EP0841296A1 - Containerkrahn - Google Patents

Containerkrahn Download PDF

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Publication number
EP0841296A1
EP0841296A1 EP97308691A EP97308691A EP0841296A1 EP 0841296 A1 EP0841296 A1 EP 0841296A1 EP 97308691 A EP97308691 A EP 97308691A EP 97308691 A EP97308691 A EP 97308691A EP 0841296 A1 EP0841296 A1 EP 0841296A1
Authority
EP
European Patent Office
Prior art keywords
spreader
head block
trolley
oscillation
container
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP97308691A
Other languages
English (en)
French (fr)
Inventor
Noriyuki Fujii
Akira Kawase
Hiroshi Asano
Yasushi Yamashita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IHI Corp
Original Assignee
Ishikawajima Harima Heavy Industries Co Ltd
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
Priority claimed from JP29491296A external-priority patent/JPH10139366A/ja
Priority claimed from JP30295396A external-priority patent/JPH10139361A/ja
Application filed by Ishikawajima Harima Heavy Industries Co Ltd filed Critical Ishikawajima Harima Heavy Industries Co Ltd
Publication of EP0841296A1 publication Critical patent/EP0841296A1/de
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/42—Hydraulic transmitters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • 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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
    • B66C2700/012—Trolleys or runways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/085—Control actuators

Definitions

  • the present invention relates to a container crane of the type including a trolley adapted to be moved in a traverse direction along traverse rails, a head block hoistably suspended from the trolley and a spreader which is connected to the head block and is adapted to grip a container.
  • the illustrated known container crane 3 is intended for loading and unloading containers 4 onto and from a container ship 1 moored at a quay 2.
  • the crane 3 comprises upstanding legs 6 adapted to run along rails 5 on the quay 2, girders 7 on top of the legs 6 and extending substantially horizontally towards the sea.
  • traverse rails 8 extending along the girders 7 and a trolley 9 adapted to be moved in a traverse direction along the rails 8.
  • the trolley 9 comprises a trolley body 11 with traverse wheels 12 for rolling on the rails 8. Tied to the trolley body 11 are opposite ends of a traverse rope 13 which is wound around a traverse drum (not shown) in a machine room 10 (see Figure 1) and which extends under tension longitudinally of the girders 7. Rotation of the traverse drum in the normal or reverse direction causes the trolley 9 to be moved in the traverse direction.
  • the trolley 9 carries a head block 15 which is suspended from the trolley 9 by winding ropes 14 which in turn are wound around a hoist drum (not shown) in the machine room 10 and which extend under tension longitudinally of the girders 7. Rotation of the hoist drum in the normal or reverse direction causes the head block 15 to be hoisted up or down.
  • a spreader 16 Detachably interlocked with the head block 15 by means of twist locks 17 is a spreader 16 which grips a container 4.
  • each of the twist locks 17 comprises a lock pin 20 which is inserted into a corresponding suspender 18 of the spreader 16 through a slot 19 in the suspender 18 and is turned by actuation of a hydraulic cylinder 21 to interlock the head block 15 with the spreader 16.
  • the spreader 16 comprises a spreader body 16a with extension frames 22, each of which is mounted on the body 1 6a to be slidable by a drive (not shown) perpendicularly of the traverse direction of the trolley 9.
  • Each frame 22 is provided at its outer corners with twist locks 23 for gripping the container 4 and with guide arms 24 for moving the twist locks 23 into position for engagement with the container 4.
  • the spreader 16 can grip containers 4 of different lengths since the difference in length of the containers 4 can be compensated for by sliding displacement of the frames 22.
  • the twist locks 23 can interlock the spreader 14 with a container 4 by inserting a lock pin of a twist lock 23 into the container 4 through a slot therein and turning it by actuation of a hydraulic cylinder.
  • the guide arms 24 can be swung from an upper, turned-over open position into position for engagement with a corner of the container 4 by actuation of a hydraulic motor 25. Therefore, the spreader 16 can be correctly positioned with respect to the container 4 and the twist locks 23 can be positively engaged with the container 4 even if there may be some positional inaccuracy in lowering the spreader 16 interlocked with the head block 15 onto the container 4.
  • the container 4 generally has a predetermined destination on the container ship 1. Therefore, in accordance with the coordinates of the destination of the container 4, the trolley 9 may be automatically moved in the traverse direction and only hoisting-up and -down of the spreader 16 need be carried out manually by an operator in an operation room 26.
  • the spreader 16 gripping the container tends to swing or oscillate due to inertia when accelerated or decelerated or as a result of any wind that may be blowing, resulting in difficulties in the loading and unloading operation.
  • the sheaves 27 on the trolley 9. which support the hoist ropes 14 for the head block 15 and spreader 16, are separated from each other by drive means (not shown) so that the hoist ropes 14 for the head block 15 and spreader 16 are in the shape of the letter V in order to suppress swinging or oscillation of the head block 15 and spreader 16.
  • Such a mechanical swing- or oscillation-suppressing mechanism is effective only to suppress sway (pendulum-like swinging or oscillation; see Figure 2) and is substantially ineffective to suppress rocking (rotational swinging or oscillation around an axis below the suspended position; see Figure 2) or skew (swinging or oscillation in a horizontal plane; see Figure 6).
  • a container crane of the type referred to above is characterised by two or more oscillation sensors arranged on the head block or spreader and adapted to sense oscillation of the head block or spreader in the traverse direction of the trolley, the sensors being arranged symmetrically with respect to the transverse centre line of the head block or spreader, respectively, and two or more damping means arranged on the head block or spreader, each including a mass movable in the traverse direction of the trolley and an actuator arranged to move the movable mass in response to oscillation of the head block or spreader sensed by the sensors in a direction to counteract the oscillation, the damping means being arranged symmetrically with respect to the transverse centre line of the head block or spreader, respectively.
  • FIGs 7 and 8 illustrate an embodiment of the present invention in which the same components as in Figures 11 to 6 are referred to by the same reference numerals and whose basic arrangement is the same as that in the known system shown in Figures 1 to 6.
  • vibration or oscillation sensors 28 such as acceleration sensors or speed sensors, for sensing any oscillation of the head block 15 in the traverse direction of the trolley 9 are arranged symmetrically with respect to the transverse centre line L of the head block 15.
  • Active damping means 31 each having a mass 29 movable in the traverse direction of the trolley 9 and an actuator 30 for driving the movable mass 29 in the direction to counteract the oscillation of the head block 15 sensed by the vibration sensor 28 are also arranged symmetrically with respect to the transverse centre line L of the head block 15.
  • Each of the damping means 31 includes a nut member 33 screwed onto a screw shaft 32 extending in the traverse direction of the trolley 9 and the movable mass 29 is integrally mounted on the nut member 3. Rotation of the screw shaft 32 by the actuator 30 forcibly causes the movable mass 29 to be moved in the same cycle and with the same wavelength as the oscillation of the head block 15 but with a phase difference of 90° therefrom.
  • each of the oscillation or vibration sensors 28 which are arranged symmetrically with respect to the transverse centre line L of the head block 15.
  • the movable mass 29 of each of the damping means 31 is driven independently by the associated actuator 30 so as to counteract or damp the oscillation.
  • both the vibration sensors 28 and the damping means 31 are arranged symmetrically with respect to the transverse line L of the head lock 15 and can cope with and suppress any type of oscillation such as sway, rocking or skew of the head block 15 and thus of the spreader 16 and any container carried by it. The loading and unloading operations can thus be performed efficiently.
  • FIGS 9 and 10 illustrate a further embodiment of the present invention in which the same components as in Figures 7 and 8 are referred to by the same reference numerals.
  • Oscillation sensors 28, such as acceleration sensors and speed sensors, for sensing oscillation of the spreader 16 in the traverse direction of the trolley 9 are arranged on the spreader 16, symmetrically with respect to the transverse centre line L of the spreader 16.
  • two active damping means 31, each having a mass 29 movable in the traverse direction of the trolley 9, and an actuator 30 for driving the movable mass 29 in a direction to counteract the oscillation of the spreader 16 detected by the vibration sensors 28 are arranged on the spreader 16 symmetrically with respect to its transverse centre line L.
  • damping means are the same as those described above in conjunction with Figures 7 and 8.
  • the same advantages are also obtained in that sway, rocking or skew of the spreader 16 may again be suppressed, thereby permitting loading and unloading operations to be performed efficiently.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP97308691A 1996-11-07 1997-10-30 Containerkrahn Withdrawn EP0841296A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP294912/96 1996-11-07
JP29491296A JPH10139366A (ja) 1996-11-07 1996-11-07 コンテナクレーンのスプレッダ
JP30295396A JPH10139361A (ja) 1996-11-14 1996-11-14 コンテナクレーンのヘッドブロック
JP302953/96 1996-11-14

Publications (1)

Publication Number Publication Date
EP0841296A1 true EP0841296A1 (de) 1998-05-13

Family

ID=26560039

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308691A Withdrawn EP0841296A1 (de) 1996-11-07 1997-10-30 Containerkrahn

Country Status (5)

Country Link
EP (1) EP0841296A1 (de)
KR (1) KR19980041984A (de)
CN (1) CN1184074A (de)
AU (1) AU4275497A (de)
CA (1) CA2219433A1 (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
SG91286A1 (en) * 1999-08-12 2002-09-17 Mitsubishi Heavy Ind Ltd Crane apparatus
WO2006024701A1 (en) * 2004-09-01 2006-03-09 Kalmar Industries Oy Ab Stopping the skew motion of a container
US7121012B2 (en) 1999-12-14 2006-10-17 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7261351B1 (en) * 2000-04-24 2007-08-28 Nsl Engineering Pte Ltd Spreader including a detection system
US7845087B2 (en) 1999-12-14 2010-12-07 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
CN101590986B (zh) * 2009-04-30 2011-08-03 大连华锐股份有限公司 起重机用起升机构实时监控方法
EP2574819A1 (de) 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Geschwindigkeitsproportionale aktive Schwingungsdämpfung
EP2902356A1 (de) * 2014-01-29 2015-08-05 Siemens Aktiengesellschaft Kran mit aktiver Dämpfung von Pendelbewegungen der Last
CN107285198A (zh) * 2017-08-01 2017-10-24 润邦卡哥特科工业有限公司 一种起重机吊具减摇系统及其操作方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20216321U1 (de) * 2002-05-13 2003-02-20 Noell Crane Systems GmbH, 97080 Würzburg Katze für einen Kran
CN106477419A (zh) * 2015-08-27 2017-03-08 富士电梯（合肥）有限公司 一种电梯启停稳定装置及其控制方法
CN106477423A (zh) * 2015-08-27 2017-03-08 富士电梯（合肥）有限公司 一种电梯防抖动装置及其防抖动方法
KR101702779B1 (ko) * 2015-10-29 2017-02-03 세메스 주식회사 반송 대차의 핸드 유닛
KR20220100670A (ko) * 2019-11-20 2022-07-15 무라다기카이가부시끼가이샤 천장 반송차
CN111717802A (zh) * 2020-06-22 2020-09-29 北京中铁装饰工程有限公司 一种基于5g技术的超高层幕墙吊装系统
CN111762675B (zh) * 2020-08-04 2024-11-26 连云港澳达康国际货运代理有限公司 一种用于集装箱装卸桥的双集装箱液压翻转吊具

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1694084A (en) * 1926-05-25 1928-12-04 Halver R Straight Crane
US3210114A (en) * 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
DE2356504A1 (de) * 1973-11-13 1975-05-15 Krupp Gmbh Lastaufnahmemittel eines hebezeuges, insbesondere eines container-kranes
US5186342A (en) * 1990-11-07 1993-02-16 Paceco Corp. Integrated passive sway arrest system for cargo container handling cranes
GB2300177A (en) * 1995-04-24 1996-10-30 Mitsubishi Heavy Ind Ltd Preventing Load Vibration

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1694084A (en) * 1926-05-25 1928-12-04 Halver R Straight Crane
US3210114A (en) * 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
DE2356504A1 (de) * 1973-11-13 1975-05-15 Krupp Gmbh Lastaufnahmemittel eines hebezeuges, insbesondere eines container-kranes
US5186342A (en) * 1990-11-07 1993-02-16 Paceco Corp. Integrated passive sway arrest system for cargo container handling cranes
GB2300177A (en) * 1995-04-24 1996-10-30 Mitsubishi Heavy Ind Ltd Preventing Load Vibration

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
SG91286A1 (en) * 1999-08-12 2002-09-17 Mitsubishi Heavy Ind Ltd Crane apparatus
US7121012B2 (en) 1999-12-14 2006-10-17 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7395605B2 (en) 1999-12-14 2008-07-08 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7845087B2 (en) 1999-12-14 2010-12-07 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7261351B1 (en) * 2000-04-24 2007-08-28 Nsl Engineering Pte Ltd Spreader including a detection system
WO2006024701A1 (en) * 2004-09-01 2006-03-09 Kalmar Industries Oy Ab Stopping the skew motion of a container
CN101590986B (zh) * 2009-04-30 2011-08-03 大连华锐股份有限公司 起重机用起升机构实时监控方法
EP2574819A1 (de) 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Geschwindigkeitsproportionale aktive Schwingungsdämpfung
US9316283B2 (en) 2011-09-30 2016-04-19 Siemens Aktiengesellschaft Velocity-proportional active vibration damping
EP2902356A1 (de) * 2014-01-29 2015-08-05 Siemens Aktiengesellschaft Kran mit aktiver Dämpfung von Pendelbewegungen der Last
CN107285198A (zh) * 2017-08-01 2017-10-24 润邦卡哥特科工业有限公司 一种起重机吊具减摇系统及其操作方法

Also Published As

Publication number Publication date
KR19980041984A (ko) 1998-08-17
CA2219433A1 (en) 1998-05-07
AU4275497A (en) 1998-05-14
CN1184074A (zh) 1998-06-10

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