WO2019008914A1 - クレーン装置 - Google Patents

クレーン装置 Download PDF

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Publication number
WO2019008914A1
WO2019008914A1 PCT/JP2018/018938 JP2018018938W WO2019008914A1 WO 2019008914 A1 WO2019008914 A1 WO 2019008914A1 JP 2018018938 W JP2018018938 W JP 2018018938W WO 2019008914 A1 WO2019008914 A1 WO 2019008914A1
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WO
WIPO (PCT)
Prior art keywords
container
unit
center
inclination angle
tilt angle
Prior art date
Application number
PCT/JP2018/018938
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
伸郎 吉岡
Original Assignee
住友重機械搬送システム株式会社
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 住友重機械搬送システム株式会社 filed Critical 住友重機械搬送システム株式会社
Priority to MYPI2019007190A priority Critical patent/MY196459A/en
Priority to JP2019528387A priority patent/JP6672530B2/ja
Priority to CN202011502944.0A priority patent/CN112678665B/zh
Priority to CN201880035030.2A priority patent/CN110799442B/zh
Publication of WO2019008914A1 publication Critical patent/WO2019008914A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions

Definitions

  • One aspect of the present invention relates to a crane apparatus.
  • Patent Document 1 discloses a spreader which is suspended from a crane main body via a wire, holds a container and lifts the container by lifting the container, and a position detection for detecting the position of the container placed in the container yard A crane arrangement comprising a part is described. The crane device places the container lifted by the spreader on the container placed in the container yard based on the result detected by the position detection unit.
  • the spreader includes a spreader main body having a substantially rectangular shape in plan view, and a guide which is provided outside the spreader main body and guides the spreader main body onto a target container.
  • the guide portion positions the spreader body on the target container while entering the gap between the target container and the container adjacent to the target container.
  • the yard surface of a container yard may have a part which inclines to a level surface.
  • the yard surface of the area where the container is to be placed is inclined with respect to the horizontal plane
  • the lower and upper surfaces of the container placed on the yard surface are also Tilt to the horizontal plane. Then, the position of the container placed on the yard surface is shifted in the horizontal direction with respect to the normal loading position in the area where the container is to be placed.
  • one aspect of the present invention aims to provide a crane apparatus capable of suppressing displacement of a container relative to a normal loading position.
  • a crane device of one mode of the present invention is a crane device which conveys a container on a container yard which can put a container in a predetermined field, and can lock a container Yes, the load handling unit that handles the container as a lifting container by lifting and holding the container, and the tilt angle recognizing the tilt angle of the area of the area where the lifting container is to be placed with respect to the horizontal surface of the yard
  • a control unit for controlling the position of the loading and unloading unit the control unit being recognized by the inclination angle recognition unit when the hanging container is placed on the upper surface of the stacking container which is a container placed in the area
  • the center of the lower surface of the hanging container is shifted in the direction that the height of the upper surface with respect to the horizontal plane is higher with respect to the center of the upper surface of the loading container based on the inclined angle It controls the position of the handling portion.
  • the control unit when the hanging container is placed on the upper surface of the stacking container, the control unit causes the center of the lower surface of the hanging container to be the upper surface of the stacking container on the basis of the inclination angle recognized by the inclination angle recognition unit.
  • the position of the cargo handling unit is controlled such that the height of the upper surface with respect to the horizontal plane is higher with respect to the center.
  • the center of the lower surface of the suspension container is shifted in the direction in which the height of the upper surface with respect to the horizontal plane is higher than the center of the upper surface of the stacking container.
  • the center of the lower surface of the suspension container extends straight through the center of the lower surface of the cargo container, as compared to the case where the center of the lower surface of the suspension container is aligned with the center of the upper surface of the storage container. It can be brought close to the position of As a result, the containers can be stacked along a straight line extending in the vertical direction, and displacement of the containers relative to the normal loading position can be suppressed.
  • the container yard further includes a storage unit having a plurality of areas and storing the inclination angle of the yard surface of each area measured in advance, and the inclination angle recognition unit
  • the tilt angle corresponding to the area in which the hanging container is to be placed may be recognized by reading out the tilt angle corresponding to the area in which the container is to be placed from the storage unit.
  • the inclination angle recognition unit reads the inclination angle of the yard surface of each area measured in advance from the storage unit, and thereby recognizes the inclination angle corresponding to the area in which the hanging container is to be placed. Therefore, it is possible to control the position of the cargo handling unit by the control unit based on the tilt angle read from the storage unit without measuring the tilt angle of the yard surface with respect to the horizontal plane each time.
  • the cargo handling unit has an inclination angle measurement unit that measures an inclination angle with respect to the horizontal plane corresponding to the inclination angle recognized by the inclination angle recognition unit.
  • the hanging container is placed on the stacking container so that the center of the lower surface of the hanging container is aligned with the center of the stacking container, and the inclination angle measurement unit measures the inclination angle with respect to its horizontal plane.
  • control unit places the suspension container on the stacking container such that the center of the lower surface of the suspension container is aligned with the center of the stacking container.
  • the tilt angle measuring unit measures the tilt angle of the cargo handling unit with respect to the horizontal plane corresponding to the tilt angle recognized by the tilt angle recognition unit.
  • the control unit causes the center of the lower surface of the suspension container to be higher than the center of the upper surface of the stacking container with respect to the horizontal surface of the upper surface.
  • the position of the cargo handling unit is controlled to shift in the high direction.
  • the control unit can control the position of the cargo handling unit based on the inclination angle of the cargo handling unit measured by the inclination angle measurement unit without measuring the inclination angle of the yard surface relative to the horizontal surface.
  • the control unit may shift the center of the lower surface of the suspension container with respect to the center of the upper surface of the stacking container by a horizontal distance ⁇ shown in the following Formula (1).
  • ⁇ the horizontal distance of the center of the lower surface of the lifting container with respect to a straight line extending vertically through the center of the lower surface of the loading container.
  • the center of the lower surface of the lifting container can be positioned on a straight line extending vertically through the center of the lower surface of the loading container by shifting the center of the lower surface of the lifting container by the amount represented by the equation (1). it can.
  • the containers can be stacked on a straight line extending in the vertical direction, and displacement of the containers relative to the normal loading position can be suppressed.
  • a crane apparatus is a crane apparatus for transporting a container on a container yard capable of mounting the container in a predetermined area, and is capable of locking the container and engaging the container.
  • a load handling unit that loads and holds the container as a lifting container by stopping and lifting, a tilt angle recognition unit that recognizes a tilt angle of the area of the yard surface where the lifting container is to be placed with respect to a horizontal surface, and a load handling unit Control unit for controlling the position of the suspension container when the suspension container is placed on the upper surface of the stacking container which is a container placed in the area, the inclination angle recognized by the inclination angle recognition unit If the angle is larger than the predetermined allowable angle, the center of the lower surface of the hanging container is positioned on a straight line extending vertically through the center of the lower surface of the loading container Te, and controls the position of the cargo handling section so as to place the container suspended on the upper surface of the palletizing container.
  • the loading container when the hanging container is placed on the upper surface of the loading container, the loading container is horizontally oriented if the tilt angle recognized by the tilt angle recognition unit is larger than the predetermined allowable angle.
  • the control unit places the center of the lower surface of the lifting container on a straight line extending vertically through the center of the lower surface of the loading container, and places the lifting container on the upper surface of the loading container As such, the position of the cargo handling unit is controlled.
  • the hanging container is placed on the top surface of the stacking container so that the center of the bottom surface of the hanging container is positioned on a straight line extending vertically through the center of the bottom surface of the stacking container.
  • the containers can be stacked on a straight line extending in the vertical direction, and displacement of the containers relative to the normal loading position can be suppressed.
  • FIG. 1 is a perspective view showing a container handling crane device according to the first embodiment.
  • FIG. 2 is a view of the container handling crane device as seen from the traveling direction.
  • FIG. 3 is a perspective view showing a container yard.
  • FIG. 4 is a block diagram functionally showing the configuration of the container handling crane device.
  • FIG. 5 is a perspective view showing a spreader.
  • FIG. 6 is a diagram for explaining the automatic stowing target correction value calculated by the correction unit.
  • FIG. 7 is a flow chart showing an operation of container loading by the container handling crane device.
  • FIG. 8 is a flowchart following to FIG.
  • FIG. 9 is a figure for demonstrating the effect
  • FIG. 10 is a view for explaining that the gap between adjacent containers in the case of the related art becomes narrow.
  • FIG. 11 is a block diagram functionally showing the configuration of the container handling crane device according to the second embodiment.
  • FIG. 12 is a flow chart showing an operation of container loading by the container handling crane device.
  • FIG. 13 is a flowchart following to FIG.
  • FIG. 14 is a flowchart following to FIG.
  • FIG. 1 is a perspective view showing a container handling crane device according to the first embodiment
  • FIG. 2 is a view of the container handling crane device seen from a traveling direction
  • FIG. 3 is a perspective view showing a container yard.
  • the container handling crane device 1 shown in FIGS. 1 and 2 is, for example, as shown in FIG. 3, in a container yard CY at a container terminal where transfer of a container C to a docked container ship S is performed. It is distributed and performs loading and unloading of the container C.
  • the container C is a container such as an ISO standard container.
  • the container C is in the form of a long rectangular solid and has a predetermined length of, for example, 20 feet or 40 feet in the longitudinal direction. Also, the container C has a predetermined height of, for example, 8.5 feet or 9.5 feet in the height direction.
  • the containers C are stacked one or more in a container yard CY to form a plurality of rows 12.
  • the longitudinal direction of the container C constituting the row 12 (that is, the container C placed on the row 12) is parallel to the longitudinal direction of the container C constituting the other row 12.
  • the rows 12 adjacent to each other are positioned such that the distance between the containers C in the first row is equal to or greater than a predetermined minimum distance (threshold value) between containers.
  • the predetermined inter-container minimum distance is, for example, a distance through which a guide 17 of the spreader 10 described later can enter.
  • FIG. 3 shows an XYZ orthogonal coordinate system in which the longitudinal direction of the container C is the X direction, the short direction of the container C is the Y direction, and the height direction of the container C is the Z direction.
  • the container yard CY extends on the XY plane, and the containers C are stacked, for example, in the Z direction at any position on the XY plane.
  • the position at which the container C is to be stacked is virtually set in a three-dimensional space, and the virtual stacking position of the container C is defined as an address (X, Y, Z). That is, the container yard CY has a plurality of predetermined addresses (X, Y, Z) as an area on which the container C can be placed.
  • the container handling crane device 1 transports the container C in the container yard CY having such a plurality of addresses (X, Y, Z).
  • a traveling path 14 of a transport carriage 13 such as a trailer or an AGV (Automated Guided Vehicle) is laid.
  • the container handling crane device 1 acquires the container C transported by the transport carriage 13 and places the container C at a position indicated by a predetermined address (X, Y, Z) of the container yard CY.
  • the container handling crane device 1 acquires the container C placed in the container yard CY, transfers the container C to the transport carriage 13, and causes the transport carriage 13 to carry the container C out.
  • FIG. 4 is a block diagram functionally showing the configuration of the container handling crane device 1.
  • the container handling crane device 1 includes a main body 2, a spreader 10 (load handling unit 21), a control unit 40, and a storage unit 37.
  • the main body portion 2 is capable of traveling by a traveling device 4 having a wheel with a tire.
  • the traveling device 4 travels by driving of the traveling motor.
  • the main body portion 2 has a pair of leg portions 5 and 5 erected on the traveling device 4 in a substantially gate shape including two sets of leg portions 5 and 5 and crane girder 6 connecting the upper end portions of the leg portions 5 and 5. It is formed.
  • the main body 2 includes a trolley 7 capable of traversing the crane girder 6 in a direction orthogonal to the traveling direction.
  • the trolley 7 traverses by the drive of the traverse motor.
  • the trolley 7 includes a drum 8 that is rotated in the forward and reverse directions by a drum drive motor, and suspends the spreader 10 via a wire 9.
  • the traveling motor, the traverse motor, and the drum drive motor described above function as the drive unit 20, and the operation thereof is controlled by the control unit 40.
  • the spreader 10 is a hanger for lifting the container C.
  • the spreader 10 can lock the container C from the upper surface side, and performs loading and unloading of the container C by locking and lifting the container C.
  • the spreader 10 is suspended via a sheave 18 around which a wire 9 from a drum 8 is wound, and can be raised and lowered by forward and reverse rotation of the drum 8.
  • the spreader 10 functions as a loading and unloading unit 21 that performs loading and unloading of the container C, and its operation and position are controlled by the control unit 40.
  • FIG. 5 is a perspective view showing the spreader 10.
  • the inclination-angle measurement part 30 shown with a dashed-two dotted line in FIG. 5 is a structure provided with the spreader 10 which concerns on 2nd Embodiment mentioned later, Comprising: The spreader 10 which concerns on this embodiment is not provided.
  • the spreader 10 includes a spreader main body portion 15, a guide (guide portion) 17, a lock pin 16, and a position detection portion 22.
  • the spreader main body 15 has a shape substantially the same as the shape of the upper surface of the container C in a plan view.
  • the spreader body 15 has a sheave 18 around which the wire 9 is wound, above the central portion in the longitudinal direction.
  • the spreader main body 15 is positioned on the container C when the spreader 10 locks the container C.
  • the guide 17 places the spreader body portion 15 on the target container when the spreader 10 lowers the target container C (hereinafter referred to as “target container”) to be acquired by the spreader 10.
  • Guide to The guides 17 are provided in the vicinity of both ends in the longitudinal direction at each of one end and the other end in the lateral direction of the spreader main body 15 in the horizontal direction. That is, the guides 17 are provided at the four corners of the spreader body 15 on the outer side in the short direction of the spreader body 15.
  • the guide 17 has a tapered surface 17b at its tip 17a.
  • the guide 17 abuts the tapered surface 17b on the edge of the upper surface of the target container by entering the gap between the target container and another container C placed horizontally adjacent to the target container. And (in a guided manner) guide the spreader body 15 directly above the target container.
  • the lock pin 16 is a mechanism for locking the container C.
  • the lock pin 16 is provided on the lower surface side of the spreader main body portion 15 so as to protrude downward from the spreader main body portion 15.
  • the lock pin 16 is at a position corresponding to the hole (not shown) of the container C when the spreader 10 locks the container C, and in the horizontal direction of the spreader main body 15 with respect to the position of the guide 17. It is provided at the center side.
  • the lock pin 16 is, for example, a twist pin and includes at its lower end a locking piece (not shown) that can be pivoted about an axis extending in the vertical direction.
  • the lock pin 16 is engageable with the container C by entering through the holes formed at the four corners of the upper surface of the container C and rotating the locking piece.
  • the position detection unit 22 is an apparatus capable of acquiring three-dimensional coordinate data of a measurement object.
  • a laser sensor is used as the position detection unit 22. More specifically, the position detection unit 22 calculates the distance to the measurement object based on the time until the laser light is reflected by the measurement object and returns. Then, the position detection unit 22 obtains the coordinates of the light arrival point based on the distance to the measurement object and the irradiation angle of the laser light, and outputs the information to the control unit 40.
  • the position detection unit 22 is provided on the side surface of the spreader main body unit 15. Specifically, the position detection unit 22 is provided in the vicinity of both ends in the longitudinal direction at each of one end and the other end in the width direction of the spreader body 15 in the horizontal direction. Therefore, each position detection unit 22 is provided at a position corresponding to any one of the guides 17.
  • the position detection unit 22 detects the container C located at the lower part of the spreader main body 15 and measures the position of the container C.
  • the position detection unit 22 transmits the measurement result to the control unit 40.
  • the position detection part 22 is provided in the spreader 10 in this embodiment, it is not restricted to this, For example, the position detection part 22 may be provided in the trolley 7. FIG.
  • the position detection unit 22 is not limited to the laser sensor as long as it can acquire three-dimensional coordinate data of the measurement object, and another type (for example, an optical camera or the like) may be used. Furthermore, the position detection unit 22 may use a plurality of methods (for example, a combination of a laser sensor and an optical camera).
  • the control unit 40 controls the operation of the drive unit 20 and the cargo handling unit 21 based on the detection result from the position detection unit 22. Specifically, the control unit 40 controls the operation of the traveling motor, the traverse motor, the drum drive motor and the like based on the detection result from the position detection unit 22, and also the guide 17 of the cargo handling unit 21, the lock pin 16 and the like. Control the operation of
  • control unit 40 controls the position of the cargo handling unit 21 by controlling the operation of the drive unit 20 based on the automatic command from the upper system 35.
  • the yard surface is a surface on which the container C in the container yard CY is to be placed.
  • the upper system 35 is, for example, a control room provided in the container yard CY and controlling the entire container yard CY.
  • the automatic command from the upper system is, for example, a command specifying the target address (X, Y, Z) to which the container C is to be loaded.
  • the automatic command may include, for example, information indicating the height of the container C (8.5 feet or 9.5 feet).
  • the control unit 40 includes a receiving unit 41, an inclination angle recognition unit 42, and a correction unit 43.
  • the receiving unit 41 receives, as an automatic command from the upper system 35, information indicating the target address (X, Y, Z) to which the container C is to be placed and the height of the container C.
  • the receiving unit 41 acquires an address (X, Y) from which only the bay number and the row number are taken out of the received address (X, Y, Z).
  • this address (X, Y) will be referred to as "the target address for stowing (X, Y).
  • the tilt angle recognition unit 42 sets the tilt angle of the yard surface of the stowage target address (X, Y) to which the container C (hereinafter referred to as “hanging container”) lifted by the cargo handling unit 21 is to be placed. recognize.
  • the inclination angle with respect to the horizontal plane is simply referred to as “inclination angle”.
  • the tilt angle recognition unit 42 refers to the tilt angle data table stored in the storage unit 37, and sets the tilt angle corresponding to the target position (X, Y) to which the stowage is acquired by the receiving unit 41. By reading out, the inclination angle of the yard surface of the loading target address (X, Y) is recognized.
  • the correction unit 43 (control unit) recognizes the inclination angle when the hanging container is placed on the upper surface of the container C (hereinafter referred to as "loading container") placed at the loading target address (X, Y).
  • the center of the lower surface of the lifting container is shifted to a higher height with respect to the horizontal plane of the upper surface with respect to the center of the upper surface of the loading container C based on the inclination angle of the yard surface recognized by the part 42 Control the position.
  • the correction unit 43 controls the position of the cargo handling unit 21 by controlling the operation of the drive unit 20. That is, the position of the cargo handling unit 21 is controlled by controlling the operation of the traveling motor, the traverse motor, the drum drive motor, and the like.
  • the correction unit 43 calculates an automatic loading target correction value as a distance for shifting the center of the lower surface of the suspension container.
  • FIG. 6 is a diagram for explaining the automatic stowing target correction value calculated by the correction unit 43.
  • the height of the container C is L
  • the yard surface YA is for example that in the Y direction theta y tilt correcting portion 43, the inclined angle theta y along the Y-direction
  • the automatic loading target correction value is calculated based on the above. That is, as the inclination angle ⁇ y along the Y direction, for example, the horizontal distance ⁇ shown by the following formula (1) is calculated as the automatic stowing target value.
  • the automatic stowing target correction value is not limited to the horizontal distance ⁇ shown by the above equation (1), and may be a value closer to the height of the upper surface of the storage container with respect to the horizontal plane.
  • the correction unit 43 is based on the information indicating the inclination angle ⁇ y of the yard surface YA recognized by the inclination angle recognition unit 42 and the height L of the container C received by the reception unit 41, the horizontal distance indicated by the equation (1). Calculate ⁇ .
  • the correction unit 43 shifts the center of the lower surface of the suspension container in the Y direction by the horizontal distance ⁇ shown by the above equation (1) with respect to the center of the upper surface of the stacking container.
  • the correction unit 43 performs an automatic integration based on the inclination angle ⁇ x along the X direction as in the case where the yard surface YA is inclined along the Y direction. While calculating the attached target correction value, the center of the lower surface of the hanging container is shifted in the X direction by the automatic loading target correction value with respect to the center of the upper surface of the loading container.
  • the automatic storage target correction value is calculated based on the inclination angles ⁇ x and ⁇ y along each direction, and The center of the lower surface of the container is shifted in each direction by the automatic loading target correction value corresponding to each direction with respect to the center of the upper surface of the stacking container.
  • the center of the lower surface of the hanging container passes vertically through the center of the lower surface of the stacking container It is located on a straight line A (see FIG. 6: hereinafter simply referred to as “straight line A”) extending in the direction. That is, the correction unit 43 positions the center of the lower surface of the suspension container on the straight line A, and controls the position of the cargo handling unit 21 so that the suspension container is placed on the upper surface of the stacking container.
  • the correction unit 43 is not limited to positioning the center of the lower surface of the hanging container on the straight line A, but may position the center of the lower surface of the hanging container near the straight line A or center of the lower surface of the hanging container on the straight line A
  • the position of the cargo handling unit 21 may be controlled so that
  • the storage unit 37 is a part that stores various information, and is configured by a memory or the like.
  • the storage unit 37 stores, as a data table, the inclination angle ⁇ of the yard surface YA for each of the pre-measured target addresses (X, Y).
  • the storage unit 37 may be integrated with the control unit 40.
  • FIGS. 7 and 8 are flowcharts showing the operation of loading the container C by the container handling crane device 1.
  • the receiving unit 41 indicates a target address (X, Y, Z) to which the container C is to be placed as an automatic command from the upper system 35 and the height L of the container C.
  • Information is received (step S1).
  • the receiving unit 41 acquires the target address (X, Y) for stowing from the received address (X, Y, Z) (step S2).
  • the tilt angle recognition unit 42 refers to the data table of the tilt angle ⁇ in the storage unit 37, and reads out and obtains the tilt angle ⁇ corresponding to the target location (X, Y) for stowage obtained by the receiving unit 41.
  • Step S3 Subsequently, based on the information indicating the height L of the container C received by the reception unit 41 and the inclination angle ⁇ acquired by the inclination angle recognition unit 42, the correction unit 43 performs the horizontal operation represented by Equation (1) described above.
  • the distance ⁇ is calculated as an automatic loading target correction value (step S4).
  • the control unit 40 controls the operation of the drive unit 20 to automatically transport the suspension container to the vicinity of the loading target address (X, Y) (step S5).
  • the position detection unit 22 measures the position of the container C, which is located at the lower part of the suspension container and is placed on the yard surface YA of the loading target address (X, Y) first (step S6).
  • the correction unit 43 automatically stacks the hanging container on the upper surface of the stacking container with the automatic loading target correction value calculated in step S4 as a target (step S7). That is, the correction unit 43 stacks the hanging container by shifting the center of the lower surface of the hanging container with respect to the center of the upper surface of the stacking container by the horizontal distance ⁇ shown in the above equation (1).
  • the control unit 40 determines the loading accuracy of the hanging container loaded in step S7 (step S8). For example, the control unit 40 determines whether the loading of the hanging container is within the allowable range. That is, with respect to the correction amount indicated by the automatic loading target value calculated by the correction unit 43, it is determined whether or not the position of the loaded hanging container is properly corrected. If the loading in step S7 is not within the allowable range (S8; NO), the control unit 40 winds up the loaded hanging container again and shifts to step S6 to retry loading of the lifting container. (Step S9). If the loading of the suspension container is within the allowable range (S8; YES), the processing of the flowcharts shown in FIGS. 7 and 8 is ended.
  • FIG. 9 is a figure for demonstrating the effect
  • FIG. 9 (a) shows a container C loaded by the conventional container handling crane device
  • FIG. 9 (b) is a container C loaded by the container handling crane device according to the present embodiment. Is shown.
  • FIG. 10 is a view for explaining that the gap between adjacent containers in the case of the related art becomes narrow.
  • the containers C adjacent to each other increase as the number of stacked containers C increases.
  • the gap G between C and C becomes narrow.
  • the guide 17 of the spreader 10 can not enter into the gap G when lifting the container C by the spreader 10, and the spreader main body 15 can not be positioned on the stacking container. As a result, it becomes difficult for the spreader 10 to lock and lift the loading container.
  • the correction unit is mounted based on the inclination angle ⁇ recognized by the inclination angle recognition unit 42 when the hanging container is placed on the upper surface of the storage container.
  • the position of the cargo handling unit 21 is controlled by 43 so that the center of the lower surface of the suspension container is shifted in the direction in which the height of the upper surface with respect to the horizontal plane of the upper surface is higher than the center of the upper surface of the loading container.
  • the center of the lower surface of the suspension container is shifted in the direction in which the height of the upper surface with respect to the horizontal plane is higher than the center of the upper surface of the stacking container. Therefore, compared with the said conventional case, as shown in (b) of FIG. 9, the center of the lower surface of a suspension container can be closely approached to the position on the straight line A.
  • the containers C can be stacked along the straight line A, and displacement of the containers C relative to the normal loading position can be suppressed.
  • the containers C can be stacked along the straight line A.
  • the gap G between the adjacent containers C and C can be determined by the minimum distance between the predetermined containers described above. It can be more than the distance. Therefore, when lifting the container C by the spreader 10, the guide 17 of the spreader 10 can be made to approach the said clearance gap G, and the spreader main-body part 15 can be located on a stacking container. As a result, the loading container C can be locked and lifted by the spreader 10.
  • the tilt angle recognition unit 42 reads out the tilt angle ⁇ of the yard surface YA for each of the loading target addresses (X, Y) measured in advance from the storage unit 37, thereby performing stowage
  • the tilt angle ⁇ corresponding to the target address (X, Y) is recognized. Therefore, the position of the cargo handling unit 21 can be controlled by the correction unit 43 based on the inclination angle ⁇ read from the storage unit 37 without measuring the inclination angle ⁇ of the yard surface YA each time.
  • the horizontal shift amount of the center of the lower surface of the suspension container with respect to the straight line A is represented by the equation (1) described above . Therefore, according to the present embodiment, the center of the lower surface of the suspension container can be positioned on the straight line A by shifting the center of the lower surface of the suspension container by the amount represented by the above-mentioned equation (1). As a result, the containers C can be stacked on the straight line A, and displacement of the containers C relative to the normal loading position can be suppressed.
  • the stacking container is horizontally permitted. Even if the control unit 40 positions the center of the lower surface of the suspension container on the straight line A and controls the position of the loading unit 21 so that the suspension container is placed on the upper surface of the stacking container. Good. Thus, the hanging container is placed on the upper surface of the loading container so that the center of the lower surface of the hanging container is located on the straight line A. As a result, the containers C can be stacked on the straight line A, and displacement of the containers C relative to the normal loading position can be suppressed.
  • FIG. 11 is a block diagram functionally showing the configuration of the container handling crane device 1A according to the second embodiment.
  • the description overlapping with the first embodiment is appropriately omitted.
  • the container handling crane device 1A according to the second embodiment differs from the container handling crane device 1 according to the first embodiment in that the storage device 37 is not provided and the tilt angle measurement unit 30 is provided. .
  • the inclination angle measurement unit 30 is provided, for example, at a substantially central position in a plan view of the spreader main body 15 (see FIG. 5). That is, the spreader 10 has an inclination angle measurement unit 30 provided in the spreader main body 15.
  • the tilt angle measurement unit 30 is, for example, a tilt angle sensor.
  • the tilt angle measurement unit 30 measures the tilt angle of the spreader 10 itself.
  • the inclination angle measurement unit 30 measures the inclination angle of the spreader 10 in a state in which the suspension container is placed on the stacking container.
  • the inclination angle of the upper surface of the loading container corresponds to the inclination angle ⁇ of the yard surface YA.
  • the upper surface of the hanging container placed on the upper surface of the loading container, and the inclination angle of the spreader 10 itself that locks the hanging container also correspond to the inclination angle ⁇ of the yard surface YA. Therefore, the tilt angle of the spreader 10 itself measured by the tilt angle measurement unit 30 corresponds to the tilt angle ⁇ of the yard surface YA recognized by the tilt angle recognition unit 42.
  • the tilt angle measurement unit 30 outputs the measurement result to the tilt angle recognition unit 42.
  • the tilt angle recognition unit 42 recognizes the tilt angle of the spreader 10 measured by the tilt angle measurement unit 30 as the tilt angle ⁇ of the yard surface YA at the loading target address (X, Y).
  • the correction unit 43 When loading the lifting container onto the loading container, the correction unit 43 first places the lifting container on the loading container so that the center of the lower surface of the lifting container is aligned with the center of the loading container.
  • the center of the lower surface of the hanging container coincides with the center of the loading container does not only mean that these centers completely coincide, but also the deviation of these centers is a preset difference or measurement error, etc.
  • the correction unit 43 causes the tilt angle measurement unit 30 to measure the tilt angle of the spreader 10.
  • the correction unit 43 is based on the tilt angle of the spreader 10 measured by the tilt angle measurement unit 30 (that is, the tilt angle ⁇ of the yard surface YA recognized by the tilt angle recognition unit 42).
  • the position of the cargo handling unit 21 is controlled such that the center of the lower surface of the suspension container is shifted in the direction higher in height with respect to the horizontal plane of the upper surface with respect to the center of the upper surface of the loading container.
  • the receiving unit 41 indicates the address (X, Y, Z) of the target to which the container C is to be placed as an automatic command from the upper system 35 and the height L of the container C.
  • Information is received (step S11).
  • the receiving unit 41 acquires the target address (X, Y) for stowage from the received address (X, Y, Z) (step S12).
  • the control unit 40 controls the operation of the drive unit 20 to automatically transport the suspension container to the vicinity of the loading target address (X, Y) (step S13).
  • the position detection part 22 measures the position of the container C located in the lower part of a suspension container (step S14).
  • the correction unit 43 first sets the hanging container on the upper surface of the stacking container with the goal that the skewing of the yard surface YA is zero (unknown) at the time of the first loading and that the misalignment is zero.
  • Automatic loading step S15). That is, the correction unit 43 stacks the suspension container so that the center of the lower surface of the suspension container coincides with the center of the upper surface of the stacking container with the goal of the automatic loading target correction value being zero.
  • the correction unit 43 measures the inclination angle of the yard surface YA, which is a container mounting surface, by measuring the inclination angle of the spreader 10 by the inclination angle measurement unit 30 (step S16). Specifically, the correction unit 43 causes the tilt angle measurement unit 30 to measure the tilt angle of the spreader 10 in a state in which the hanging container is mounted on the loading container.
  • the tilt angle recognition unit 42 recognizes the tilt angle of the spreader 10 measured by the tilt angle measurement unit 30 as the tilt angle ⁇ of the yard surface YA at the loading target address (X, Y).
  • step S17 based on the information indicating the height L of the container C received by the reception unit 41 and the inclination angle ⁇ of the yard surface YA measured by the inclination angle measurement unit 30, the correction unit 43 The horizontal distance ⁇ shown in) is calculated as an automatic loading target correction value (step S17).
  • the control unit 40 determines the loading accuracy of the hanging container loaded in step S15 (S18). That is, with respect to the correction amount indicated by the automatic loading target value calculated by the correction unit 43, it is determined whether or not the position of the loaded hanging container is appropriate. If the loading of the hanging container is not within the allowable range (S18; NO), the control unit 40 rolls up the loaded hanging container again (S19), and proceeds to step S20. In step S20, the position detection unit 22 measures the position of the container C located in the lower part of the suspension container, and the process proceeds to step S21.
  • step S21 the correction unit 43 automatically stacks the hanging container on the top surface of the stacking container, with the automatic loading target correction value calculated in step S17 as a target, and proceeds to step S18. If the loading of the suspension container is within the allowable range (S18; YES), the processing of the flowcharts shown in FIGS. 7 and 8 is ended.
  • the correction unit 43 places the suspension container on the stacking container so that the center of the lower surface of the suspension container coincides with the center of the stacking container. Be placed. Then, the inclination angle of the spreader 10 is measured by the inclination angle measurement unit 30. Furthermore, based on the inclination angle of the spreader 10 measured by the inclination angle measurement unit 30, the correction unit 34 sets the center of the lower surface of the suspension container to the height of the upper surface with respect to the center of the upper surface of the stacking container. The position of the cargo handling unit 21 is controlled so as to be shifted in the high direction. In this case, based on the inclination angle of the spreader 10 measured by the inclination angle measurement unit 30, the position control of the cargo handling unit 21 can be performed based on the inclination angle ⁇ of the yard surface YA.
  • the center of the lower surface of the hanging container is not shifted in both the X direction and the Y direction with respect to the center of the upper surface of the stacking container It may be shifted in either the X direction or the Y direction.
  • a storage unit may be provided which stores the tilt angle of the spreader 10 measured by the tilt angle measurement unit 30. In this case, it is not necessary to measure the inclination angle of the spreader 10 every time the hanging container is loaded at a certain address.
  • the tilt angle recognition unit 42 may recognize the angle of the spreader 10 stored by the storage unit as the tilt angle ⁇ of the yard surface YA.
  • the present invention is not limited to the portal crane apparatus, and may be applied to a bridge crane apparatus and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
PCT/JP2018/018938 2017-07-05 2018-05-16 クレーン装置 WO2019008914A1 (ja)

Priority Applications (4)

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MYPI2019007190A MY196459A (en) 2017-07-05 2018-05-16 Crane Device
JP2019528387A JP6672530B2 (ja) 2017-07-05 2018-05-16 クレーン装置
CN202011502944.0A CN112678665B (zh) 2017-07-05 2018-05-16 起重机装置
CN201880035030.2A CN110799442B (zh) 2017-07-05 2018-05-16 起重机装置

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MY196459A (en) 2023-04-12
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CN110799442A (zh) 2020-02-14
CN112678665A (zh) 2021-04-20
JP6672530B2 (ja) 2020-03-25
CN112678665B (zh) 2023-02-28

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