WO2011019117A1

WO2011019117A1 - Automatic landing apparatus of spreader for crane and method thereof

Info

Publication number: WO2011019117A1
Application number: PCT/KR2009/007862
Authority: WO
Inventors: 김수현; 김은호; 홍윤식; 주한종; 김정; 곽윤근; 곽병만
Original assignee: 한국과학기술원
Priority date: 2009-08-12
Filing date: 2009-12-29
Publication date: 2011-02-17
Also published as: KR101141591B1; KR20110016685A

Abstract

The present invention relates to an automatic landing apparatus of a spreader for a crane and a method thereof comprising: a frame body unit including a pulley installed in an upper end thereof to be connected to a trolley through a cable; an adhering member to attach and fix the frame body unit on an upper surface of a container; a position shift unit for aligning the frame body unit through a relative movement with respect to the container on the basis of the adhering member when the adhering member is attached on the upper surface of the container; and a fixing unit which is installed at an edge of the frame body unit to fix the container aligned to the frame body unit. Accordingly, the present invention has an effect that rapidly fixes and corrects the swinging spreader due to various external factors on sea or land like a mobile harbor to the container which safely transfers the spreader through the adhering member and the position shift unit which can correct a stance by horizontally shifting a position of the frame body unit from the adhering member. In addition, the present invention fixes the container positioned at a correct position by automatically detecting a position of the container positioned at a lower part of the spreader by installing a camera capable of controlling an angle thereof through an actuator and a proximity sensor at the spreader.

Description

Automatic landing device and method of crane spreader

The present invention relates to an automatic landing device and method of a crane spreader, and more particularly, when transporting a container using a spreader of a crane in a mobile harbor, which is a land or a moving port, due to various external factors The present invention relates to an automatic landing apparatus and method of a crane spreader that can safely and securely move a shaking spreader to a container.

Recently, with the increase of international logistics, the volume of imports and exports by sea is increasing dramatically. As a result, more than 10,000 TEU-class giant ships have emerged, and the size of the container terminal is growing large enough for large vessels to dock. Therefore, a number of large cranes are installed in the world's advanced ports for loading or unloading containers.

In general, a crane for transporting a container is an unloading device that loads and unloads a container between a ship and a pier. The ship and unloading speed of a container crane is a key factor in determining the handling speed of a ship and the processing capacity of the entire pier cargo. .

As an example of a facility used for unloading and stacking containers, as shown in FIG. 1, a post crane P and a beam B are provided on a chassis D provided with a plurality of wheels W by a container crane. ), Constitutes a frame in the form of a door, and a trolley T that lifts the container N on the beam B moves.

Such a container crane transfers the container N while moving forwards, backwards, and rotates by driving and turning the wheels W. FIG.

And a spreader (Sprader: S) is provided on the trolley (T) for hoisting of the container (N). The spreader (S) is configured in a stretchable manner to support containers (N) having different specifications.

In FIG. 2, the transfer of the container 10 to the conventional spreader 20 is illustrated. A telescopic frame 22 telescopically stretched with respect to the main body 21 of the spreader 20 is adjusted to the size of the container 10 and is formed at the corner of the container 10 by a twist locking device 24 formed at an end thereof. The container 10 was fixed by being fixed to the installed corner casting 11.

In order to precisely align the fixed container 10 and the telescopic frame 22, the flipper 23 which contacts the four corners of the container 10 while rotating downwards simultaneously or sequentially by driving a rotary actuator (not shown) is used. It is installed at the four corners of the telescopic frame 22 to match the container 10 and the spreader 20.

However, the conventional container crane has a problem that it is very difficult to accurately adjust the position of the spreader for lifting the container due to the shaking of the anchored container ship or the container position that is not located exactly.

In other words, when the container is removed and attached by a conventional crane, the spreader is positioned at the corner of the container depending only on the perspective of the coordinator located in the control room. There is a problem that consumes a lot of work time to reduce the efficiency of the work.

The present invention has been invented to solve the above problems, the object of the mobile unit by installing a position conversion unit to enable the posture correction by the horizontal position conversion of the frame member of the spreader from the attachment member and the attachment member to the spreader, It is to provide an automatic landing, positioning, fastening device and method of a crane spreader that can safely and securely transport the spreading shaker due to various external factors on the sea or land such as a harbor.

In addition, in another object of the present invention, by mounting the vision camera and the proximity sensor that can be adjusted by the actuator to the spreader, it is possible to automatically detect the position of the container located below the spreader to fix the container at the correct position. It is to provide an automatic landing, positioning, fastening device and method of the spreader for a crane.

In order to achieve the above object, according to the present invention, in the crane spreader, the frame body portion is installed on the top pulley is connected to the trolley by the cable, and the attachment member is installed to be fixed to the frame body portion on the upper surface of the container; Position conversion unit for the frame body part relative to the container relative to the container in the state that the attachment member is attached to the upper surface of the container and the alignment is made, the container is installed at the corner of the frame body portion aligned with the frame body portion Provided is an automatic landing device for a crane spreader comprising a fixing unit for fixing the.

And the frame body portion, it may be made of a lower frame and the upper plate frame is installed via the support, and the top frame is installed on the upper side of the upper frame.

In addition, the attachment member may be a magnet or a rubber adsorption plate.

And the position conversion unit, the housing is rotated coaxially installed on the upper side of the attachment member, the first horizontal moving portion connected to the housing to horizontally move the frame body in the longitudinal direction, and connected to the housing to shorten the frame body It may include a second horizontal moving unit for horizontally moving in the direction.

The first horizontal moving part penetrates the housing and is penetrated by any one of a first support rod installed along the longitudinal direction of the frame body portion, a first nut housing provided at both ends of the first support rod, and a first nut housing. And a first screw shaft for horizontally moving the frame main body in a short axis direction by a housing installed in the unit and fixed by an attachment member, and the second horizontal moving part penetrates the housing in a direction orthogonal to the first supporting rod and in the short direction of the frame body part. The frame main body is formed by a second support rod which is installed along the second support rod, a second nut housing installed at both ends of the second support rod, and a housing which is penetrated by one of the second nut housings and is installed in the frame body portion and fixed by an attachment member. It may include a second screw shaft for horizontally moving in the longitudinal direction.

Here, the first support rod and the second support rod may be formed in a pair.

In addition, the first screw shaft and the second stream shaft are respectively provided with the first and second drive motors, the third drive motor is further installed on the upper surface of the housing, the motor shaft of the third drive motor penetrates the housing to the container Attached via a bearing to a fixed attachment member, the frame body may be rotated like a housing.

In addition, the first, second and third drive motors are organically controlled to be driven so that the frame body portion can be aligned with the container.

On the other hand, one or more installed on the lower surface of the frame body portion may further include a proximity sensor for measuring the distance between the container and the frame body portion, and a controller for processing data of the proximity sensor.

The frame main unit may further include a vision camera capable of detecting the position of the container, and an image processor configured to process data of the vision camera, and the vision camera may include an actuator driver capable of adjusting an angle.

In addition, the present invention, by using a vision camera to detect the position of the container, the frame body portion is fixed to the upper surface of the position-detected container through the attachment member, the container from the frame body portion through the proximity sensor provided on the lower surface of the frame body portion By detecting the position to calculate the position conversion path, according to the calculated path is attached to the upper surface of the container in the state that the frame body is the position conversion unit relative to the attachment member is aligned by the relative movement with the container, When the container and the frame body portion is aligned, it provides an automatic landing method of a crane spreader for loading or unloading the container by fixing the container through a fixing unit.

Here, the vision camera may detect the position of the container while adjusting the angle through the actuator driver.

In addition, in the process of fixing the frame body portion to the upper surface of the position detected container through the attachment member, the attachment member of the frame body portion may be attached to any position of the upper surface of the container.

In the process of performing alignment with the container using the frame body unit as the position conversion unit, the position conversion unit may be aligned while the long axis direction, the short axis direction, and the rotation are organically driven.

According to the automatic landing apparatus and method of the crane spreader of the present invention, the marine member such as a mobile harbor through the attachment member to the spreader, and the position conversion unit which allows the posture correction by horizontally changing the frame body of the spreader from the attachment member. Or on land, due to various external factors, the shaking spreader can be safely and quickly transported to the container.

In addition, by mounting the vision camera and the proximity sensor that can be adjusted by the actuator to the spreader, the position of the container located in the lower portion of the spreader is automatically detected to have the effect of fixing the container at the correct position.

1 shows a conventional equipment used for unloading and stacking containers,

Figure 2 schematically shows the transport of the container by a conventional spreader,

3 is a perspective view of an automatic landing device for a crane spreader according to an embodiment of the present invention,

4 is a front view showing a position conversion unit in the automatic landing device of the crane spreader according to an embodiment of the present invention,

5 is a plan view showing a position conversion unit in the automatic landing device of the crane spreader according to an embodiment of the present invention,

6 to 7 is a plan view of the automatic landing device of the spreader for a crane according to an embodiment of the present invention,

8 is a flow chart of the automatic landing method of the crane spreader according to an embodiment of the present invention.

Hereinafter, one embodiment of the present invention will be described in more detail with reference to the accompanying drawings so that those skilled in the art can easily practice, but this is only an example, the present invention is limited thereto. It doesn't happen.

Figure 3 is a perspective view of the automatic landing device of the crane spreader according to an embodiment of the present invention, Figure 4 is a front view showing a position conversion unit in the automatic landing device of the crane spreader according to an embodiment of the present invention, Figure 5 6 is a plan view showing a position conversion unit in the automatic landing device of the crane spreader according to an embodiment of the present invention, Figures 6 to 7 are plan views of the automatic landing device of the crane spreader according to an embodiment of the present invention, 8 is a flow chart of the automatic landing method of the crane spreader according to an embodiment of the present invention.

As shown in FIGS. 3 to 7, the automatic landing device of the crane spreader 100 of the present embodiment has a pulley 118 at the top so that it is connected to the trolley (see FIG. 1) by a cable (not shown). Positioning unit 130 and the frame body unit for arranging the frame body 110 to be installed, the attachment member 120 attached to the container 180 and the frame body 110 to match the container 180, Installed in the 110 may include a fixing unit 150 for fixing the container (shown in Figure 6: 180).

Here, the spreader 100 for crane is a floating liquefied natural gas storage unit (FSRU: Floating Storage Regasfication Unit) or a natural gas storage and production facility (FPSO: Floating Production) In addition, it can be operated in a mobile harbor or a quay in a harbor of a land, which is a moving port carrying container-like loads from storage and offloading.

The frame body part 110 of the spreader 100 is made of metal and has the same size as that of the container 180, and the lower plate frame 112 and the upper plate frame 114 are provided with the same size. Between the lower plate frame 112 and the upper plate frame 114, a support 116 perpendicular to the corner side may be installed.

Accordingly, the lower plate frame 112 and the upper plate frame 114 may be spaced apart from each other by using the support 116.

The top frame 117 may be installed on the upper side of the upper frame 114, and a pair of pulleys 118 may be installed on the top frame 117 to face each other. The pulley 118 may be connected to the trolley by a cable.

Attachment member 120 is installed on the frame body portion 110, is located in the center by the position conversion unit 130 described below, and protrudes into the lower surface than the frame body portion 110 container 180 It can be attached to the top of the.

The attachment member 120 may be a magnet or a rubber adsorption plate to facilitate attachment to the metal container 180 in a circular or polygonal shape.

And the position conversion unit for the frame body portion 110 is relative to the container 180 in the state in which the attachment member 120 is attached to the upper surface of the container 180 is aligned with the container 180 to be aligned. 130, as shown in Figure 5, the housing 131 of the circular or polygonal coaxially is installed on the upper side of the attachment member 120, is connected to the housing 131 in the longitudinal direction of the frame body 110 It may include a first horizontal moving unit for horizontally moving in the first direction, and a second horizontal moving unit connected to the housing 131 to horizontally move the frame body 110 in the short axis direction.

The first support rod 132 is installed as the first horizontal moving part in the longitudinal direction of the frame main body 110 and penetrates the housing 131, and is perpendicular to the first support rod 132 in the housing 131. The second support bar 136 may be installed as the second horizontal moving part along the short axis direction of the frame body 110.

Here, the first support rod 132 and the second support rod 136 may be formed in a pair.

A first nut housing 133 is installed at both ends of the first support rod 132 as a first horizontal moving part, and is penetrated through any one of these first nut housings 133 to be installed in the frame body part 110. A first screw shaft 134 for horizontally moving the frame body 110 in the short axis direction may be installed by the housing 131 fixed to the attachment member 120, and the other first nut housing 133 may be installed. The first guide rod 135 may be installed therethrough.

In addition, a second nut housing 137 is installed at both ends of the second support rod 136, which is a second horizontal moving part, and is penetrated through any one of these second nut housings 137 to the frame body 110. A second screw shaft 138 for horizontally moving the frame body 110 in the long axis direction may be installed by the housing 131 fixed to the attachment member 120, and the second nut housing 137 may be installed. The second guide rods 139 may be installed therethrough.

The first screw shaft 134 and the second screw shaft 138 are respectively provided with first and

second drive motors

140 and 142 that receive power through a belt, and a third surface is provided on the upper surface of the housing 131. Drive motor 144 is further installed, the motor shaft 144a of the third drive motor 144 penetrates the housing 131 and attaches the bearing 144b to the attachment member 120 fixed to the container 180. The frame body 110 may be rotated together with the housing 131.

The first, second, and

third driving motors

140, 142, and 144 may be organically controlled to be driven so that the frame body 110 may be aligned with the container 180.

In addition, the fixing unit 150 installed at the corner of the frame body 110 to fix the container 180 has a twist locking device 152 installed on the lower surface of the corner of the frame body 110 so that the container 180 After the insertion into the corner casting 182 installed at the corner of the fixed by rotation can be fixed to the container 180.

In addition, the flipper 154 may be installed to contact the four corners of the container 180 in a downward rotation by driving a rotary actuator (not shown) for accurate alignment with the fixed container 180.

Meanwhile, one or more proximity sensors 160 may be installed along the bottom surface of the frame body 110, and the proximity sensor 160 may be formed of an infrared sensor, and may be disposed between the container 180 and the frame body 110. The distance may be measured, and the measured value may be processed by the controller 162.

Further, the frame body 110 may be installed with a vision camera 170 that can automatically detect the position of the container 180, the vision camera 170, the actuator driver for adjusting the angle (not shown) ) May be included, and may further include an image processor 172 for processing data of the vision camera 170.

The automatic landing method of the crane spreader having such a structure is made as follows.

First, according to the flowchart of the automatic landing method of the crane spreader shown in Figure 8, the process of detecting the position of the container using a vision camera (200), and the frame body portion on the upper surface of the position detected container through the attachment member The process 210 is fixed, the process of detecting the position of the container from the frame body through a proximity sensor installed on the bottom of the frame body portion to calculate the position conversion path 220, and the attachment member according to the calculated path the upper surface of the container In the state of being attached to the frame body part relative to the attachment member in the state attached to the position conversion unit 230 and the alignment is made through the container and the relative movement, and when the container and the frame body portion is aligned, the container is fixed through the fixing unit It may include a process 240 for loading or unloading.

3 to 7, each process will be described in more detail. Prior to approaching the container 180 with the spreader 100 connected by a cable to the trolley and the pulley 118, the vision camera 170 is used. Through the process (200) of detecting the position of the container 180 by using, at this time, the vision camera 170 can be accurate in detecting the position of the container 180 by adjusting the angle through the actuator driver not shown. In this process, the position of the container 180 detected in the process may be confirmed by the image processor 172.

Subsequently, the frame main body 110 is fixed to the upper surface of the position detected container 180 through the attachment member 120, which is adjacent to the positioned container 180. Attaching member 120 located in the center of 110 is attached to any position of the upper surface of the container 180.

The frame body 110 is attached to the container 180 through the attachment member 120, so that the frame body 110 and the container are attached even if the container 180 or the spreader 100 is shaken due to external factors at sea. 180 is moved in the same direction, so that the housing 131 and the frame body 110 is a container based on the attachment member 120 in a state that the attachment member 120 is attached to the upper surface of the container 180 Alignment may be achieved through rotation and horizontal movement with 180.

In addition, the position of the container 180 is detected from the frame body 110 through the proximity sensor 160 installed on the bottom surface of the frame body 110 while the attachment member 120 is attached to the top surface of the container 180. In step 220, a position conversion path is calculated. In this case, the calculated detection transmits a signal to the control unit 162, and the control unit 162 controls each of the first, second and

third driving motors

140, 142 and 144.

Next, according to the control of the control unit 162, the frame body unit 110 is relative to the container 180 through the relative movement with respect to the container 180 in a state where the attachment member 120 is attached to the upper surface of the container 180. The process 230 in which the alignment is made is carried out as mentioned above.

In the process 230, the rectangular frame body 110 through the position conversion unit 130 may be aligned in the long axis direction, the short axis direction and the rotation is organically driven.

That is, the attachment member 120 and the coaxial housing 131 are fixed to the container 180 together with the first, second, and

third driving motors

140, 142, and 144 according to the signal of the controller 162. When the first screw shaft 134 is rotated by the drive of the first drive motor 140, the frame body portion around the first nut housing 133 connected to the housing 131 and the first support rod 132 When the 110 rotates in the short axis direction and the second screw shaft 138 is rotated by the driving of the second driving motor 142, the second nut housing connected to the housing 131 and the second supporting rod 136 ( 131, the frame body 110 is rotated in the long axis direction.

In addition, the driving of the third driving motor 144 rotates the entire frame body 110 connected to the housing 131 while the attachment member 120 is fixed.

Accordingly, the frame body 110 is aligned with the frame body 110 and the container 180 while being shortened, long axis and rotated in the horizontal direction.

Lastly, in the process 240, when the container 180 and the frame body 110 are aligned, the container 180 is fixed and shipped or unloaded through the fixing unit 150.

The fixing unit 150 is rotated after the twist locking device 152 installed at the bottom of the corner portion of the frame body 110 is inserted into the corner casting 182 installed at the corner of the container 180, thereby rotating the container 180. In order to accurately align with the fixed container 180, the flipper 154 contacts the four corners of the container 180 in a downward rotation by driving a rotary actuator (not shown) to ship the container 180. Or unloaded.

As described above, the position conversion unit 130 which allows the attachment member 120 to the spreader 100 and the frame body unit 110 to change the horizontal position from the attachment member 120 to perform posture correction. This makes it possible to safely and securely transport a spreader that is shaken due to various external factors, such as mobile harbors, to the container quickly and accurately.

In addition, by mounting the vision camera 170 and the proximity sensor 160 that can be adjusted by the actuator to the spreader 100, the container 180 is automatically detected the position of the container 180 located below the spreader 100 It is possible to fix the 180 in the correct position.

As described above as a specific embodiment of the automatic landing apparatus and method of the crane spreader according to the present invention, this is only an example, the present invention is not limited to this, and has the broadest range in accordance with the basic idea disclosed herein Should be interpreted as Those skilled in the art can easily change the material, size, etc. of each component according to the application field, and can be combined / substituted the disclosed embodiments to implement a pattern of a timeless shape, but this also does not depart from the scope of the present invention will be. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications belong to the scope of the present invention.

Claims

A frame body having a pulley installed at an upper end thereof so as to be connected to the trolley by a cable;

An attachment member installed to attach and fix the frame body to the upper surface of the container;

A position conversion unit for performing alignment with the frame body part relative to the container with respect to the attachment member while the attachment member is attached to the upper surface of the container;

A fixing unit installed at an edge of the frame body part to fix the container aligned with the frame body part;

Automatic landing device for crane spreader comprising a.
The method of claim 1,

The frame body portion,

A lower plate frame and an upper plate frame installed through a support;

Automatic landing device for a crane spreader comprising a top frame in which the pulley is installed above the upper frame.
The method of claim 1,

The attachment member is an automatic landing device for a crane spreader comprising a magnet or a rubber suction plate.
The method of claim 1,

The position conversion unit,

A housing coaxially installed on the upper side of the attachment member and rotated;

A first horizontal moving part connected to the housing to horizontally move the frame body in a long axis direction;

A second horizontal moving part connected to the housing to horizontally move the frame body in a short axis direction;

Automatic landing device for a spreader for crane comprising a.
The method of claim 4, wherein

The first horizontal moving unit,

A first support rod penetrating through the housing and installed along a long axis of the frame body;

First nut housings provided at both ends of the first support bar;

A first screw shaft penetrating through any one of the first nut housings and horizontally moving the frame body in a short axis direction by the housing fixed to the frame body and fixed to the attachment member,

The second horizontal moving unit,

A second support rod penetrating the housing in a direction perpendicular to the first support rod and installed along a short axis direction of the frame body part;

Second nut housings provided at both ends of the second support bar;

A second screw shaft penetrating through any one of the second nut housings and horizontally moving the frame body in the longitudinal direction by the housing fixed to the frame body and fixed to the attachment member;

Automatic landing device for crane spreader comprising a.
The method of claim 5,

The first support rod and the second support rod is an automatic landing device for a crane spreader consisting of a pair.
The method of claim 5,

First and second drive motors are respectively installed on the first screw shaft and the second stream shaft, and a third drive motor is further installed on an upper surface of the housing, and the motor shaft of the third drive motor passes through the housing. Is connected to the attachment member fixed to the container through a bearing automatic landing device for a crane spreader is made to rotate the frame body portion like the housing.
The method of claim 7, wherein

The first, second, and third drive motors are organically controlled, and the automatic landing device for a spreader for a crane in which the frame body portion is aligned with the container.
The method according to any one of claims 1 to 8,

Proximity sensor is installed on at least one lower surface of the frame body portion to measure the distance between the container and the frame body portion,

Control unit for processing data of the proximity sensor

Automatic landing device for a spreader for crane further comprising.
The method according to any one of claims 1 to 8,

The frame body unit has a vision camera that can detect the position of the container,

Image processing unit for processing the data of the vision camera

Automatic landing device for a spreader for crane further comprising.
The method of claim 10,

The vision camera is an automatic landing device for a crane spreader that includes an actuator drive that can adjust the angle.
Using the vision camera to detect the position of the container,

The frame body part is fixed to the upper surface of the container detected by the attachment member,

A position conversion path is calculated by detecting the position of the container from the frame body portion through a proximity sensor provided on the bottom surface of the frame body portion.

According to the calculated path, the frame body is aligned with the container by relative movement with the frame main body as a position conversion unit in the state in which the attachment member is attached to the upper surface of the container,

When the container and the frame body portion is aligned, the automatic landing method of the crane spreader to be shipped or unloaded by fixing the container through a fixing unit.
The method of claim 12,

The vision camera is an automatic landing method of a crane spreader for detecting the position of the container while the angle is adjusted through the actuator drive unit.
The method of claim 12,

In the process of fixing the frame body portion through the attachment member on the upper surface of the container of the position detection,

Attaching member of the frame body portion is an automatic landing method of the spreader for crane is attached to any position of the upper surface of the container.
The method of claim 12,

In the process of performing alignment with the container relative to the container by the frame body portion as a position conversion unit,

Automatic positioning method of the spreader for crane is the position conversion unit is aligned with the long axis direction and the short axis direction and the rotation is organically driven.