JP2015193461A - crane - Google Patents

Abstract

An object of the present invention is to provide a moving displacement amount necessary for positioning of a lifting device while maintaining a balance of a rope hanging structure that supports the lifting device without causing excessive vibration even when the lifting device is moved in the longitudinal direction. A crane capable of moving a hanging tool is provided. A second pair of ropes Wa3 and a third pair connected to the ends of the ropes Wb3 are paired with a virtual plane in the lateral direction, which is a winding surface of the rope W, assumed at one end in the lateral direction of the hanging tool 8. The second set of ropes Wa3 and Wb3, which are paired with the third bidirectional actuator 13, are provided with the direction actuator 13 and have two sheaves S21 and S23 and sheaves S51 and S53 on the lateral virtual plane. Is formed by forming an isosceles triangle K. [Selection] Fig. 4

Description

  The present invention relates to a crane that includes a trolley that has a drum and moves on a girder, and that suspends a hanging tool by a rope hanging structure in which a rope drawn from the drum is wound between the hanging tool and the trolley. .

  In container terminals such as harbors and inland areas, containers (carrying materials) between ships, railways, and trailers are handled by quay cranes and portal cranes. The quay crane and the portal crane move the trolley to a target position when handling and lift the lifting tool.

  When raising and lowering the hanging tool, there is a problem that the hanging object and the transported object held by the hanging tool swing in the longitudinal direction, the lateral direction, and the turning direction (hereinafter referred to as skew) of the hanging tool.

  Therefore, one of the inventors of the present invention has a rope-hanging structure in which a plurality of ropes that are drawn out and wound up by a single drum provided on the trolley are wound between the suspension and the trolley so as to form a truss structure. The device that suppresses the swinging of the hanger and the transported object held by the hanger, connects the ends of the ropes, and slides the connecting portion in the horizontal direction by the tilting device (see, for example, Patent Document 1) ) Was proposed.

  This device is composed of eight triangles formed by eight (two by four) ropes included in the four rope-wrapping virtual surfaces assumed around the suspension, so that the suspension The rocking suppression force that suppresses the rocking is extremely high. In particular, at the center of the end of the hanging tool in the longitudinal direction, the two ropes are hung so that the sheaves of the same axis are sandwiched from both sides. To do. Further, each tilting device can skew or shift the hanging tool.

  In the above-mentioned device, the rope end is moved by a double-headed cylinder type tilting device or a single-headed cylinder type tilting device on the virtual virtual surface in the longitudinal direction, which is a rope winding surface assumed in the longitudinal direction of the hanging tool. To shift the hanger in the transverse direction.

  In the above-mentioned device, the sheave and the rope end around which the rope is wound by the single-head cylinder type tilting device are fixed on the imaginary surface in the transverse direction, which is the wrapping surface of the rope assumed in the transverse direction of the hanging tool. The connecting rod is slid horizontally to shift the hanger in the longitudinal direction.

  However, even if the connecting rod is slid by the single-head cylinder type tilting device and the hanging tool is shifted in the longitudinal direction, the moving displacement amount is small, and a larger moving displacement amount is necessary for practical use. It was. Further, when the sheave around which the rope is wound is slid, the force applied to the rotation shaft of the sheave increases, resulting in a decrease in durability of the sheave and an increase in the size of the apparatus.

  Therefore, the present inventors have devised a rope hanging structure so that the tilting device for the double-headed cylinder provided in the longitudinal virtual plane is provided in the lateral virtual plane, and the amount of movement displacement necessary for positioning the hanging tool Then, it was set as a new subject to move a hanging tool.

JP 2010-126289 A

  The present invention has been made in view of the above-described problems, and the object of the present invention is to provide a rope-hanging structure that supports a hanging tool without causing excessive vibration even when the hanging tool is moved in the longitudinal direction. It is to provide a crane that can move a hanging tool with a movement displacement amount necessary for positioning of the hanging tool while maintaining a balance.

  The crane of the present invention for solving the above object includes a drum for feeding and winding a rope, a trolley having a plurality of sheaves, and a suspension having a plurality of sheaves, and is drawn out and wound up from the drum. A plurality of ropes are wound around each sheave between the trolley and the hanging tool to form a rope hanging structure, the rope hanging structure supports the hanging tool, and both ends in the longitudinal direction of the hanging tool A lateral direction moving device is provided on a virtual longitudinal surface that is the surface of the rope assumed in the above, and the lateral direction moving device is connected to the end of the first pair of ropes, and the first set of ropes Pull out one of the ropes in the horizontal direction and pull the other rope in the horizontal direction, and pull out one rope in the horizontal direction and feed the other rope in the horizontal direction Two of the trolley bottom sheaves provided at the four corners of the trolley and the central part of the suspender and the two vertices of the suspenders having the same rotation axis in the longitudinal virtual plane The first set of ropes, which are arranged in an isosceles triangle with the trolley bottom sheave and the hanging apex sheave as the apex, and are connected by the lateral direction moving device. In the crane to be wound, the second set in which the longitudinal direction moving device is provided on the virtual side surface in the transverse direction that is the winding surface of the rope assumed at both ends in the transverse direction of the hanging tool, and the longitudinal direction moving device is a pair. It is connected to the end of one of the ropes, and one rope of the second set of ropes is fed out in the horizontal direction, the other rope is pulled in the horizontal direction, and one rope is pulled in the horizontal direction. The other rope is extended in the horizontal direction, and is provided at the imaginary plane in the transverse direction at the central portion of the trolley, at two trolley apex sheaves having the same rotation axis, and at the four corners of the hanging tool. Two of the hanging shelves bottom sheaves, the trolley apex sheave and the two shelves bottom sheaves arranged in an isosceles triangle with the trolley apex sheave as the apex, connected by the longitudinal movement device The second set of ropes is wound around.

  The lateral direction moving device and the longitudinal direction moving device here refer to a bidirectional actuator or the like that drives a bidirectional cylinder by an electric motor. In addition, a device that drives the bidirectional cylinder by hydraulic pressure may be used. However, in the case of a hydraulic type, the maintainability is poor and the weight is also heavy, so an electric motor type bidirectional actuator is preferable. In addition, the crane here refers to a crane that moves a transported object suspended by a hanging tool such as a spreader, such as a portal crane or an overhead crane.

  According to this structure, each longitudinal direction moving device is driven, and one of the second set of ropes forming the rope hooking structure in the lateral direction virtual plane is drawn out, and the other is pulled to align the hanging tool. Therefore, the hanging tool can be moved in the longitudinal direction with a movement displacement amount necessary for this purpose. The amount of displacement required for the positioning of the hanging tool is at least ± 200 mm or more, preferably ± 300 mm or more.

  For example, when driving of the drums is stopped and each longitudinal movement device is driven in the same direction, on the virtual side surface in the transverse direction, the reeling and winding position of each drum is provided at the center of the virtual surface in the lateral direction. Each longitudinal movement device is in a state in which one rope is wound up and in a state in which the other rope is drawn out.

  As a result, in the past, the hanging device that has not been able to shift with the necessary displacement in the longitudinal direction of the hanging device in particular has a rope-hanging structure that supports the hanging device without causing extra vibration. While maintaining the balance, it is possible to move with the amount of movement displacement necessary for positioning of the hanger.

  For this reason, when handling a load with a crane on a transport vehicle, it is possible to easily position the suspension, and in addition, it is possible to operate the trolley or transport cart for alignment. The efficiency of cargo handling work can be improved because it is eliminated.

  Moreover, if each longitudinal direction moving apparatus is driven in a mutually reverse direction, a hanging tool can also be rotated in a turning direction.

  In addition, by moving only the rope with the longitudinal movement device, the position of the sheave around which the rope is wound can be fixed to the trolley or the suspension, so that the durability of the sheave is improved and the suspension is supported. Since the balance of the rope hanging structure is not lost, the hanging tool can be moved without causing unnecessary swinging of the hanging tool.

  Furthermore, since a device for moving and positioning the hanger, which has been conventionally provided separately for the hanger, is unnecessary, the weight of the hanger can be reduced accordingly.

  Further, in the above-described crane, an end of the pair of ropes is disposed at a central portion of the lateral direction virtual surface, and the lateral direction virtual surface is formed on the basis of an arrangement position of the longitudinal movement device. If one side and the other side of the rope hanging structure are configured to be plane-symmetric with respect to the vertical plane, the rope hanging structure is configured to be plane-symmetric with respect to the vertical plane with respect to the longitudinal movement device. The balance of the rope hanging structure that supports the hanging tool can be prevented without causing excessive vibration even if the hanging tool is moved in the longitudinal direction and turning direction by preventing the balance of the rope hanging structure from being lost. While maintaining, the hanging tool can be moved with a moving displacement amount necessary for positioning of the hanging tool.

  In addition, the crane includes a plurality of the drums, and the rope hanging structure includes one rope hanging structure formed by a plurality of ropes that one drum draws out and winds up, and the other drum draws out and winds up. The other rope hanging structure formed of a plurality of ropes, and the pair of ropes formed a part of the one rope hanging structure and a part of the other rope hanging structure When configured with a rope, the same effect as described above can be obtained even with a configuration including a plurality of drums.

  Furthermore, in the above-mentioned crane, when the unwinding winding position of the rope of the one drum and the unwinding winding position of the rope of the other drum are arranged symmetrically with respect to the vertical plane, When each of the drums draws out and winds up a plurality of ropes, the state of the tension of each rope becomes the same in each drum, and some ropes of each rope are in a turbulent winding state, and a tooth missing state Therefore, it is possible to prevent skew swinging (running in the turning direction) of the hanger. Thereby, the frequency | count and time by which control which stops the skew swing of a hanging tool is performed can be reduced, and cargo handling efficiency can be improved.

  In addition, if the crane described above is a portal crane, when the cargo is handled at a container terminal or the like, the portal crane travels in a state in which a transported object is suspended due to the above-described effects. In addition, since it is possible to carry the cargo directly on the conveyed product, the cargo handling efficiency can be improved while ensuring safety.

  According to the present invention, the longitudinal movement device is driven to push and pull only the rope forming the rope hanging structure, thereby moving at least ± 200 mm or more, preferably ± 300 mm or more, necessary for positioning the hanging tool. With the amount of displacement, it is possible to move the hanging tool in the longitudinal direction. At that time, the rope hanging structure is configured symmetrically with respect to the longitudinal movement device, so that the hanging tool can be moved without causing extra vibration. The hanging tool can be moved while maintaining the balance of the supporting rope hanging structure.

  This makes it possible to easily position the hanger when handling a cargo on a transport vehicle with a crane, and to operate the trolley or transport cart for alignment. Therefore, the efficiency of the cargo handling work can be improved.

It is a perspective view which shows the crane of 1st embodiment which concerns on this invention. It is a perspective view which shows the rope hanging structure of FIG. It is the front view which showed the rope hooking structure of the arrow III direction of FIG. It is the side view which showed the rope hooking structure of the arrow IV direction of FIG. FIG. 3 is a top view in the direction of arrow V in FIG. 2. It is a schematic diagram which shows the moving amount | distance and moving direction of each reel of FIG. 5, and the unwinding winding-up position of the rope wound up around each drum. It is the side view which showed the operation | movement which inclines the hanging tool of the crane of FIG. 1 to a perpendicular direction. It is the front view which showed the operation | movement which slides the hanging tool of the crane of FIG. 1 to a transverse direction. It is the side view which showed the operation | movement which slides the hanging tool of the crane of FIG. 1 to a longitudinal direction. It is the top view which showed the operation | movement which turns the hanging tool of the crane of FIG. 1 in a turning direction. It is a perspective view which shows the crane of 2nd embodiment which concerns on this invention.

  Hereinafter, a crane according to an embodiment of the present invention will be described with reference to the drawings. Note that the dimensions of the drawings are changed so that the configuration can be easily understood, and the ratios of the thicknesses, widths, lengths, and the like of the respective members and parts do not necessarily match the ratios of actually manufactured parts.

  Further, the x direction in the drawing in FIG. 1 is the longitudinal direction of the hanging tool, the y direction in the drawing is the transverse direction of the hanging tool, and the z direction in the drawing is the vertical direction. In addition, in FIG. 2, the figure seen from the arrow direction indicated by III in the figure is a front view, the figure seen from the arrow direction indicated by IV in the figure is a side view, and from the arrow direction indicated by V in the figure The viewed view is a top view. In addition, a vertical plane at a position where the length in the longitudinal direction (x direction) of the hanging tool is halved is VF1, and a vertical surface at a position where the length in the transverse direction (y direction) of the hanging tool is halved is VF2. To do.

  In the following embodiment, a portal crane that travels on a container terminal or the like, holds the container Co with a hanging tool such as a spreader, and performs cargo handling will be described as an example. However, the present invention is not limited thereto, and The present invention can also be applied to an overhead crane that hangs a transported item with a tool.

  First, a portal crane (hereinafter referred to as a crane 1) that is an example of a crane according to a first embodiment of the present invention will be described with reference to FIGS. A crane 1 shown in FIG. 1 has a crane main body 2 formed in a gate shape, and travels in a container storage zone by a traveling device 4 provided on a leg portion 3 thereof. In addition, the crane 1 includes a trolley 6 that traverses the girder 5 on the upper part of the crane body 2 in the y direction, and forms a rope hanging structure 10 by a plurality of ropes W drawn from the drums 7 a and 7 b on the trolley 6. The rope 8 is hung by the rope hanging structure 10. In addition, the code | symbol 9 has shown the power chamber in which the motive power apparatus of the crane 1 was accommodated, the code | symbol C has shown the container which is a conveyed product, and the code | symbol S has shown the sheave which is a pulley.

  As shown in FIG. 2, the trolley 6 (not shown) includes a drum 7a and a drum 7b in addition to a pair of drums 7a and 7b in which the rotation axis is in the y direction and the rope W is unwound and wound up in the opposite directions when viewed from the y direction The first rope group Wa (Wa1 to Wa4) 7a that is unwound and wound up, the second rope group Wb (Wb1 to Wb4) that the drum 7b is unwound and wound up, and the first provided at the four corners of the trolley 6 in the x direction. Sheave group S10 (sheaves S11 to S14; trolley bottom sheave), second sheave group S20 (sheaves S21 to S24; trolley apex sheave) provided in the center of trolley 6 with the rotation axis in the y direction, and the rotation axis is z Direction and the third sheave group S30 (sheaves S31 to S34) provided in the center of the trolley 6, and both connected to the rope ends of the rope groups Wa and Wb The actuator is provided with a (mobile device) 11-14.

  In addition, the hanging tool 8 has a fourth sheave group S40 (sheaves S41 to S44; hanging tool apex sheave) provided at the center of both ends in the longitudinal direction of the hanging tool 8 in the x direction and the rotation axis. A fifth sheave group S50 (sheaves S51 to S54; suspension bottom sheave) provided in the four corners of the hanging tool 8 with the axis in the y direction is provided.

  Next, the rope hanging structure 10 will be described in detail. Here, the wrapping surface of the rope assumed at both ends in the x direction of the hanger 8 is a longitudinal virtual surface (not shown), and the rope wrapping surface assumed at both ends of the hanger 8 in the y direction. Is defined as a lateral direction virtual plane (not shown).

  As shown in FIGS. 2 and 3, the rope Wa1 is connected to one end portion of the first bidirectional actuator (transverse direction moving device) 11 via the sheave S41 and the sheave S11, and the hanging tool 8 and the trolley (see FIG. 2). A triangle A is formed with the not shown. Similarly, the rope Wa2 is connected to the other end portion of the first bidirectional actuator 11 via the sheave S42 and the sheave S12, and forms a triangle B between the hanger 8 and the trolley.

  2 and 4, the rope Wa3 is connected to one end of the third bidirectional actuator (longitudinal movement device) 13 through the sheave S51, the sheave S21, and the sheave S31. A triangle C is formed between the trolleys. Similarly, the rope Wa4 is connected to one end portion of the fourth bidirectional actuator (longitudinal movement device) 14 through the sheave S52, the sheave S22, and the sheave S32, and a triangle D is formed between the hanging tool 8 and the trolley. Form.

  As shown in FIGS. 2 and 3, the rope Wb1 is connected to one end of the second bidirectional actuator (lateral movement device) 12 via the sheave S43 and the sheave S13, and the rope 8 and the trolley are connected to each other. A triangle E is formed between them. Similarly, the rope Wb2 is connected to the other end portion of the second bidirectional actuator 12 via the sheave S44 and the sheave S14, and forms a triangle F between the hanger 8 and the trolley.

  2 and 3, the rope Wb3 is connected to the other end of the third bidirectional actuator 13 via the sheave S53, the sheave S23, and the sheave S33, and is triangular between the hanger 8 and the trolley. G is formed. Similarly, the rope Wb4 is connected to the other end portion of the fourth bidirectional actuator 14 via the sheave S54, the sheave S24, and the sheave S34, and forms a triangle H between the hanger 8 and the trolley.

  Here, the triangle A to the triangle H will be described in detail.

FIG. 3 shows a longitudinal virtual surface (not shown) that is a rope winding surface assumed at one end of the hanging tool 8 in the x direction, and a first rope hanging structure formed on the longitudinal virtual surface. A first longitudinal surface rope hanging structure 10c (second longitudinal surface rope hanging structure 10d) which is a part of 10a (second rope hanging structure 10b) is shown. In addition, the parenthesis of the code | symbol here shows the other end part of the x direction of the hanging tool 8. FIG.

  As shown in FIG. 3, the triangle A (triangle F) and the triangle B (triangle E) are formed so that their hypotenuses face away from each other. Triangle A, triangle B, triangle F, and triangle E are all formed congruently.

  FIG. 4 shows a lateral imaginary surface (not shown), which is a rope wrapping surface assumed at one end of the hanger 8 in the y direction, and a first rope hanging structure formed on the lateral imaginary surface. 10a and a first side rope surface hanging structure 10e (second side surface rope hanging structure 10f) which is a part of the second rope hanging structure 10b. In addition, the parenthesis of the code | symbol here shows the other end part of the y direction of the hanging tool 8. FIG.

  As shown in FIG. 4, the triangle C (triangle D) and the triangle G (triangle H) are formed so that their hypotenuses face each other, and the triangle C (triangle G) and the triangle D (triangle H) are It is formed so as to be plane symmetric. Triangle C, triangle D, triangle G, and triangle H are all formed congruently.

  Furthermore, it is preferable to form all the triangles A to H in a congruent manner because a high restraining force that suppresses the swing of the hanging tool 8 in the x direction and the y direction is exhibited.

  With the rope hanging structure 10 described above, eight pieces (two × 2) included in each longitudinal virtual plane and each lateral virtual plane (not shown) that are wound surfaces of the four ropes assumed around the suspension 8. Since the eight triangles A to H formed by the four sets of ropes W constitute a truss structure, the swing suppressing force that suppresses swing of the hanging tool 8 is extremely high.

  In particular, at the center of the end of the hanger 8 in the y direction, the two ropes Wa1 and Wa2 (ropes Wb1 and Wb2) sandwich the sheaves S41 and S42 (the sheaves S43 and S44) of the same axis from both sides. Since it is hung, it exhibits a higher suppression force that suppresses the swing of the hanger 8 in the y direction.

  Moreover, the diameters of the first sheave group S10 and the second sheave group S20 that are located at both ends of the hypotenuses of all the triangles A to H formed by the rope W spanned between the trolley 6 and the hanging tool 8 are the same. And the diameters of the fourth sheave group S40 and the fifth sheave group S50 are the same, and the diameters of the fourth sheave group S40 and the fifth sheave group S50 are the same as those of the first sheave group S10 and the second sheave group S20. If the diameter is smaller than or the same as the diameter, the length of the rope W will not be unbalanced even when the hanging tool 8 is fed out and wound up, and high steady rest performance and weight reduction can be achieved. .

  In addition to the above-described configuration, in order to suppress further skew deflection of the hanging tool 8, as shown in the top view of FIG. 5, the crane 1 of the first embodiment according to the present invention includes a first drum 7a. The reeling-up positions Pa1 to Pa4 of the rope group Wa and the feeding and winding positions Pb1 to Pb4 of the second rope group Wb of the drum 7b are arranged symmetrically with respect to the vertical plane VF1 that is the yz plane, A first rope hanging structure 10a formed by the first rope group Wa that the drum 7a is fed and wound up, and a second rope hanging structure 10b that is formed by the second rope group Wb that the drum 7b is fed and rolled up are represented by yz. It is configured to be symmetrical with respect to a vertical plane VF1 that is a plane.

Further, as shown in FIG. 6, when the crane 1 is driven in the vertical direction by driving both the drum 7a and the drum 7b at the same rotational speed and in mutually opposite rotational directions, The reeling-up position Pa1 of the drum 7a and the feeding-up position P of the drum 7b, which are arranged symmetrically with respect to the plane.
The movement amount ΔL and the movement direction Di of b (the feeding winding position Pa2 and the feeding winding position Pb2, the feeding winding position Pa3 and the feeding winding position Pb3, and the feeding winding position Pa4 and the feeding winding position Pb4) are the same. It is comprised so that it may become.

  The drum 7a and the drum 7b are grooved drums, and are provided with grooves (not shown). When the ropes W enter the grooves, the ropes W can be prevented from winding up and getting loose. When the groove 8 is formed so that when the lifting tool 8 is moved up and down, the movement amount ΔL and the movement direction Di between the feeding and winding positions Pa1 to Pa4 and the feeding and winding positions Pb1 to Pb4 are the same. Even when the tool 8 is moved up and down, it is possible to maintain a state in which the feed-up position Pa1 to Pa4 and the feed-up position are symmetrical with respect to the vertical plane.

  In this first embodiment, even if the fleet angle is 2 degrees or more, the grooved drum is used in order to prevent the rope W from being twisted and missing, but the fleet angle is within 2 degrees. A grooveless drum can be used as long as it can be accommodated.

  Preferably, when the groove provided in the drum 7a and the groove provided in the drum 7b are arranged symmetrically with respect to the vertical plane VF1, the respective reeling hoist positions Pa1 to Pa4 and the respective reeling hoist positions. The fleet angles at Pb1 to Pb4 can be more accurately set to the same angle, and the skew swing of the hanger 8 can be reliably prevented.

  Moreover, although the drum 7a was arrange | positioned on the one end part of the x direction of the hanger 8, and the drum 7b was arrange | positioned on the other end part of the x direction of the hanger 8, both are arrange | positioned at the center part side of the hanger 8. Also good. In addition, in this embodiment, the drums 7a and 7b whose rotation axis is in the y direction are used, but two drums whose rotation axis is in the x direction may be used. Further, in this embodiment, the drums 7 a and 7 b are disposed on the trolley 6, but may be disposed on the sill beam of the leg portion 3 in the same manner as the power chamber 9.

  As described above, the first rope hanging structure 10a and the second rope hanging structure 10b are configured to have a plane-symmetric structure with respect to the vertical plane VF1, as shown in FIGS. In this embodiment, as described above, eight (two) included in each longitudinal imaginary plane and each lateral imaginary plane (not shown), which are the wrapping surfaces of the four ropes assumed around the suspension 8. The four triangles A to H formed by the ropes W of the four pieces are formed so as to constitute a truss structure. The first rope hanging structure 10a and the second rope hanging are formed on the vertical plane VF1. The structure 10b may be configured to be plane-symmetric, and the present invention is not limited to the above configuration.

  According to this configuration, when the lifting tool 8 is supported substantially horizontally and moves up and down, the reeling and winding positions Pa1 to Pa4 of the drum 7a, the reeling and winding positions Pb1 to Pb4 of the drum 7b, and the first Since the rope hanging structure 10a and the second rope hanging structure 10b are arranged so as to be plane-symmetric with respect to the vertical plane VF1, the rope Wa1 at the unwinding winding position Pa1 and the rope at the unwinding winding position Pb1 The fleet angles of Wb1 (the rope Wa2 and the rope Wb2, the rope Wa3 and the rope Wb3, and the rope Wa4 and the rope Wb4) are made equal. Therefore, when each drum 7a and 7b pays out and winds up the rope W, the tensile force applied to the ropes Wa1 to Wa4 and the tensile force applied to the ropes Wb1 to Wb4 that are symmetrical to the ropes Wa1 to Wa4 are Since the same state can be achieved by 7b, skew swinging (swinging in the turning direction) of the hanger 8 can be prevented. Thereby, time, such as waiting for the skew swing of the hanging tool 8, to stop, can reduce, and cargo handling efficiency can be improved.

Referring to FIG. 5, the winding-up position Pa1 of the rope Wa1 on the drum 7a and the feeding-up position Pb1 of the rope Wb1 on the drum 7b, which are similarly wound on the left and right in the x direction of the hanging tool 8, It can be seen that the position is symmetrical with respect to the vertical plane VF1. Similarly, the feeding winding position Pa2 and the feeding winding position Pb2, the feeding winding position Pa3 and the feeding winding position Pb3, and the feeding winding position Pa4 and the feeding winding position Pb4 are also symmetrical with respect to the vertical plane VF1. In position.

  The reels Wa1 and Wb1 (Wa2 and Wb2, Wa3 and Wb3, and Wa4 and Wb4; hereinafter abbreviated) between the ropes Wa1 and Wb1 wound similarly on the left and right in the x direction of the hanging tool 8 (Pa2 and Wb2). When Pb2, Pa3 and Pb3, and Pa4 and Pb4 (hereinafter omitted) are in a plane-symmetrical position with respect to the vertical plane VF1, the fleet angles when the ropes Wa1 and Wb1 are drawn out and wound up are substantially the same angle. Therefore, if the rope Wa1 is along the groove of the drum 7a, the rope Wb1 is not deviated from the groove of the drum 7b, and the position is not shifted. Similarly, the rope Wa1 is along the groove of the drum 7b.

  FIG. 6 shows a state in which the ropes Wa1 to Wa4 are wound up by the drum 7a and the ropes Wb1 to Wb4 are similarly wound up by the drum 7b when the hanging tool 8 is raised. In this figure, the state of each rope W wound up by each drum 7a and 7b from a certain point of time is indicated by a dotted line.

  When the respective drums 7a and 7b are driven at the same rotational speed and in the rotation directions opposite to each other to wind up the ropes W, the respective reeling hoisting positions Pa1 to Pa4 and Pb1 to Pb4 are set to the respective reeling hoisting positions. It moves to Pa1 ′ to Pa4 ′ and Pb1 ′ to Pb4 ′. The amount of movement at this time is represented by ΔL. As shown in FIG. 6, the amounts of movement of the unwinding winding positions Pa1 and Pa2 and the unwinding winding positions Pb1 and Pb2 are ΔL1, which are equal to each other. Further, the moving amounts of the unwinding hoisting positions Pa3 and Pa4 and the unwinding hoisting positions Pb3 and Pb4 are ΔL2, which are equal.

  Further, the moving direction at this time is represented by Di. The moving directions of the feed-up positions Pa1 and Pa4 and the feed-up positions Pb1 and Pb4 are Di1 and are in the same direction. Further, the moving direction of the unwinding winding positions Pa2 and Pa3 and the unwinding winding positions Pb2 and Pb3 is Di2, which is the same direction. In addition, since it is the same also when each rope W is let out, the description is abbreviate | omitted.

  In this way, when the lifting tool 8 is moved up and down while maintaining the horizontal state, the present invention feeds the ropes W with the drums 7a and 7b and feeds them to the unwinding positions Pa1 to Pa4 and Pb1. Since the movement amount ΔL of Pb4 and the movement direction Di are the same, even if each drum 7a and 7b is driven and each rope W is fed out or wound up, the degree of tensile force of each rope W becomes equal. The skew swing of the hanging tool 8 can be prevented.

  Moreover, although FIG. 6 demonstrated the state in which each rope W was wound up toward the center part of the drum 7a and the drum 7b, this invention is not limited to this, For example, it seems to wind up toward the outer side of a drum May be configured.

  On the other hand, the crane 1 is configured such that the drum 7a and the drum 7b can be driven independently, and each of the first rope hanging structure 10a and the second rope hanging structure 10b is configured independently. When each of the drums 7b is driven at a different rotational speed or in the same rotational direction, the hanging tool 8 is configured to be inclined with respect to the horizontal direction.

  Next, the operation of the crane 1 will be described with reference to FIG. In addition, although demonstrated here as an example of the operation | movement which loads the container Co with respect to the conveyance trolley T comprised so that the loading platform Ta may incline, it stops at the place where the ground is inclined, and the loading platform inclined. Containers can be handled similarly to the transport cart.

  As shown in FIG. 7, when the crane 1 loads the container Co on the transport cart T with the loading platform Ta inclined, the crane 1 lowers the container Co to a predetermined height.

  Next, the crane 1 drives only the drum 7b and feeds only the second rope group Wb. Since the second rope group Wb is fed out and the state of the first rope group Wa is not changed, the rear side of the carriage T of the hanging tool 8 is lowered with respect to the horizontal plane, and has the same inclination as the inclination of the loading platform Ta. Then, the drum 7a and the drum 7b are driven so that the four corners of the container Co supported by the hanging tool 8 are simultaneously lowered onto the loading platform Ta of the transportation cart T, and the container Co is loaded on the transportation cart T while maintaining its inclination. Taken down to Ta.

  As a result, when the container Co is lowered to the loading platform Ta, the hanging tool 8 and the container Co grasped by the hanging tool 8 are tilted and the four corners of the container Co are transported at the same time as the loading platform Ta is tilted. Since it can be made to land on the loading platform Ta of the trolley | bogie T, safety | security can also be improved with the improvement of cargo handling efficiency. This effect is also effective when cargo handling is carried out on a transport cart that is parked on an inclined ground.

  At this time, if the rope hooking structure 10 is formed so as to constitute a truss structure on each longitudinal virtual plane and each lateral virtual plane, when the hanging tool 8 is inclined in the horizontal direction, This is preferable because shake can be suppressed. For example, as shown in FIG. 7, when the hanging tool 8 is tilted with respect to the horizontal direction, in the first embodiment, the first lateral surface rope hanging structure is provided on each lateral direction virtual surface (not shown). Since 10e and the second lateral surface rope hooking structure 10f are formed, it is possible to prevent the hanging tool 8 from swinging in the x direction.

  In addition to the above-described configuration, the crane 1 according to the first embodiment of the present invention is shown in FIG. As shown in FIGS. 2 to 4, a pair of first ropes Wa <b> 1 and Wa <b> 2 are paired on a virtual virtual surface (not shown) that is a winding surface of the rope W assumed at both ends in the longitudinal direction of the hanging tool 8. (Rope Wb1 and Wb2) are connected to the ends, the rope Wa1 (rope Wb1) is fed out in the x direction, the rope Wa2 (rope Wb2) is pulled in the x direction, and the rope Wa1 (rope Wb1) is pulled in the x direction and the rope A first bidirectional actuator 11 (second bidirectional actuator 12) that feeds Wa2 (rope Wb2) in the x direction is provided. Further, two sheaves S11 and S12 (sheaves S13 and S12) of sheaves S11 to S14 (trolley bottom sheaves) provided at the four corners of the trolley 6 and a central portion of the hanging tool 8 are provided on the longitudinal virtual plane. Two sheaves S41 and S42 (sheaves S43 and S44; sheave apex sheaves) having the same rotation axis are arranged in an isosceles triangle having the sheaves S41 and S42 (sheaves S43 and S44) as apexes, and are wound around them. The first pair of ropes Wa1 and Wa2 (ropes Wb1 and Wb2) connected by the first bidirectional actuator 11 (second bidirectional actuator 12) to be hung is an isosceles triangle I (isosceles triangle J). Formed and configured.

In addition, in order to shift the lifting tool 8 in the x direction by the amount of displacement required when handling the lifting tool 8, the crane 1 is provided with a rope W wound around both ends of the lifting tool 8 in the lateral direction. It is connected to the end of the second pair of ropes Wa3 and ropes Wb3 (rope Wa4 and ropes Wb4) as a pair in the lateral direction virtual plane that is the hanging surface, and the rope Wa3 (rope Wa4) is fed out in the y direction and the rope Wb3 ( A third bidirectional actuator 13 (fourth bidirectional actuator 14) is provided that pulls the rope Wb4) in the y direction, pulls the rope Wa3 (rope Wa4) in the y direction, and extends the rope Wb3 (rope Wb4) in the y direction. Further, two sheaves S21 and S23 (sheaves S22 and S24; trolley apex sheaves) provided at the center of the trolley 6 and having the same rotation axis and provided at the four corners of the hanging tool 8 on the imaginary plane in the transverse direction The sheaves S51 and S53 (the sheaves S52 and S54) of the sheaves S51 to S54 (the sheave bottom sheave) are arranged in an isosceles triangle having the sheaves S21 and S23 (the sheaves S22 and S24) as apexes, and are wound around them. The second pair of ropes Wa3 and Wb3 (rope Wa4 and rope Wb4) connected by the third bidirectional actuator 13 (fourth bidirectional actuator 14) is an isosceles triangle K (isosceles triangle L). Is formed and configured.

  In addition, as shown in FIG. 4, the crane 1 has a pair of second pair of ropes Wa3 and ropes Wb3 (rope Wa4 and ropes Wb4) arranged at the center of the lateral imaginary plane, Based on the position (vertical surface VF1) of the third bidirectional actuator 13 (fourth bidirectional actuator 14) provided on the virtual surface in the lateral direction, the first lateral surface rope hanging structure 10e (second lateral surface rope hanging structure) The one side and the other side of 10f) are configured symmetrically in a side view from the y direction of the hanger.

  Further, as shown in FIGS. 2 to 4, the crane 1 is configured such that the first pair of ropes Wa <b> 1 and Wa <b> 2 (ropes Wb <b> 1 and Wb <b> 2) form a part of the first rope hanging structure 10 a. At the same time, the second pair of ropes Wa3 and Wb3 includes a rope Wa3 that forms part of the first rope hanging structure 10a and a rope Wb3 that forms part of the second rope hanging structure 10b.

  As shown in FIG. 3, the first bidirectional actuator 11 connects the ends of the first pair of ropes Wa1 and Wa2 that are paired in the longitudinal virtual plane at the central portion of the longitudinal virtual plane, and is an electric motor (not shown). ) To slide the bidirectional cylinder back and forth, and slide the end of the rope Wa1 and the end of the rope Wa2 in the y direction and in the same direction. In this embodiment, the one driven by the electric motor is used. However, the present invention is not limited to this, and for example, a hydraulic actuator may be used. Since the second bidirectional actuator 12 has the same configuration, the description thereof is omitted.

  As shown in FIG. 4, the third bidirectional actuator 13 connects the ends of a second pair of ropes Wa3 and ropes Wb3, which are paired on the lateral imaginary plane, at the center of the lateral imaginary plane, No.), the bidirectional cylinder is slid back and forth, and the end of the rope Wa3 and the end of the rope Wb3 are slid in the x direction and in the same direction. Since the fourth bidirectional actuator 14 has the same configuration, the description thereof is omitted.

  When each of the bidirectional actuators 11 to 14 moves the hanging tool 8 in the x direction, the y direction, and the turning direction, the position of each sheave S is fixed without moving. It can be prevented from collapsing. In addition, since the sheaves S are not moved, the rope hooking structure 10 can be simplified as compared with the configuration in which the sheaves S are moved and the hanging tool 8 is moved.

  As shown in FIGS. 3 and 4, each of these bidirectional actuators 11 to 14 is a portion where the vertical plane VF2 and the longitudinal virtual plane intersect, and a portion where the vertical plane VF1 and the lateral virtual plane intersect. If it arrange | positions, it can arrange | position to the center part of a longitudinal direction virtual surface, and the center part of a lateral direction virtual surface. When each of the bidirectional actuators 11 to 14 is disposed at the center, each end of each rope W is also disposed at the center of each virtual plane, and the first longitudinal surface rope hooking structure 10c and the second longitudinal surface One side and the other side of the rope hooking structure 10d are symmetrical with respect to the vertical plane VF2, and one side and the other side of the first side rope hooking structure 10e and the second side rope hooking structure 10f are vertical planes. It becomes symmetrical with respect to VF1.

Further, as shown in FIG. 3, in the longitudinal virtual plane, the first pair of ropes Wa <b> 1 and rope Wa connected to the first bidirectional actuator 11 (second bidirectional actuator 12).
2 (the ropes Wb1 and the ropes Wb2) are provided at the central portion of the hanging tool 8 and are fixed on the same rotation shaft, and the sheaves provided at the four corners of the trolley 6. Wrapped around S11 and S12 (sheaves S13 and S14), an isosceles triangle I (isosceles triangle J) having apexes of sheaves S41 and S42 (sheaves S43 and S44) is formed.

  On the other hand, as shown in FIG. 4, the second set of ropes Wa <b> 3 and Wb <b> 3 (rope Wa <b> 4 and ropes) that form a pair connected to the third bidirectional actuator 13 (fourth bidirectional actuator 14) in the lateral direction virtual plane. Wb4) is provided at the center of the trolley 6 and is fixed by the same rotation shaft, and sheaves S21 and S22 (sheaves S23 and S24), and sheaves S51 and S53 provided at the four corners of the hanging tool 8 (sheave S52). And S54) to form an isosceles triangle K (isosceles triangle L) with the sheaves S21 and S22 (the sheaves S23 and S24) as vertices.

  Thus, for example, as shown in FIG. 9, when the third bidirectional actuator 13 and the fourth bidirectional actuator 14 are driven when the drum 7a and the drum 7b are not driven, the same rotational axis is set in each lateral direction virtual plane. The bases of the isosceles triangles K and L whose apexes are the sheaves S21 to S24 fixed in FIG. Since the position of the trolley 6 does not move with respect to the crane 1, the hanger 8 suspended by the rope W moves.

  At this time, in the first lateral surface rope hanging structure 10e (second lateral surface rope hanging structure 10f), the unwinding winding position Pa3 and the unwinding winding position Pb3 (the unwinding winding position Pa4 and the unwinding winding position Pb4) of the drum 7a. As a fixed point, the rope Wa3 (rope Wa4) is wound up and the rope Wb3 (rope Wb4) is extended, so that the hanging tool 8 is necessary for positioning the hanging tool 8 in the x direction. It can be moved by the amount of movement displacement. Note that, as shown in FIG. 8, the operation of driving the first bidirectional actuator 11 (second bidirectional actuator 12) is the same, and thus the description thereof is omitted.

  On the other hand, as shown in FIG. 10, the crane 1 includes a first bidirectional actuator 11 and a second bidirectional actuator 12, so that the ends of the first pair of ropes Wa <b> 1 and Wa <b> 2 are placed on the lower side in the y direction, and When the ends of the ropes Wb1 and Wb2 are horizontally moved to the upper side in the y direction, the hanging tool 8 can be turned in the turning direction.

  In this embodiment, the operation in which the first bidirectional actuator 11 and the second bidirectional actuator 12 are moved so as to be opposite to each other has been described as an example. The hanging tool 8 may be turned by moving the actuators 14 in opposite directions. Further, the first bidirectional actuator 11 to the fourth bidirectional actuator 14 can be moved in the opposite direction to the actuator facing each other, so that the hanging tool 8 can be turned.

  Thereby, even if the hanging tool 8 is moved in the x direction, the y direction, and the swiveling direction, the position of the hanging tool is maintained while maintaining the balance of the rope hanging structure that supports the hanging tool without causing any excessive deflection. The hanger 8 can be moved with a movement displacement amount of at least ± 200 mm or more, preferably ± 300 mm or more required for the alignment. Therefore, it is possible to realize the positioning of the transported object in the crane 1 which is impossible if the hanging tool 8 does not have a separate positioning device.

  Next, the operation of the crane 1 using the bidirectional actuators 11 to 14 will be described with reference to FIGS. When the crane 1 loads the container Co on the transport cart T, the crane 1 lowers the container Co to a predetermined height.

  Next, as shown in FIG. 8, the crane 1 uses the first bidirectional actuator 11 and the second bidirectional actuator 12 to respectively connect the first pair of ropes Wa1 and Wa2 and the ends of the ropes Wb1 and Wb2. Move horizontally to the left in the y direction. At this time, the rope Wa2 and the rope Wb2 are wound up at the central portion of the longitudinal virtual surface, and the rope Wa1 and the rope Wb1 are drawn out at the central portion of the longitudinal virtual surface. The tool 8 moves to the right. Thereby, the container Co held by the hanger 8 and the hanger 8 and the transport cart T are aligned in the y direction.

  Next, as shown in FIG. 9, the crane 1 uses the third bidirectional actuator 13 and the fourth bidirectional actuator 14 to respectively connect the second pair of ropes Wa3 and Wa4 and the ends of the ropes Wb3 and Wb4. Move horizontally to the left in the x direction. At this time, the rope Wa3 and the rope Wa4 are in a state of being wound up at the central portion of the lateral direction virtual surface, and the rope Wb3 and the rope Wb4 are in a state of being drawn out at the central portion of the lateral direction virtual surface. The tool 8 moves to the left side. Thereby, the container Co held | gripped by the hanger 8, the hanger 8, and the conveyance trolley T are aligned in the x direction.

  When the alignment between the container Co and the transport cart T is completed, the container Co is lowered onto the transport cart T. Note that the alignment operation described above may be performed in the reverse order of the alignment operations in the y direction and the x direction.

  Thereby, when handling the container Co to the transport cart T or the like with the crane 1, in addition to being able to easily align the hanging tool 8, the trolley 6 or the transport cart is used for the alignment. Since T is not operated, the efficiency of the cargo handling work can be improved.

  Moreover, even when a swing occurs in the hanging tool 8, each bidirectional actuator 11-14 can be driven to move the hanging tool 8 in the x direction, the y direction, and the turning direction. Can be suppressed.

  In addition, conventionally, a hydraulic device or the like for positioning is separately provided in the hanging tool 8, but in the crane 1 of the present invention, the device for the rope hanging structure 10 and the bidirectional actuators 11 to 14 are provided. As a result, a positioning device can be eliminated, and the weight of the hanging tool 8 can be reduced. In addition, since a positioning device such as a hydraulic device becomes unnecessary, the maintenance work is also eliminated.

  Next, the crane 20 of 2nd embodiment which concerns on this invention is demonstrated, referring FIG. In this crane 20, the drum 7b of the first embodiment is removed, and instead, the sixth sheave group S60 provided on the opposite side of the y-direction of the hanging member 8 of the drum 7a of the trolley 6 in the y-direction. (The sheaves S61 to S64) and the second rope group Wb is drawn out and wound up by the drum 7a.

  Since the rope hooking structure 10 is the same as that of the crane 1 of the first embodiment, the above-described effects can be obtained even with a configuration in which the ropes W are fed and wound up only by the drum 7a.

  In the container terminal including the crane 1 and the crane 20 which are the above-described portal cranes, the cargo handling efficiency by the cranes 1 and 20 can be improved, so that the cargo handling efficiency of the entire container terminal can be improved by about 30%.

Conventionally, it has been difficult for the portal crane to travel with the container Co suspended due to the swing of the hanging tool 8 or the like. However, if the crane 1 and the crane 20 of the present invention are used, the swinging of the hanging tool 8 is difficult. The occurrence of this can be suppressed, and even when the swinging of the hanger 8 occurs, the shaking can be easily stopped. Therefore, the crane 1 and the crane 20 run while the container Co is suspended on the storage lane in which the container Co is stored, so that the cargo handling truck T is securely loaded, thereby improving the loading efficiency of the entire container terminal. be able to.

  In addition, the crane 1 and the crane 20 are configured so that the crane 1 and the crane 20 can be automatically operated by an instruction from the terminal system by suppressing the occurrence of the swing of the hanging tool 8 and aligning the hanging tool 8. This makes it possible to automate the cargo handling operation at the container terminal and further improve the cargo handling efficiency.

  The crane of the present invention drives each longitudinal movement device and pushes and pulls only the rope that forms the rope hanging structure, so that it is at least ± 200 mm or more, preferably ± 300 mm or more, necessary for positioning the hanging tool. The hanging tool can be moved in the longitudinal direction with the amount of movement displacement. At that time, the rope hanging structure is configured symmetrically with respect to the longitudinal movement device, so that the hanging tool can be produced without generating extra deflection. The hanging tool can be moved while maintaining the balance of the rope hanging structure that supports the rope.

  This makes it possible to easily position the hanger when handling a cargo on a transport vehicle with a crane, and to operate the trolley or transport cart for alignment. Therefore, the efficiency of the cargo handling work can be improved, so that it can be used for a crane that moves a suspended article with a lifting tool.

DESCRIPTION OF SYMBOLS 1,20 Crane 6 Trolley 7a, 7b Drum 8 Hanging tool 10 Rope hanging structure 10a First rope hanging structure 10b Second rope hanging structure 10c, 10d Long surface rope hanging structure 10e, 10f Lateral surface rope hanging structure 11-14 Bidirectional Actuator (moving device)
Wa First rope group Wb Second rope group S10 First sheave group (trolley bottom sheave)
S20 Second sheave group (trolley apex sheave)
S30 3rd sheave group S40 4th sheave group (hanging apex sheave)
S50 Fifth sheave group (suspender bottom sheave)
S60 Sixth sheave group Pa1 to Pa4, Pb1 to Pb4 Unwinding winding position A to H Triangle I to L Isosceles triangle VF1, VF2 Vertical plane

Claims (5)

A rope for feeding and hoisting a rope and a trolley having a plurality of sheaves, and a hanging tool having a plurality of sheaves, and a plurality of ropes fed out and wound up from the drum are disposed between the trolley and the hanging tool. It is wound around each sheave to form a rope hanging structure, and the rope hanging structure supports the hanging tool,
A lateral direction moving device is provided on a virtual imaginary surface which is a winding surface of the rope assumed at both ends in the longitudinal direction of the hanging tool, and the lateral direction moving device is connected to the end of a first pair of ropes which form a pair. The first rope in the first set is drawn out in the horizontal direction and the other rope is pulled in the horizontal direction, and the one rope is pulled in the horizontal direction and the other rope is drawn out in the horizontal direction. With
The longitudinal virtual plane comprises two of the trolley bottom sheaves provided at the four corners of the trolley, and two suspension apex sheaves provided at the center of the suspension and having the same rotation axis, In the crane in which the two sets of the trolley bottom sheave and the suspension apex sheave are arranged in an isosceles triangle with the suspension apex sheave as the apex, and the first set of ropes connected by the lateral direction moving device are wound around the crane ,
A longitudinal direction moving device is provided on a virtual imaginary surface, which is a winding surface of the rope, assumed at both ends in the transverse direction of the hanging tool, and the longitudinal direction moving device is connected to the end of a second pair of ropes that form a pair. In this configuration, one of the second pair of ropes is fed out in the horizontal direction, the other rope is pulled in the horizontal direction, and one rope is pulled in the horizontal direction and the other rope is fed out in the horizontal direction. With
On the imaginary surface in the transverse direction, provided at the central portion of the trolley, two trolley apex sheaves having the same rotation axis, and two of the suspension bottom sheaves provided at the four corners of the suspension, The trolley apex sheave and the two shelves bottom sheaves are arranged in an isosceles triangle with the trolley apex sheave as the apex, and the second set of ropes connected by the longitudinal movement device are wound around the trolley apex sheave. And crane. At the center of the transverse direction virtual surface, the end of the second set of ropes is disposed,
The one side and the other side of the rope hanging structure formed on the imaginary plane in the lateral direction are configured symmetrically with respect to the vertical plane with respect to the arrangement position of the longitudinal movement device. The crane according to 1. A plurality of the drums, and the rope hanging structure, one rope hanging structure formed by a plurality of ropes that one drum draws out and winds up, and the other formed by a plurality of ropes that the other drum draws out and winds up With a rope hanging structure of
3. The pair of ropes is composed of a rope forming a part of the one rope hanging structure and a rope forming a part of the other rope hanging structure. The listed crane.   4. The feed-up position of the rope of the one drum and the feed-up position of the rope of the other drum are arranged symmetrically with respect to a vertical plane. 5. crane.   The crane according to any one of claims 1 to 4, wherein the crane is a portal crane.

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