housing groove, and the projecting member slides or rolls on the wall surface of the cable housing groove. Since it was made to move, a protrusion member can be moved along a cable accommodation groove | channel with driving | running | working of a crane main body. For this reason, the cable guide portion provided with the projecting member by the projecting member can always be disposed above the cable housing groove, and the extension portion of the feeding cable guided by the cable guide portion is always disposed above the cable housing groove. Can be arranged.

The guide means may include a switching unit that allows the position adjusting unit to be inserted into and removed from the cable housing groove.

According to this configuration, the position adjusting unit can be inserted and removed up and down with respect to the cable housing groove by the switching unit further provided in the guide means. For this reason, it is also possible to run the crane main body completely independently of the cable housing groove by separating the position adjusting unit upward with respect to the cable housing groove by the switching unit.

A position detection unit that detects a relative position of the crane body with respect to the cable housing groove may be provided, and the position adjustment unit of the guide unit moves the cable guide unit while being held by the holding unit. You may have a guide drive part and the guide control part which controls the said guide drive part so that the said cable guide part may be located above the said cable accommodation groove | channel based on the detection result by the said position detection means.

According to this configuration, in the position adjustment unit of the guide unit, the guide control unit drives the guide drive unit based on the detection result of the position detection unit and moves the cable guide unit to be positioned above the cable housing groove. Therefore, the position adjustment of the extension portion of the power feeding cable with respect to the cable housing groove can be automatically and accurately performed.

The tire-type portal crane system of the present invention includes the above-described tire-type portal crane and external equipment provided in the vicinity of a traveling lane on which the tire-type portal crane travels.

According to this configuration, in the tire type portal crane, input or output can be performed via the cable with the external equipment while preventing the traveling means of the crane body and the cable from contacting each other.

The tire type portal crane of the present invention can travel so that the tire and the cable connected to the external equipment do not come into contact with each other. Moreover, according to the tire type portal crane system of the present invention, the tire type portal crane can be run so that the tire and the cable connected to the external equipment do not come into contact with each other, and the external equipment and the tire type portal crane are provided. It is possible to input or output a signal or the like.

FIG. 1 is a perspective view showing the entirety of a tire-type portal crane system according to a first embodiment of the present invention. FIG. 2 is a perspective view showing the tire type portal crane of the embodiment. FIG. 3 is a detailed view showing a part of the tire-type portal crane according to the embodiment. FIG. 4 is a block diagram of the tire-type portal crane according to the embodiment. FIG. 5 is a plan view showing details of the lower structure of the tire-type portal crane according to the second embodiment of the present invention. FIG. 6 is a perspective view showing a tire type portal crane according to a third embodiment of the present invention. FIG. 7 is a perspective view showing details of the guide means in the tire type portal crane of the embodiment. FIG. 8 is a front view showing details of the guide means in the tire type portal crane of the embodiment. FIG. 9 is a side view showing details of the guide means in the tire type portal crane of the embodiment. FIG. 10 is a plan view showing the details of the guide means in the tire type portal crane of the embodiment. FIG. 11 is a front view showing details of the guide means of the first modification of the embodiment. FIG. 12 is an explanatory diagram for explaining the operation of the guide means of the first modification of the embodiment. FIG. 13 is a front view showing details of the guide means of the second modification of the embodiment. FIG. 14 is a plan view showing details of the guide means in the tire-type portal crane according to the fourth embodiment of the present invention. FIG. 15 is a front view showing details of the guide means in the tire-type portal crane according to the fifth embodiment of the present invention. FIG. 16 is a flowchart showing details of control by the guide control unit of the guide means in the tire type portal crane of the embodiment. FIG. 17 is a front view showing a conventional tire-type portal crane.

(First embodiment)
Hereinafter, a tire type portal crane according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2 are general views of a tire-type portal crane system including a plurality of tire-type portal cranes (Rubber Tired Gantry Crane) according to the present invention.

As shown in FIGS. 1 and 2, the tire-type portal crane system 1 of the present embodiment travels in a plurality of travel lanes L installed on a road surface R in a container yard Y and in each travel lane L. A plurality of tire-type portal cranes 10 and a plurality of external power sources 2 that are provided corresponding to the respective traveling lanes L as external equipment and supply electric power to the respective tire-type portal cranes 10 are provided.

As shown in FIGS. 1 and 2, the tire type portal crane 10 travels in each traveling lane L in the container yard Y in the extending direction AB of the traveling lane L by power supply from the external power source 2. The container 100 loaded and unloaded by a trailer (not shown) or the like is loaded and unloaded while performing so-called lateral running. Further, in the tire type portal crane system 1 of the present embodiment, the ground surface guide line 3 is provided on the road surface R along the extending direction AB of each traveling lane. The ground guideline 3 extends in the traveling lane L on one side C in the width direction CD perpendicular to the extending direction AB in correspondence with a position sensor 21 of the tire-type portal crane 10 described later. . The tire-type portal crane 10 can travel straight on the traveling lane L while suppressing the meandering amount within a predetermined range by detecting the ground guideline 3 by the position sensor 21. Details will be described later.

For ease of explanation, FIG. 1 shows three traveling lanes L and three tire-type portal cranes 10 arranged in each of these traveling lanes L. The number of tire-type portal cranes 10 is not limited to the number shown in FIG. Further, by allowing the tire type portal crane 10 to move to another traveling lane by so-called vertical traveling in which the traveling lane L travels, the number of traveling lanes L and the number of tire type portal cranes 10 are reduced. It is good even if it does not agree.

Next, the details of the tire type portal crane 10 will be described. As shown in FIGS. 2 and 3, the tire-type portal crane 10 includes a crane main body 11 that travels on a road surface R by tires, and extends from the crane main body 11 side, and corresponds to the travel lane L. A power supply cable 12 connected to the provided external power source 2 and a cable reel 13 provided on the crane body 11 for winding and unwinding the power supply cable 12 are provided. The crane body 11 includes a traveling means 14 having tires, a pair of leg portions 15 that are provided substantially in parallel and provided at the lower end, and a beam portion that extends between the upper ends of the leg portions 15. 16 includes a frame 17 configured in a gate shape and a suspension mechanism 18 suspended from the beam portion 16.

As shown in FIGS. 2 and 3, the cable reel 13 is connected to the crane body 11 in the extending direction EF of the beam portion 16 on the same side as the reference position 22 provided with the position sensor 21 as described later. On the one side, it is supported by the leg portion 15A on the one E side. When the vehicle travels along the extending direction AB of the traveling lane L, the extending direction EF of the beam portion 16 substantially coincides with the width direction CD of the traveling lane L. Further, the cable reel 13 has a shaft center (not shown) arranged horizontally, and is housed by winding the power supply cable 12. As shown in FIG. 4, the cable reel 13 includes a cable reel drive unit 13a that rotates the shaft center part, and a cable reel control unit 13b that controls the cable reel drive unit 13a. The cable reel control unit 13b receives input from a travel unit control unit 19 and an operation unit 20 which will be described later, and controls the cable reel drive unit 13a. Thus, according to the travel direction on the travel lane L by the travel unit 14, The power feeding cable 12 can be wound around or unwound from the axial center. As shown in FIG. 2, the power supply cable 12 has an external power receiving connector 12 a that can be connected to the external power source 2 and can receive power. The base end of the power supply cable 12 is electrically connected to a power supply unit (not shown) that supplies power to each component of the tire-type portal crane 10.

Further, as shown in FIG. 2, the beam portion 16 supports the suspension mechanism 18 so as to be suspended. A guide rail 16 a is provided on the beam portion 16 so that the suspension mechanism 18 can travel along the extending direction EF of the beam portion 16. The suspension mechanism 18 operates to load and unload the container 100 by receiving power from a power supply unit (not shown). Specifically, the suspension mechanism 18 includes a trolley 18a that can travel along the guide rail 16a of the beam portion 16, a spreader 18b that grips the container 100, and a suspension rope that suspends the spreader 18b from the trolley 18a. 18c, a hoisting machine 18d that winds and unwinds the suspension rope 18c, and a suspension mechanism controller (not shown) that controls the operation of the trolley 18a, the spreader 18b, and the hoisting machine 18d.

Further, the traveling means 14 substantially coincides with the extending direction AB of the traveling lane L in the direction orthogonal to the extending direction EF of the beam portion 16 for each of the pair of leg portions 15, that is, during lateral traveling. It is provided in pairs on both sides of the direction. As shown in FIGS. 3 and 4, the traveling means 14 includes a traveling wheel 14a and a support portion 14b that rotatably supports the traveling wheel 14a and is supported by the leg portion 15 so as to be rotatable about a vertical axis. The direction adjustment mechanism 14c which changes the direction of the support part 14b and the traveling wheel 14a, and the traveling wheel drive part 14d which drives the traveling wheel 14a are provided. The direction adjusting mechanism 14 c and the traveling wheel drive unit 14 d of the traveling unit 14 are controlled by the traveling unit control unit 19. Here, in the travel means control unit 19, an input to the operation unit 20 by the operator, and a detection result by a position sensor 21 that is provided in the crane body 11 and detects a relative position in the width direction CD with respect to the travel lane L. Based on this, the direction adjusting mechanism 14c and the traveling wheel drive unit 14d are controlled. Although not shown in FIGS. 1 and 2, the operation unit 20 is provided in the crane main body 11 or installed in an operation room provided outside when remote operation is performed. As shown in FIG. 3, the position sensor 21 is provided in the crane body 11 at a reference position 22 set on one side E in the extending direction EF of the beam portion 16. In this embodiment, the reference position 22 is set on the lower surface of the leg portion 15A on the one E side in the extending direction EF of the beam portion 16, and the ground guideline 3 as the position sensor 21 is connected to the reference position 22. The sensor which detects the relative position of is installed. The ground guideline 3 is made of, for example, a magnet, and is disposed on the road surface R in a straight line along the extending direction AB. Further, the position sensor 21 is a magnetic sensor, and can detect the relative position of the ground guideline 3. Note that the position sensor for detecting the relative position of the ground guideline 3 is not limited to the magnetic sensor, and may be configured to detect the relative position by image processing, for example, as a CCD camera.

Based on the detection signal from the position sensor 21, the traveling means control unit 19 drives the traveling wheel drive unit 14 d to travel by the traveling wheel 14 a while switching the direction of the traveling wheel 14 a by the direction adjustment mechanism 14 c to change the reference position. It is possible to perform a control of causing the vehicle to run sideways so that 22 is positioned above the ground guideline 3. Alternatively, the traveling means control unit 19 gives a relative difference in traveling speed of the traveling means 14 on one E side and the other F side in the extending direction EF of the beam portion 16, so that the reference position 22 is set on the ground. It is possible to perform control to make the vehicle run sideways so as to be positioned above the guideline 3. In other words, the traveling means control unit 19 and the position sensor 21 in the crane body 11 in the width direction C− of the traveling lane L of the reference position 22 set on the one side E of the extending direction EF of the beam portion 16. The adjusting means 25 for adjusting the relative position of D is configured. As will be described later, the adjustment means 25 can hold the separation distance of the portion 12b extending along the road surface R of the power supply cable 12 with respect to the traveling means 14 as the separation distance holding means 26. It has become.

Next, the operation of the tire-type portal crane system 1 and the tire-type portal crane 10 of this embodiment will be described.
As shown in FIGS. 1 and 2, when the tire-type portal crane 10 travels on the travel lane L, the travel unit control unit 19 in the adjustment unit 25 is based on the detection result from the position sensor 21. The traveling means 14 can be controlled so that the position sensor 21 is on the ground guideline 3. That is, with respect to the travel lane L, the relative position on the one E side in the extending direction EF of the beam portion 16 of the crane body 11 where the reference position 21 is set is represented by the width direction CD of the travel lane L. It is possible to travel almost constant. For this reason, even if the crotch opening occurs as the vehicle travels, one side of the extending direction EF of the beam 16 of the crane body 11 where the reference position 22 is set is moved straight on the traveling lane L. be able to. Further, the power supply cable 12 is wound or unwound from the cable reel 13 as the traveling means 14 travels. Here, the cable reel 13 for extending the power supply cable 12 is provided on the one side E, which is the same side as the reference position 22 and the extending direction EF of the beam portion 16. The extended power supply cable 12 can also be extended substantially linearly on the road surface R while suppressing meandering. For this reason, the separation distance of the traveling means 14 of the crane main body 11 and the part 12b extended along the road surface of the electric power feeding cable 12 is hold | maintained, and mutual contact can be prevented.

As described in detail above, the tire-type portal crane system 1 and the tire-type portal crane 10 shown in the present embodiment include the travel means control unit 19 and the position sensor 21 as the adjustment means 25, so that the separation distance is increased. As the holding means 26, the separation distance between the traveling means 14 of the crane body 11 and the portion 12 b extending along the road surface R of the power supply cable 12 can be held at a predetermined distance. For this reason, in the tire type portal crane 10, the electric power is supplied from the external power source 2 through the power supply cable 12 while preventing the contact between the traveling means 14 of the crane body 11 and the power supply cable 12. Can drive.

In the present embodiment, the reference position 22 is set on the lower surface of the one leg 15 and the position sensor 21 capable of detecting the relative position to the ground guideline 3 is provided. However, the present invention is not limited to this. Absent. For example, a member to which the position sensor 21 is attached from one leg portion 15 may be projected, and the position sensor 21 may be provided with an arbitrary position of the member as a reference position. Further, the type of position sensor is not limited to the one that detects the relative position to the ground guideline 3 as described above. For example, the position sensor is replaced with the laser along the extending direction AB of the travel lane L instead of the ground guideline 3. It is good also as a sensor which irradiates light and detects the said laser beam. Alternatively, the position may be detected using GPS. In this case, a position sensor may be provided with the end portion of the beam portion 16 as a reference position. At least, as the adjusting means, in the crane body 11, a reference position is set on one side E of the extending direction EF of the beam portion 16, and the relative position in the width direction CD of the traveling lane L at the reference position. As long as the configuration can be adjusted.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. A second embodiment of the present invention is shown in FIG. In this embodiment, members that are the same as those used in the above-described embodiment are assigned the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 5, in the tire-type portal crane 30 of the present embodiment, the cable reel 13 is provided on one leg portion 15A and the traveling means 14 provided on the one leg portion 15A is supported. The part 14 b is provided with a regulating member 32 that regulates the approach of the power feeding cable 12 as the separation distance holding unit 31. The restricting member 32 projects from the support portion 14b in the extending direction EF of the beam portion (not shown) and is orthogonal to the extending direction EF, that is, the extending direction AB of the travel lane L. Is provided so as to cover the traveling wheel 14a-1 located outside the direction. For this reason, the portion 12b extending along the road surface R of the power feeding cable 12 travels more than the distance defined by the amount of extension W of the beam portion (not shown) of the regulating member 32 in the extending direction EF. Access to the means 14 can be restricted. That is, even if the traveling by the traveling means 14 meanders or the feeding cable 12 meanders on the road surface R, the distance between the traveling means 14 and the portion 12b extending along the road surface R of the feeding cable 12 is It is held so as not to be smaller than the distance defined by the regulating member 32, and mutual contact can be prevented.

In the above description, the separation distance holding unit includes the adjusting unit 25 in the first embodiment and the regulating member 32 in the second embodiment. It is good also as a structure which combined.

(Third embodiment)
Next, a third embodiment of the present invention will be described. A third embodiment of the present invention is shown in FIGS. In this embodiment, members that are the same as those used in the above-described embodiment are assigned the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 6, the tire-type portal crane system 40 according to the present embodiment is different from the first embodiment in that the power supply is extended from the cable reel 13 and connected to the external power source 2. A cable housing groove M for housing the cable 12 is provided on the road surface R along the traveling lane L, and the tire-type portal crane 41 is provided with guide means 42 for guiding the power feeding cable 12. The guide means 42 moves the extension portion 12c of the power supply cable 12 extending from the state accommodated in the cable accommodating groove M toward the crane main body 11 relative to the crane main body 1 to be above the cable accommodating groove M. Arrange.

More specifically, the guide means 42 includes a cable guide 43 that guides the extended portion 12c of the power supply cable 12 connected to the power supply portion (not shown) of the crane body 11 from the upper side to the lower side, and the cable guide 43. A holding unit 44 that holds the cable body 43 so as to be relatively movable along a direction of approaching and separating from the crane body 11 and a position adjusting unit 45 that arranges the cable guide 43 above the cable housing groove M are provided.

The holding portion 44 is composed of a guide rail 44a formed of H-shaped steel, and is provided so as to protrude substantially horizontally from the crane body 11. More specifically, when the guide rail 44a is arranged so as to be able to run laterally along the traveling lane L, the guide rail 44a is substantially orthogonal to the cable housing groove M corresponding to the traveling lane L from the crane body 11 in plan view. It is overhanging. The cable guide 43 is disposed below the guide rail 44 a and is provided with a base member 46 having a guide hole 49 through which the power feeding cable 12 is inserted, and on the base member 46 so as to sandwich the guide rail 44 a from both sides. A pair of L-shaped members 47 and a rolling element 48 provided in the L-shaped member 47 and traveling on the lower flange of the guide rail 44a are provided. The guide hole 49 is provided in the base member 46 at a position protruding laterally with respect to the cable guide 43 so as to penetrate in the vertical direction with a substantially circular cross section and a constant inner diameter. An extension portion 12 c of the power supply cable 12 extending from 13 to the cable housing groove M is inserted. The position adjusting unit 45 is a protruding member including a shaft portion 45a disposed so as to protrude downward from the lower surface of the base member 46 of the cable guide 43, and a roller 45b rotatably provided at the lower end of the shaft portion 45a. Have The lower end of the shaft portion 45 a is inserted into the cable housing groove M, and the roller 45 b at the lower end of the shaft portion 45 a is disposed in the cable housing groove M. The roller 45 b is in contact with the side surface M <b> 1 of the cable housing groove M and can roll along the cable housing groove M. The diameter of the roller 45b is preferably slightly smaller than the width of the cable housing groove M.

In such a guide means 42, the tire-type portal crane 10 meanders in the width direction CD as the crane body 11 moves laterally in the extending direction AB of the travel lane L, and the cable housing groove Even if the relative position with respect to M changes, the roller 45b of the position adjusting unit 45 contacts the wall surface M1 of the cable housing groove M in the guide means 42, so that it is always located in the cable housing groove M, and the crane body 11 At the same time, it moves along the cable receiving groove M in the extending direction AB. A cable guide 43 having a guide hole 49 through which the power feeding cable 12 is inserted through the shaft 45a is connected to the roller 45b of the position adjusting unit 45, so that the cable guide 43 also responds to the movement of the roller 45b. Thus, the guide rail 44a is moved in the width direction CD via the rolling element 48. For this reason, the position of the cable guide 43 relative to the crane body 11 in the width direction CD of the traveling lane L is adjusted. As a result, the guide hole 49 for guiding the power feeding cable 12 can be always positioned above the cable housing groove M. For this reason, when the power feeding cable 12 is pulled out from the cable housing groove M or when the power feeding cable 12 is sent out to the cable housing groove M, the power feeding cable 12 is detached from the cable housing groove M and disposed on the road surface R. In addition, it is possible to reliably prevent the power feeding cable 12 from slidingly contacting the cable housing groove M and being damaged. Therefore, the width of the cable receiving groove M can be set to a minimum size corresponding to the diameter of the power supply cable 12, and this causes a trouble that the trailer wheel fits into the cable receiving groove M when the vehicle passes. Occurrence can be prevented.

Here, as already described in the first embodiment, the relative position of one side E in the extending direction EF of the beam portion 16 of the crane body 11 where the reference position 22 is set is adjusted by the adjusting means 25. Since the traveling lane L can be made to travel straight on the traveling lane L while being substantially constant in the width direction CD of the traveling lane L, the relative position with the cable housing groove M in which the power feeding cable 12 is accommodated can also be made substantially constant. For this reason, the range in which the power feeding cable 12 needs to be relatively moved by the position adjusting unit 45 of the guide means 42 can be minimized, and the guide means 42 can be downsized.

Note that the configuration of the above embodiment may be changed as follows.
(1) The shape of the guide hole 49 of the cable guide 43 has a substantially circular cross section and a constant inner diameter. However, the shape is not limited to this, and the guide hole 49 may be tapered so as to have a larger diameter on the upper side. By doing so, the power feeding cable 12 extending from the cable reel 13 can be reliably guided by the lower cable housing groove M while being suitably inserted into the guide hole 49. In addition, a large number of rollers for guiding the power supply cable 12 may be provided on the inner wall portion of the guide hole 49 to guide the power supply cable 12 in the vertical direction. By doing in this way, it can prevent that the inner wall of this guide hole 49 and the electric power feeding cable 12 contact, and damage to the electric power feeding cable 12 can be prevented more reliably.

(2) Moreover, although the position adjustment part 45 which arrange | positions the cable guide 43 above the cable accommodation groove | channel M was comprised from the protrusion member which consists of the axial part 45a and the roller 45b, it is not limited to this, It consists of a round bar It is good also as what comprises a protrusion member and the said round bar slides on the wall surface M1 of the cable accommodation groove | channel M simply. Further, although one set of protruding members is provided in the cable receiving groove M, the present invention is not limited to this, and one set is provided in the vicinity of each wall surface M1 of the cable receiving groove M (that is, there is a gap in the cable receiving groove M). 2 sets may be provided). Furthermore, although such a protrusion member shall be inserted in the cable accommodation groove | channel M and shall adjust a position, it is not restricted to this. It may be set so that the guide hole 49 of the base member 24 is positioned above the cable housing groove M in the cable guide 43 as a result of being inserted into a groove formed on the road surface R in parallel with the cable housing groove M.

(3) Moreover, although the guide rail 44a was fixed to the crane main body 11, it is not limited to this, You may provide the switching part 50 as shown in FIG.11 and FIG.12. The switching unit 50 includes a rotation shaft 51 that rotatably supports the proximal end of the guide rail 44a with respect to the crane body 11, a wire 52 having one end attached to the distal end of the guide rail 44a, and the wire 52 A hook 53 provided at the other end, an engagement portion 54 provided on the crane main body 11 and capable of engaging with the hook 53, and a stopper 55 provided on the crane main body 11 at the lower base end of the guide rail 44a. . The rotation shaft 51 is disposed substantially horizontally, and rotates the guide rail 44a in the direction of the arrow GH from the horizontal position where the guide rail 44a extends substantially horizontally to the raised position where the tip is disposed upward. It is possible. The stopper 55 supports the guide rail 44a that is rotatably supported by the rotation shaft 51 in a state where the guide rail 44a extends horizontally. Further, by engaging the hook 53 provided at the other end of the wire 52 with the engaging portion 54, the guide rail 44a can be held at the raised position.

By providing the switching unit 50 as described above, when the vehicle travels laterally in the travel lane L, the guide rail 44a is set to the horizontal position, and the extension part 12c of the power feeding cable 12 can be guided by the guide means 42, By holding the guide rail 44a as the raised position, it is possible to travel vertically between the traveling lanes L. That is, when the guide rail 44a is in the raised position, the shaft portion 45a and the roller 45b are allowed to escape upward from the cable housing groove M. Thereby, the tire-type portal crane can be made independent from the cable housing groove M and the traveling lane L, and the movement to the other traveling lane L can be performed without any trouble. When moving to the next traveling lane L, the guide rail 44a is set to the horizontal position again, and the shaft portion 45a and the roller 45b are inserted into the cable receiving groove M corresponding to the next traveling lane L, so that the power supply cable If the 12 extending portions 12c are guided by the guide means 42, the vehicle can travel sideways along the travel lane L.

Further, the switching unit is not limited to manually rotating the guide rail 44a in the direction of the arrow GH as shown in FIG. 11 and FIG. 12, and the wire 52 can be changed like the switching unit 56 shown in FIG. May be wound or unwound by a motor 58 and a switching control unit 59 that drives and controls the motor 58 via a pulley 57 provided on the crane body 11. In such a case, the switching control unit 59 is further interlocked with the traveling unit control unit 19 so that the traveling unit control unit 19 moves the traveling wheel 14a to the direction adjusting mechanism 14c in the width direction C of the traveling lane L. By making the switching control unit 59 drive the motor 58 on the condition that the direction change to -D is performed, it becomes possible to automatically enter a state in which the vehicle can run vertically in conjunction with it.

(4) In the above embodiment, when the tire type portal crane 10 meanders in the width direction CD of the traveling lane L, the guide means 42 causes the extension portion 12c of the power feeding cable 12 to be located above the cable housing groove M. However, the present invention is not limited to this.
That is, the cable housing groove M is arranged in the width direction CD between the traveling lanes L, and the longitudinal traveling is also performed by external power feeding, and the same guide means 42 supports the meandering in the extending direction AB. Thus, the extension portion 12c of the power supply cable 12 may be guided.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. A fourth embodiment of the present invention is shown in FIG. In this embodiment, members that are the same as those used in the above-described embodiment are assigned the same reference numerals, and descriptions thereof are omitted.

The difference between the tire-type portal crane 60 shown in the fourth embodiment and the configuration of the third embodiment is that the guide means 61 for guiding the power supply cable 12 brings the cable guide 43 close to the crane body 11. This is a configuration of a holding portion 62 that holds the moving lane L that is separated from each other along the width direction CD. That is, in this embodiment, a link mechanism 63 is provided as the holding portion 62 of the guide means 61 in place of the H-shaped steel guide rail 44a of the third embodiment. The link mechanism 63 includes a first link member 63a fixed to the crane body 11, and a second link member 63c coupled to the first link member 63a so as to be rotatable about a vertical shaft 63b. And have. The distal end portion of the second link member 63c is rotatably connected to the base member 46 of the cable guide 43 via a vertical shaft 63d. In such a link mechanism 63, when the second link member 63c rotates in the horizontal plane, the cable guide 43 at the tip thereof moves relatively in the width direction CD perpendicular to the cable housing groove M. Is acceptable.

In the fourth embodiment as well, as in the third embodiment, even if the relative position of the cable housing groove M with respect to the crane body 11 changes with traveling, the cable housing groove M is linked by the link mechanism 63. A cable guide 43 that guides the extending portion 12c of the power feeding cable 12 can be always disposed above the cable. Therefore, when the power feeding cable 12 is pulled out from the cable housing groove M accompanying the traveling of the crane body 11 or when the power feeding cable 12 is sent to the cable housing groove M, the power feeding cable 12 is detached from the cable housing groove M and the road surface. It is possible to reliably prevent the power supply cable 12 from being slidably contacted with the cable housing groove M and being damaged. Further, by providing the adjusting means 25, the range in which the power feeding cable 12 needs to be relatively moved by the position adjusting portion 45 of the guide means 61 can be minimized as in the third embodiment. The guide means 61 can be downsized.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described. A fifth embodiment of the present invention is shown in FIGS. In this embodiment, members that are the same as those used in the above-described embodiment are assigned the same reference numerals, and descriptions thereof are omitted.

15 and 16, the difference between the tire-type portal crane 70 shown in the present embodiment and the third and fourth embodiments is the configuration of the position adjusting unit 72 in the guide means 71. That is, the position adjusting unit 72 shown in the fifth embodiment mechanically positions the cable guide 43 by the shaft 45a and the roller 45b that constitute the protruding members as shown in the third and fourth embodiments. Instead of adjusting, the position of the cable guide 43 is adjusted based on the position information of the crane body 11.

More specifically, the position adjusting unit 72 is based on a guide driving unit 73 that moves the cable guide 43 while being held by the guide rail 44 a and a detection signal from the position sensor 21 that constitutes the adjusting unit 25. A guide control unit 74 that controls the guide drive unit 73 so that the guide 43 is positioned above the cable housing groove M;

The guide drive unit 73 includes a pair of pulleys 75 provided on the tip of the guide rail 44 a and the crane body 11, a belt 76 wound around the pulleys 75, and a stepping motor for driving the pulley 75. And a drive motor 77. The drive motor 77 is driven and controlled based on a control signal from the guide control unit 74. Further, the base member 46 of the cable guide 43 is connected to the belt 76, and the base member 46 also moves in the same direction in accordance with the driving of the belt 76 in the width direction CD.

Below, the control content of the guide control part 74 is demonstrated based on the flow of FIG.
[Step S1]
First, when the crane body 11 starts to travel, the guide control unit 74 takes in a detection signal representing the meandering amount δα of the crane body 11 from the position sensor 21 at a predetermined control cycle.
Here, the meandering amount δα of the crane body 11 is a deviation amount in the width direction CD with reference to the time when the center position of the position sensor 21 coincides with the ground guideline 3 and the width direction CD (δα = 0). Represents a value having a positive or negative sign.
[Step S2]
Next, the guide control unit 74 sets the target position X1 of the cable guide 43. Here, the target position X1 refers to the position of the cable guide 43 relative to the holding portion 44 based on the position where the guide hole 49 of the cable guide 43 is above the cable housing groove M when the meandering amount δα of the crane body 11 is zero. It is a relative position in the width direction CD and is a value having a positive or negative sign. In order to position the guide hole 49 of the cable guide 43 above the cable housing groove M when the crane body 11 meanders in the width direction CD so as to approach or separate from the cable housing groove M, the meandering amount δα Therefore, the target position X1 is set to (−δα) obtained by inverting the meandering amount δα positively and negatively.
[Step S3]
Next, the guide control unit 74 refers to the current position X2 of the cable guide 43 from the previous output result of the drive motor 77.
[Step S4]
Next, the guide control unit 74 calculates a movement amount S necessary to obtain the target position X1 from the difference between the target position X1 of the cable guide 43 and the current position X2.
[Step S4]
The guide control unit 74 outputs a drive signal corresponding to the calculated movement amount S to the drive motor 77, so that the drive motor 77 rotates by a predetermined angle, and thereby the cable guide 43 via the pulley 75 and the belt 76. The position of the guide hole 49 can be adjusted by moving the guide hole 49 above the cable receiving groove M.

In the fifth embodiment as well, by repeating the above control, the relative position of the cable housing groove M with respect to the crane body 11 is changed with traveling, as in the third and fourth embodiments. In addition, since the cable guide 43 for guiding the power feeding cable 12 can be always positioned above the cable housing groove M, the power feeding cable 12 is pulled out from the cable housing groove M, or the power feeding cable to the cable housing groove M is used. When feeding 12, the feeding cable 12 is removed from the cable housing groove M and disposed on the road surface R, and the feeding cable 12 is reliably prevented from being slid and damaged by the cable housing groove M. be able to. Further, based on the detection result by the position sensor 21 constituting the adjusting means 25, the guide driving unit 73 is driven and controlled so that the cable guide 43 is positioned above the cable housing groove M with respect to the guide control unit 74. Therefore, the position adjustment of the cable guide 43 with respect to the cable receiving groove M can be automatically and accurately performed, and the adjustment means 25 can minimize the position adjustment amount and reduce the size of the guide means 71. be able to.

Although the pulley 75 and the belt 76 are used as the guide drive unit 73, the present invention is not limited to this, and a combination of a chain and a sprocket may be used. The drive motor 77 is not a stepping motor but a DC motor or an AC. A motor may be used. When a DC motor or an AC motor is used as the drive motor 77, an encoder may be provided to detect the current position of the cable guide 43. Further, the guide driving unit 73 is not limited to the configuration of rotational driving, and a system using a linear motor may be used. For detecting the position of the cable guide 43, a linear displacement meter may be provided along the guide rail 44a.

The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included.

In any of the above embodiments, the power supply cable is extended from the crane main body side and connected to the external power source, and the portion extended on the road surface of the power supply cable by the separation distance holding means and the traveling means Although the separation distance is maintained, the present invention is not limited to this. That is, the cable may be an information communication cable in addition to the power supply cable.In this case, instead of an external power source, for example, a control device that performs input / output with the crane body side is connected as an external facility. The Rukoto.

The tire-type portal crane and the tire-type portal crane system of the present invention can travel so that the tire and the cable connected to the external equipment do not come into contact with each other.

1, 40 Tire-type portal crane system 2 External power supply (external equipment)
10, 30, 41 Tire type portal crane 11 Crane body 12 Power supply cable (cable)
12b Part extended on road surface 12c Extension part 13 Cable reel 14 Traveling means 14a Traveling wheel (tire)
DESCRIPTION OF SYMBOLS 15 Leg part 16 Beam part 19 Traveling means control part 21 Position sensor 22 Reference position 25 Adjustment means 26, 31 Separation distance holding means 32 Control member 42 Guide means 43 Cable guide (cable guide part)
44 holding portion 44a guide rail 45 position adjusting portion 45a shaft portion (protruding member)
45b Roller (protruding member)
DESCRIPTION OF SYMBOLS 50 Switching part 62 Holding part 72 Position adjustment part 73 Guide drive part 74 Guide control part L Traveling lane M Cable accommodation groove R Road surface

Claims

A crane body configured in a gate shape with a pair of legs and a beam extending between the legs; and
Traveling means provided on the lower end of each of the legs, and traveling on the road surface with tires;
A cable extending from the crane body and connected to external equipment;
A cable reel provided in the crane body for winding and unwinding the cable;
A tire-type portal crane comprising: a separation distance holding means for holding a separation distance of a portion extending along the road surface of the cable with respect to the traveling means.
The separation distance holding means adjusts a relative position in the traveling lane width direction of a reference position set on one side in the extending direction of the beam portion of the crane body with respect to the traveling lane provided on the road surface. Having means,
The tire-type portal crane according to claim 1, wherein the cable reel is provided on one side in the extending direction of the beam portion on the same side as the reference position.
The adjustment means is provided at the reference position, and a position sensor that detects a relative position in the traveling lane width direction;
The tire type portal crane according to claim 2, further comprising a traveling means control unit that controls a traveling direction of the traveling means based on a detection result of the position sensor.
The tire-type portal crane according to any one of claims 1 to 3, wherein the separation distance holding unit includes a regulating member that is provided in the traveling unit and regulates the approach of the cable.
The cable is connected to the external equipment through a state of being accommodated in the cable accommodation groove formed on the road surface,
A guide means is provided, wherein an extended portion of the cable extending toward the crane main body from the state of being accommodated in the cable accommodating groove is moved relative to the crane main body and arranged above the cable accommodating groove. The tire type portal crane according to claim 2 or claim 3.
The guide means includes a cable guide portion for guiding the cable extended from the crane body from above to below,
A holding portion for holding the cable guide portion so as to be relatively movable in the extending direction of the beam portion with respect to the crane body;
The tire-type portal crane according to claim 5, further comprising a position adjusting unit that arranges the cable guide unit above the cable housing groove.
The position adjusting portion protrudes downward from the cable guide portion so as to be inserted into the cable receiving groove, and is configured by a protruding member that can slide or roll on the wall surface of the cable receiving groove. The tire type portal crane according to claim 6.
The tire-type portal crane according to claim 7, wherein the guide means includes a switching unit that allows the position adjusting unit to be inserted and removed vertically with respect to the cable housing groove.
A position detecting means for detecting a relative position of the crane body with respect to the cable housing groove;
The position adjusting unit of the guide unit includes a guide driving unit that moves the cable guide unit while being held by the holding unit, and the cable guide unit is configured to move the cable guide unit based on a detection result of the position detection unit The tire type portal crane according to claim 6, further comprising a guide control unit that controls the guide driving unit so as to be positioned above the vehicle.
A tire-type portal crane according to any one of claims 1 to 9,
A tire type portal crane system comprising external equipment provided in the vicinity of a traveling lane on which the tire type portal crane runs.