JPS6092193A - Hydraulic control device for suction cup arm - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hydraulic control device for a suction cup arm, and more specifically, a suction cup arm that is rotated by a swinging hydraulic cylinder, and a ship suction cup attached to the tip of the suction cup arm. The present invention relates to a device for controlling the hydraulic pressure of a turning hydraulic cylinder in a truck.

Traditionally, ships have been docked and undocking by towing the ship with wire ropes, but with such rope-towing devices, ropes cannot be attached to or removed from the ship during docking. Since this work is carried out manually by many workers, there is a temporary peak in the work and there are safety issues. Furthermore, as the docks expand, the size of the manned docks also increases, and the diameter of the ropes increases, further increasing the peak of this work. Therefore, the present applicant has provided a docking and unloading truck that runs in a substantially horizontal direction along the side wall of a dock, and a suction cup arm that allows the docking and unloading truck to rotate around a substantially vertical axis, and a distal end portion of the arm. We would like to propose a ship docking/docking device equipped with a hull suction cup attached to the hull and a turning hydraulic cylinder that turns the arm.
36998). This docking truck runs along a track set almost horizontally on the side wall of the dock. Horizontal external forces act on the vessel, such as the force of the tugboat pulling or pulling the vessel, and the force of kinetic energy when stopping a moving ship. Of this external force, the horizontal force perpendicular to the docking truck is received by the track on the side wall of the dock via the turning hydraulic cylinder and the docking truck, but if this horizontal force becomes too large, various parts of the docking truck, track, etc. There is a risk of damage. The maximum value of the above-mentioned horizontal torque applied to the loading/unloading truck, etc. is limited by the maximum value of the torque for rotating the suction cup arm, that is, the maximum value of the hydraulic pressure of the hydraulic cylinder for rotation, but the maximum value of this t-torque is When the horizontal force is constant, the maximum value of the horizontal force changes depending on the turning angle of the suction arm with respect to the input/output truck. For this reason, when the maximum value of the oil pressure of the swinging hydraulic cylinder is kept constant, when the swing angle of the suction cup arm changes, the maximum value of the horizontal force also changes.

SUMMARY OF THE INVENTION An object of the present invention is to provide a hydraulic control device that can always limit the horizontal force perpendicular to the input/outlet truck that acts on the tip of the suction cup arm to a certain allowable value or less.

The hydraulic control Il device according to the present invention includes a suction cup arm that can pivot about a substantially vertical axis, a hull plate attached to the tip of the arm, and a pivoting hydraulic cylinder that pivots the arm. In the input/output truck, there is an angle detector that detects the rotation angle of the arm, two relief valves that can control the set pressure connected to the oil chambers on both sides of the hydraulic cylinder for rotation, and an angle detector at the tip of the arm. The relationship between the swing angle of the arm and the pressure settings of the two relief valves that maintains the maximum value of the horizontal force perpendicular to the input/outlet truck acting on it is memorized, and based on this relationship, the output of the angle detector is The present invention is characterized in that it includes a calculation control section that controls the set pressures of the two relief valves according to the pressures of the two relief valves.

Since the hydraulic control device of the present invention has the above configuration,
Even if the rotation angle of the suction cup arm changes, the horizontal force acting on the tip of the suction cup arm perpendicular to the input/output truck can always be limited to below a certain allowable value. Therefore, damage to the input/output truck etc. due to such horizontal force can be prevented, and it is possible to make the input/outlet truck etc. smaller and lighter.

The present invention will be described in detail below with reference to the drawings.

As shown in FIG. 1, 21 access/outlet devices (3) are provided on each side wall (2) on both sides of the dock (1).

Each inlet/outlet device (3) includes a driving truck (4), a surface treatment truck (5) that is constantly connected to the driving truck (4), and a driving truck (4).
It consists of a docking and docking truck (6) that can be connected and disconnected from the dock, and one side wall (2) is the docking and docking system on the east side of the dock @ (3).
The details are shown in FIGS. 2 to 50.

As shown in Figures 2 to 10, the dock side wall (2
) An upper track (8) and a lower track (9) extending horizontally along the side wall (2) are provided at the upper horizontal step (7) and the lower part of the side wall (2), respectively.

Details of the upper track (8) are shown in FIG. Two girder support plates (10) extending horizontally along the side wall (2) are vertically embedded in the horizontal step (7) at the top of the dock side wall (2), and their upper ends are connected to the horizontal step (7). ).On the horizontal step (7) between these support plates (10), a crosswise simplified I-shaped girder (11) is placed via a synthetic resin liner (12). ing. A number of vertical support pipes (15) connecting the top plate (13) and the bottom plate (14) are fixed on both sides of the girder (11), and the top plate (13) and the bottom plate on the center line of these pipes (15) are fixed. Bolt holes (16) are drilled in the bottom plate (14).

A large number of foundation bolts (
18) is the bolt hole (19) drilled in the liner (12)
, bolt holes (16) on the girder bottom plate (14), pipes (
15) and the bolt hole (16) of the girder top plate (13) and protrudes slightly upward, and a nut (2
The girder (11) is fixed to the horizontal step (7) by screw-fitting the girder (11).

In addition, both sides of the girder bottom plate (14) and support plates (1
A stopper (21) that prevents movement of the girder (11) in the width direction is fixed between the girder (11) and the girder (11). Girder top plate (1
3> At the center of the top surface, the vertical width rail (22) is attached to the liner (
23) and a large number of rail clips (24
) is fixed by Rail support plates (25) are vertically fixed to both sides of the girder top plate (13), and a number of vertical support plates (26) are fixed between these lower end faces and the girder bottom plate (14). Horizontal wheel rails (27) are similarly fixed to the outer surfaces of the rail support plates (25) on both sides.

Details of the lower track (9) are shown in FIG. A rail support plate (28) extending horizontally along the side wall (2) is installed near the lower part of the side wall (2) of the dock, and a large number of foundation bolts (28) in two rows above and below are horizontally embedded in the side wall (2). 29
) and nuts (3o) screwed into these are vertically fixed via the liner (31). and,
As in the case of the upper track (8), the horizontal wheel rail (32
) is fixed to the side surface of the rail support plate 28).

As shown in Figs. 2 to 4, the driving truck (4)
is a long one along the upper track (8), and on the lower surface of both ends thereof is a traveling drive device (34) equipped with two vertical drive wheels (33), and three horizontal wheels (35) (36). are provided for each. And the driving cart (4) is
These drives (34) and horizontal wheels (35) (36)
It is mounted on the upper track (8) in a self-propelled manner as follows.

Details of the drive device (34) are shown in FIGS. 13-16. The drive device (34) includes a frame (37) attached to the lower surface of the drive truck (4) as described below, and has two horizontal axles (J3) that are perpendicular to the upper track (8).
38) is fixed to the frame (37). and,
Two drive wheels (33) having the same outer diameter are rotatably attached to these axles (38), and are connected to the upper track (8).
) is placed on the vertical width rail (22). In addition, the same gear (39) that rotates together with the drive wheel (33) is attached to the two axles (38).
Idle gear (4) rotatably supported by the frame (37)
0) are meshed with these gears (39>).Hydraulic motors (41) are installed horizontally on the sides of the frame (37) on the outside of the dock near both ends, and these motors (41) Identical binions installed (4
2) correspond to the gears (39) of the drive wheels (33), respectively.
They are interlocked. A bearing (43) fixed to the center of the upper surface of the frame (37) is attached to a pin parallel to the axle (38).
Approximately half of the lower side of both ends of 44) are rotatably received. On the other hand, a bearing (4) fixed to the lower surface of the drive truck (4)
5) is placed on this bottle (44), and the bottle (44)
Approximately half of the upper side of both ends of the bearing (45) are rotatably fitted to the upper bearing (45). Upper and lower bearings (45) (43)
There is a small gap between them, allowing the frame (37) of the drive (34) to rotate a little relative to the drive carriage (4) about this bin (44). Also, bottle (44)
Discs (46) are fixed to both end faces of the upper and lower bearings (45).
) A ring is placed on the outer periphery of the bottle (44) between both end faces of (43) and the discs (46) at both ends to prevent the bottle (44) from shifting in the length direction of the upper and lower bearings (45') (43). A shaped stopper (47) is fitted.

As shown in Figures 17-22, three horizontal wheels (35) (36) are mounted on one housing (48), and two such housings (48)
is the drive bogie (4) located slightly further back in the dock than the drive unit (34).
It is fixed on the bottom as follows.

The horizontal wheel housing (48) has horizontal wheel supports (49) on both sides.
) (50) and a suction connection part (51) that connects the upper parts near both ends, and a support part (4).
9) Both ends of (50) protrude slightly from the connecting part (51). A plurality of bolt holes (52) are provided at each of the four corners of the housing (48), and one support section (49)
) horizontal wheels (3 wheels (3G)) are rotatably attached to two locations slightly inside the bolt holes (52〉) and one location in the center of the other support. A housing support plate (53) is horizontally fixed to the lower surface of the housing support plate (53), and a housing supporting plate (53) is provided on the lower surface of the plate (53) at right angles to the upper track (8) and facing at regular intervals in the length direction of the truck (4). Four pairs of vertical plate-shaped stoppers (54) (55) are fixed.The four sets of stoppers (54) (55) are arranged in the length and width directions of the cart (4) to form a rectangle. The trolleys (4
A vertical reinforcing plate (56) is fixed between the inner side surfaces of the four stoppers (55) on the inner side in the length direction and the lower surface of the housing support plate (53).

Each set of stoppers (54) on the housing support plate (53)
A plurality of bolt holes (57) corresponding to the bolt holes (52) of the housing (48) are provided between the housing (48) and both ends of the cart (4) in the width direction. 53) corresponding bolt hole (5
2), the housing (48> is fixed to the support plate (53) by a bolt (58) inserted into these so as to penetrate through them and a nut (59) screwed into the bolt (59). , the four corners of the housing (48) and the support plate (
53), a liner (60) is held in between. In addition, the portions near both ends of each connecting portion (51) of the housing (48) are connected to outer stoppers (54) on the lower surface of the support plate (53).
) and the inner stopper (55).
), between the connecting part (51) and the inner stopper (55
), between the horizontal wheel support part (49) (50) and the end of the outer stopper (54) and the support part (49)
A liner (61) is interposed between the inner stopper (50) and the end face of the inner stopper (55), and is fixed to the stopper (54) and (55) by spot welding. The two horizontal wheels (35) of one support part (49) are connected to the upper shaft M (8).
) is in contact with the horizontal wheel rail (27) on the outside of the dock, and one horizontal wheel (36) of the other support part (50) is in contact with the horizontal wheel rail (27) on the inside of the dock.

The work of installing the drive device N (34) and the horizontal wheels (35) (36) is carried out as follows.

First, the drive wheels (33) of the two drive devices (34) are placed on appropriate positions on the vertical width rail (22) of the upper track (8), and the horizontal wheels (35) <36) are removed in advance ( =
J&pull the two housings (48) to the horizontal wheel (35
) (At 36>, place the horizontal wheel rails (27) on both sides at appropriate positions on the upper track (8), and place them on top of the bottle (44) of the bearing (43) of these drive devices (34). Place the bearing (45) of the drive trolley (4) on the drive unit (
34) to the drive trolley (4).

Next, lift the horizontal wheel housing (48) and
1) to the outer stopper (54) of the housing support plate (53).
> and the inner stopper (55), then Pol!・(58
> and nuts (59) to temporarily tighten the housing (48) and support plate (53). At this time, the housing (48
) and the support plate (53) adjust the height of the horizontal wheels (35) (36) by means of a liner (60).

Then, the three horizontal wheels (35) 436) are connected to the rail (2
Adjust the positions of these in the horizontal plane so that they are in even contact with the stopper (54), sandwich the liner (61> between the housing (48) and the stopper S (5'4) (55)
) (55). Finally, the housing (48) and support plate (5) are connected by bolts (58) and nuts (59).
3) Completely tighten and secure.

As shown in detail in Figures 32 to 41, a pair of upper and lower wheels (36) extending horizontally on the inside side of the dock near both ends of the drive bogie (4) extend horizontally above the horizontal wheels (36) inside the dock. connecting plates (62) and (63) are fixed respectively. A rectangular vertical connecting hole (64) is provided in the center of each connecting plate (62) (63).
Binding pin guides (65) are fitted into these holes (64) from above (see Figures 38 to 40).
. Oil-free liners (66) are fixed to the inner surface of each guide (65), and the inner upper ends of these liners (66) are formed in a tapered shape facing diagonally upward. The upper surface of the flange of the guide (65) of the upper connecting plate (62) serves as a horizontal connecting surface (74). Rectangular connecting blocks (67) are horizontally fixed to portions near both ends of the upper surface of the upper connecting plate (62), and the upper surfaces of these blocks (67) serve as horizontal push-up bottle supporting surfaces (98).

Slanted surfaces (68) facing diagonally upward are formed on both edges of this surface (98) on the outside and inside of the dock (
(See Figure 41). Also, horizontal wheel supports (50) inside the dock of the two horizontal wheel housings (48) of the drive bogie (4)
A temporary connection hook (69) that extends inward to the dock and then bends upward is fixed to the side (Fig. 32~
(See Figure 37).

As shown in Figures 2 to 4, the surface treatment trolley (
5) is an elongated thing placed on and along the upper track (8), and on the inner side of the dock in the center thereof, the upper part of the leg (70) extending vertically along the dock side wall (2). is fixed. A vertical driven wheel (71) that moves on the vertical width rail (22) of the upper track (8) is attached to the lower surface of the end of the surface treatment trolley (5) on the dock entrance side, and the upper track (71) is attached to the lower surface of the center of the same. Two horizontal wheels (72) rolling on horizontal wheel rails (27) on both sides of 8) are mounted in the same way as in the case of the drive truck (4). Furthermore, two horizontal wheels (73) are attached to the lower ends of the legs (70) that roll on the rails (32) of the lower track (9).

The surface treatment truck (5) is connected to the end of the drive truck (4) on the dock entrance side as described later, and the upper and lower tracks (
8) Drive along (9).

The surface treatment truck (5>) is equipped with a hull surface treatment device. This device performs a series of hull surface treatment operations to be described later, and has the following known configuration.

That is, a hydraulic cylinder (75) is installed at the top of the leg (70).
) by! l! A post that pivots around a vertical axis (76
) is provided, and this post (76) is provided with a hydraulic cylinder (7
A jib (78) that is raised upwards is attached by 7). A stand (79) on which surface treatment equipment is mounted is provided at the tip of the jib (78).

Details of the connecting portion between the drive truck (4) and the surface treatment truck (5) are shown in FIGS. 23 to 25.

At the end of the surface treatment truck (5) on the back side of the dock, bifurcated projections (80) are integrally formed that project horizontally from the inner and outer side edges of the dock toward the back of the dock. Trolley (
4) Dock entry [The end on the 1 side enters between these protrusions (80). Bearings (81) are fixed to opposing parts of the two protrusions (80), and both ends of a horizontal bin (82) passing through the end of the drive truck (4) are fixed to these bearings (81).
is rotatably supported. The part of this bin (82) that passes through the drive cart (4) is formed flat so that the top and bottom are horizontal planes, and the width of the central part is slightly thicker than the other part. Both upper and lower ends of a vertical bin (84) that rotatably passes through the center of the flat part (83) of 82) are fixed to the drive truck (4). A horizontal bin support plate (88) having a similar opening (87) slightly smaller than this is fixed to the outside of the horizontally long rectangular opening (86), and the flat part (83) of the horizontal bin (82) ) extend through these openings <86> (87).

The width of the opening (87) of each support plate (88) is considerably thicker than the width of the horizontal bin (82) in this part.
A bearing plate (89) is fixed to the upper and lower edges of the horizontal bin (82) so as to be in slidable contact with the upper and lower surfaces of the flat part (83) of the horizontal bin (82). It does not rotate around its center line or move up or down, but it can rotate around the vertical bin (84) using the upper and lower bearing plates (89) as a guide. Then, drive cart (4
) and the surface treatment trolley (5) may rotate relative to each other by a certain amount about the horizontal bin (82) and may rotate relative to each other by a certain amount about the vertical bin (84).

However, since the parts near both ends of the horizontal bin (82) are supported by the drive cart (4) and the surface treatment cart (5) so that they cannot move up and down, Torsion is directly transmitted from one of the drive truck (4) and the surface treatment truck (5) to the other, and these trucks (4) (5) are not relatively twisted at the connecting portion.

As shown in Figures 5 to 7,
) is a pair of legs (
90), and upper and lower horizontal parts (91) and (92) that respectively connect the upper end parts of these legs (9o) and the parts slightly lower than the middle of the upper and lower parts, and each leg (90
) is fitted with a horizontal wheel (93) that moves on the rail (32) of the lower track (9).

Both upper and lower ends of a vertical swing post (94) are rotatably supported on the back side of the dock of the upper and lower horizontal parts (91) (92) of the trolley (6). This post (94)
A horizontal lever (95) is fixed to the upper part of the upper horizontal part (91), and the base end of the swing hydraulic cylinder (96) and the tip of its piston rod (97) are connected to the lower center of the upper horizontal part (91) and this lever ( 95) are rotatably attached to the distal ends of each of them via vertical bins. In addition, a vertical bracket (ioo) is fixed to the outer circumferential surface of the pivot post (94) slightly below the lever (95), and a suction cup arm (1
01) is rotatably attached to this bracket (100) via a horizontal pin (102). The base end of the elevation hydraulic cylinder (103) and the tip of its piston rod (104) are rotatably attached to the lower part of the swing post (94) and the central lower part of the arm (101) via horizontal pins, respectively. The arm (10
1), a vacuum hull suction cup (107) that can be tilted arbitrarily along the hull is attached as follows (see Figs. 26 to 28).

That is, a first bottle (108) that passes through the arm (101) vertically and protrudes slightly downward is rotatably attached to the tip of the arm (101) formed in an upper and lower bifurcated shape. One end of the suction cup support member (110) that has entered between the bifurcated protrusion (109) is fixed to the middle part of the bottle (108).The other end of the suction cup support member (110) The second bin (11) is perpendicular to the first bin (108).
1), it is rotatably attached to the rear center of the suction cup (107).

A hydraulic cylinder (112) that rotates the suction cup (107) around the first bin (108) is connected to a lever (
provided between the tip of the arm (113) and the arm (101),
A hydraulic cylinder (114) that rotates the suction cup (107) around the second bin (111) is connected to the first bin (10
8) and the lower end of the suction cup (107). Incidentally, since the suction cup (107) itself is well known, a description thereof will be omitted.

As shown in FIG. 29, the two oil chambers (115) of the turning hydraulic cylinder (96) of the input/outlet truck (6) (
116) to the two oil pipes (1) of the swing hydraulic circuit (117).
18) <, +19) are connected respectively, so that the arm (101) is centered on the post (94) and the suction cup (107) is attached to the upper and lower horizontal parts (91> (92)
The ship can be rotated between the position it retreated between and the position it advanced into the dock from between these positions. In addition, input/output carts (6
) is provided with a hydraulic control device (120) for a swing hydraulic cylinder (96) as described below. In the two oil pipes (118) (119) of the swing hydraulic cylinder (96),
Electromagnetic proportional relief valves (121)' (122) whose set pressures can be changed by electric signals (current) are connected to each of them. On the other hand, an angle detector (123) for detecting the turning angle of the turning post (94), that is, the arm (101) is provided on the upper surface of the upper horizontal part (91) of the truck (6) (see Figs. 5 and 6). ), the set pressure of the two relief valves (121) (122) is set between this detector (123) and the two relief valves (121) (122) according to the rotation angle of the arm (101). An arithmetic control section (124) for individual control is provided. Arithmetic control unit (1
24) is a digital input circuit (125) and a conversion circuit (
126), a table reference circuit (, 127), an arithmetic circuit (128), and two analog output circuits (129)
(130), each analog output circuit (129)
(130) and the corresponding relief valve (' 121) (1
22) and amplifiers (131) and (132), respectively.
is provided. In addition, the arithmetic control section (12'4)
For example, it is configured by a sequence controller.

As will be explained in detail later, this hydraulic control device (12
0), the trolley (
6) The horizontal force perpendicular to 6) is limited to below a certain permissible value.

As shown in Fig. 30, the two oil chambers (133) of the hydraulic cylinder (103) for elevating the loading/unloading truck (6)
(134>, the two oil pipes of the elevation hydraulic circuit (135)
136) and (137) are connected to each other. Then, the arm (101) is lifted up and down between a substantially horizontal position with the horizontal bin (102) as the center and a position where the suction cup (107) side is tilted downward.
7) is just below the upper horizontal part (91) and the lower horizontal part (92).
). In addition, a relief valve (138) is connected to the oil pipe (136) of the oil i (133) on the head side of the elevation hydraulic cylinder (103), and the set pressure of this valve (138) is controlled by the arm (101) and the suction The pressure is slightly greater than that required to support the weight of the board (107).

As shown in FIG. 31, two air pump units (139) equipped with water seal vacuum pumps for suction cups are provided on the upper horizontal part (91) of the input/outlet truck (6), A fresh water tank (140) for the vacuum pump unit is provided in the upper horizontal part (91). A flexible hose (143
) is connected, and the intake pipe of this pivot post (94) < 1
42) and the intake pipe (
144), a flexible hose (145) is connected between the two. Although not shown, a flexible hose is also connected between the other end of the intake pipe (1'44) of this arm (101) and the suction cup (107). Fresh water tank (140)
Fresh water supply port (147) installed at the bottom of the side wall outside the dock
) and the two vacuum pump units (139), a fresh water supply pipe (, 148) whose vacuum pump unit (139) side is branched into two is connected, and this pipe (148)
On the tank (140) side of the branch point, there is a tank (
From the 140) side, the pressure gauge (149) and the fresh water pump (
150), pressure gauge (151), Y-type strainer (1
52), solenoid valve (153) and flow switch (1
54) is provided. A vacuum pump unit (1
A fresh water return pipe (15'7) branched into two on the side (39) is connected, and a water inlet with a cap (158) d3 and an approximately inverted J-shaped air vent pipe (15'7) are connected to the top wall of the tank (140).
59) is provided. A drain plug (161) is provided on the bottom wall of the fresh water tank (140), and a covered manhole (162) is provided on the side wall outside the dock. The fresh water tank (140) has a liquid level gauge (16
3) and a water temperature gauge (164) are installed. Further, the vacuum pump unit (139) has a vacuum pressure gauge with a pressure switch (1eo) with a design number.

As shown in detail in Figures 32 to 44, there are a pair of upper and lower connecting plates (165) that extend horizontally to the outside of the dock at the top of the legs (9o) on both sides of the docking truck (6). (166
) are fixed respectively. Each connecting plate (165) (
A rectangular vertical connecting hole (167) is provided in the center of the connecting hole (166), and an oil-free liner (
, 168) are fixed (see FIGS. 38 to 40, 43, and 44). The lower surface of the liner fixing plate (169) fixed to the lower surface of the peripheral edge of the connecting hole (167) of the upper connecting plate (165) is connected to the connecting surface (74) of the drive bogie (4).
The horizontal connection surface corresponding to < 170).

The top plate (171) of the leg (9o) is the upper connecting plate (165)
It extends horizontally above and is fixed to the side plate (173) on the outside of the dock of the leg (90) and the upper connecting plate (165) by a plurality of vertical plates (172'). Connection hole (167)
A horizontal guide plate (174) is placed on the upper surface of the leg head plate (171) directly above the
) is fixed via a liner (175), and on the upper surface of this guide plate (174) is a lower end plate (177) fixed horizontally to the lower end of a vertical cylindrical hydraulic cylinder support (176).
is fixed. A rectangular guide hole ('178) vertically passes through the leg head plate (171), liner (175), guide plate (174), and support lower end plate (177).
is provided directly above the connecting hole (167), and the kite board (17
An oil-free liner (
179) is fixed. A connecting hydraulic cylinder (180) is arranged vertically downward just above the guide hole (178).
) is fixed to an upper end plate (181) horizontally fixed to the upper end of the support (176). The piston rod (182) of this hydraulic cylinder (180) protrudes downward through the upper end plate (181) of the support body (181).
A connecting bin (7B) with a rectangular cross section arranged vertically in
183) is rotatably attached to the lower end of this iron (182) via a horizontal bottle (184), a spherical bush (185), a ring-shaped stopper (186), a retaining ring (187), etc. (See Figure 42).

The lower end of the connecting bin (183) is formed into a tapered shape, and a fall prevention recess (189) is provided on the outer surface of the dock at the upper part of this tapered part (188). By expanding and contracting the rond (182) of the connecting hydraulic cylinder (180), the connecting bottle (+83) is moved to the guide plate (174).
etc. guide holes (178) and upper and lower connecting plates (165).
) (166) and protrudes slightly below the lower connecting plate (1 (36)), and the upper end position where the lower end enters the connecting hole (167) of the upper connecting plate (165). can be raised and lowered between

Above the parts near both ends of the upper connecting plate (165) of the input/output truck (6), there are hydraulic cylinder support plates (corresponding to the connecting blocks (67) of the upper connecting plate (62) of the drive truck (4) 190) is fixed horizontally.

Two push-up hydraulic cylinders (1
The lower ends of the piston rods (192) of the hydraulic cylinders (191) are fixed to these support plates (190), and the upper connecting plates (16
5) is fixed with a vertical push-up pin (193) passing through it vertically. Outside the dock of each push-up bin (193),
A recess (194) is provided to prevent falling. Due to the expansion and contraction of the push-up hydraulic cylinder (191), the push-up bottle (193) has a lower end position that projects slightly below the lower surface of the upper connecting plate (165) and a lower end that is slightly above the lower surface of the upper connecting plate (165). It can be raised and lowered between the upper end position and the upper end position. In addition, a pair of connecting blocks (195) are horizontally fixed to the lower surfaces of the upper connecting plates (165) on the outside and inside of the dock of each push-up bin <193>, and these blocks (
A diagonally downward inclined surface (196) corresponding to the inclined surface (68) of the connecting block (67) of the drive truck (4) is formed at the lower part of the opposing surface of the driving truck (4) (see FIG. 41).

The upper connecting plate (165) of the input/outlet truck (6) is provided with a fall prevention device (197) for the connecting bin (1B3) and push-up bin (193) as shown below (Fig. 41,
(See Figures 41 and 44).

The part closer to the outside of the dock between one end of the upper surface of the upper connecting plate (165) and the push-up bin (1 (13)) close to this, and the part closer to the outside of the dock between the push-up bin (193) and the connection bin (183) on the opposite side. Each section has a horizontal lever (19g)
(199) is rotatably mounted via a vertical bin (2oo), and these levers (198)
The other end of (199) is attached to two vertical bins (20
2), which are rotatably connected to each other. Connection prevention plate (
201) includes a connecting bottle (183) and a push-up bottle (1
Three protrusions (203) are integrally formed that protrude horizontally into the inside of the dock, corresponding to the recesses (189) and (194,) of 93). In addition, a fall prevention hydraulic cylinder (204) is horizontally fixed to the lower outer surface of the vertical plate (172) on one lever (1911> side) of the upper connecting plate (165), and the piston of this hydraulic cylinder ('204) Rod (205
) is connected to this lever (198) by the vertical bin (206).
) are rotatably connected. Then, the two levers (198) and (199) rotate due to the expansion and contraction of the rod (205) of the fall prevention hydraulic cylinder (204).
As a result, the fall prevention plate (201) moves toward and away from the connecting bin (183) and push-up bin (193) while remaining parallel to the dock side wall (2>. The lower surface of the plate (201) has an upper connecting plate (1
A block (217) that supports the fall prevention plate (201) is fixed in contact with the upper surface of (65).

As shown in detail in FIGS. 45 and 46,
Legs on the dock entrance side and the back side of the docking truck (6) (90)
At the top of the side, there is a hook (
69), temporary connection bins (207) are provided, respectively. A hydraulic cylinder support stand (208) is fixed to the upper side of the leg (90), and the base end of the hydraulic cylinder (210) for temporary connection is attached to a vertical bracket (209) fixed to the lower part of this stand (208). Part is the side wall of the dock (
It is rotatably attached via a horizontal bottle (211) parallel to 2), a spherical bushing, a ring-shaped stopper (path shown), etc. The piston rod (212) of this hydraulic cylinder (210) protrudes to the outside of the dock, and the temporary connection bottle (207) ) is the horizontal bin (2
11) I am stopped parallel to this.

In addition, a vertical bracket (214) fixed to the top of the table (208) and a temporary connection hydraulic cylinder (210) are connected to the base end of an auxiliary cylinder (215) and the front end of its piston rod (216). is rotatably attached via a horizontal bottle, and by the expansion and contraction of the rod (21 (3) of the auxiliary cylinder (215), the hydraulic cylinder (210) for temporary connection is placed in an almost horizontal position and the rod (212) side is The horizontal groove member (218,) located just below the tip of the hydraulic cylinder (210) for temporary connection in the horizontal state is placed on the side of the leg (90〉). This hydraulic cylinder (21
0) rotation in the horizontal plane! A pair of stoppers (219) are fixed to the upper surface of this groove profile (218). In addition, a horizontal groove member (220) located slightly above the rod (212) of the hydraulic cylinder (210) for temporary connection in a horizontal state is fixed at right angles to the side surface of the leg (90). A pair of storage guides (22-1) located above both sides of this Rondo (212) are fixed to the lower surface of (220) in a hanging manner. These guides (221) have a slightly higher slope on the outside of the dock,
These mutual spacings gradually increase toward the outside of the dock.

As shown in detail in FIGS. 32 to 37, 45, and 47, a vertical first Storage bin (222
) is installed so that it can be raised and lowered freely. Side of leg (90) -
A hydraulic cylinder (223) for lifting and lowering storage bins is placed vertically downward on a bracket (223) fixed vertically to the top.
4) The upper end is rotatably attached via a horizontal bottle.The leg (=I) directly below this hydraulic cylinder (224)
90) with two upper and lower bearings (226) < 227
) are fixed, and an elongated vertical shaft (228) is received in these bearings (226) (227) so that they can slide up and down but not rotate. And this axis (22
8) The upper end is rotatably attached to the lower end of the piston rod (229) of the hydraulic cylinder (224) via a horizontal pin. In addition, the upper and lower bearings (226) (227
) has an oil-free liner (228) in contact with the shaft (228).
31) is fixed. The lower bearing of the shaft (228) (
An arm (232) extending diagonally toward the back and outside of the dock is fixed slightly above the dock (227).
At the tip of this arm (232) is a vertical storage bin support tube (
233) is fixed.

The storage bin (222) has a rectangular cross section, and its lower end is tapered. In addition, the storage bin (
A small-diameter cylindrical portion (234) is integrally formed on the upper end surface of the cylindrical portion (222), and a disk-shaped stopper (235) having a larger outer diameter is fixed to the upper end surface of this cylindrical portion (234).

At the lower end of the storage bin support cylinder (233), the storage bin (22
A horizontal bottom plate (236) having a thickness smaller than the length of the columnar part (234) in 2) is fixed, and a circular hole (23γ) having an inner diameter larger than the outer diameter of the columnar part (234) and smaller than the outer diameter of the stopper (235) is fixed. ) is provided in the center of the bottom plate (236). The cylindrical part (234) of the storage bin (222)
) is fitted into this circular hole (237) with a gap, and a stopper (235) is placed on the top surface of the bottom plate (236). Furthermore, a pair of upper and lower guide plates (238) (239) are fixed to the side surfaces of the legs (90) under the lower bearing (227) and extend horizontally directly below the storage bin support cylinder (233). These guide plates (238) (239) have a rectangular guide hole (240) located directly below the circular hole (237) of the support cylinder bottom plate (23G) and slightly larger than the storage bin (222). By expanding and contracting the rond (229) of the hydraulic cylinder (224), the storage bin (222) is moved to the upper and lower guide plates (238) (239).
) and insert the guide hole (240) in the lower guide plate (239).
) and an upper end position where the lower end is located slightly below the lower surface of the upper guide plate (238).

As shown in detail in FIGS. 32 to 37, M2S and FIG. Bottles (24
1) is attached so that it can be rotated and raised and lowered. leg(
Bracket (24) fixed vertically to the upper side of the
2), the upper end of a hydraulic cylinder <243> for lifting and lowering storage bins, which is arranged vertically downward, is rotatably attached via the horizontal bin.This hydraulic cylinder (243)
There are two upper and lower bearings (245) on the side of the leg (90) directly below the
(246) is fixed and an elongated vertical shaft (247
) are rotatably and vertically slidably received by these bearings (245) and (246). And this axis (2
47) is rotatably attached to the lower end of the piston rod (248) of the hydraulic cylinder (243) via a horizontal pin. In addition, the upper and lower bearings (245) (24
6) has an oil-free liner (247) in contact with the shaft (247).
250) is fixed. A similar lever holder (251) is fixed in parallel slightly below the upper bearing (245), and the shaft (247) is attached to the lever holder (251).
It penetrates with a gap.

The part that moves up and down inside the upper bearing (245) and lever receiver (251) of the shaft (247) is a lever mounting part (253) in which both sides of a cylinder are cut out to form mutually parallel flat surfaces (252). The upper bearing (24G
A lever mounting part (253) is attached to one end of a lever (254) disposed between the lever holder (257) so that it can slide up and down but not rotate. Hydraulic cylinder for rotating the storage bin (255)
The base end of the hydraulic cylinder (255) is rotatably attached (pull) to the bracket (256) horizontally arranged on the side of the leg (90) via a vertical pin, and the piston rond (255) of the hydraulic cylinder (255)
The tip of the lever (257) is rotatably attached to the other end of the lever (254) via a vertical pin. In addition, the flat surface (252) of the shaft (247) is inside the lever receiver (251).
The oil-free liner (258) in contact with the bearing (258) is fixed, and the bearing (2
45) and lever holder ('251)
Oil-free liners (259) are also fixed to both the upper and lower end surfaces of 51). At the lower part of the shaft (247), slightly above the bearing (24G), there is an arm (26
0) is fixed, and a storage bin (241) is fixed to the tip of this arm (260). Storage bin (2
41) has a rectangular cross section, and its lower end is tapered.

Then, the rondo (25) of the swing hydraulic cylinder (255)
7), the arm (260) is rotated between a position extending diagonally toward the dock entrance and a position extending almost straight toward the outside of the dock, and as a result, the storage bin (
241) is the approach position inside the dock side wall (2) and the side wall (
2) It is rotated between the advanced position and the outer position. Furthermore, the swing bin (241) can be raised and lowered within a predetermined range by expanding and contracting the lifting hydraulic cylinder (243).

As shown in detail in FIGS. 32 to 37 and 50, storage blocks (261) (262) are attached to the lower surface of each leg (9o) of the input/output truck (6). . The lower surface of each block (261) (262) is a cylindrical surface centered on a horizontal axis parallel to the dock side wall (2). Further, the leg (90) on the dock entrance side extends downward a little longer than the leg (90) on the back side, and the bottom surface of the block (261) on the back side is slightly higher than the bottom surface of the block (262) on the entrance side. On the other hand, a pair of loading and unloading truck storage platforms (263) (264) are provided at the bottom of the side wall (2) on the back side of the dock, corresponding to the pair of legs (9o) of the passenger east truck (6). The stand (263) on the back side is slightly higher than the stand (264) on the entrance side (see Figure 5). And the base metal (
Storage blocks (265) and (266) corresponding to blocks (261) and (262) of the input/output truck (6) are attached (pulled) to the upper surfaces of 263) and 264, respectively.

In addition, a first storage bracket (267) that protrudes horizontally toward the inside of the dock is fixed to the upper part of the side wall (2) on the back side of the storage platform (263) at the back of the dock. 267) is provided with a rectangular connecting hole (268) that is slightly larger than the first storage bin (222) (see FIG. 47). A recess (269) is provided in the upper part of the side wall (2) slightly on the entrance side of the storage platform (264) on the dock entrance side, and a recess (269) is provided in the wall of this recess (269) toward the inside of the dock. A second horizontally projecting storage bracket (270) is provided. This bracket (270) is provided with a rectangular connecting hole (271) that is slightly larger than the second storage bin (241).

In the above, when performing docking/docking work, the docking/docking truck (6) is connected to the inside of the dock of the driving truck (4) as follows (Figures 8 to 10, 32 and 3).
(See Figure 8).

That is, the upper and lower connecting plates (165) of the input/outlet truck (6)
(16G) is the upper and lower connecting plate (62) of the drive trolley (4)
Directly above <63>, the upper and lower connecting holes (167) of the input/outlet truck (6) are connected to the upper and lower connecting pin guides (167) of the drive truck (4).
65), the push-up bin (193) of the input/output truck (6)
) are located directly above the push-up bin support surface (98) of the connection block (67) of the drive truck (4), and the connection surface (170) of the input/output truck (6) is connected to the drive truck (4). surface(
74), the weight of the input/output truck (6) is supported by the drive truck (4). At this time, the push-up bin (193) of the input/outlet truck (6) moves upward, and the push-up bin (193) and the push-up bin support surface (9) of the drive truck (4) move upward.
There is a slight gap between 8). In addition, the liner fixing plate (
272) and the flange (273) of the connecting pin guide (C5) of the lower connecting plate (63) of the drive truck (4). The connecting bin (183) is connected to the upper and lower connecting holes (167) of the input/outlet truck (6) and the drive truck (4).
) is lowered to the lower end position through the guide (65), and the two carts (4) and (6) are
relative horizontal movement of is prevented. In addition, input/output carts (
The inclined surface (196) of the connecting block (195) of 6) is the inclined surface (68) of the connecting block (67) of the drive truck (4).
There is a slight gap between these inclined surfaces (68) and (196). The contact between these inclined surfaces (68) and (196) prevents relative twisting of the two carts <4) and (6) in the horizontal plane. In this way, the slopes (68) (196) of the blocks (67) (195) of the two carts (4) (6)
Since the above-mentioned relative torsion is counteracted by the above-mentioned relative torsion, a large twisting force does not act on the connecting bottle (183), and there is no need to make the connecting bottle (483) particularly large.

Also, at this time, the hydraulic cylinder (210) for temporary use of the input/output truck (6) is tilted upward, and its rond (
212) is retracted, and the U-shaped member (213) is stored between the storage guides (221). The first storage bin (222) is raised to the upper end position, and the second storage bin (241) is rotated to the retracted position and raised to the upper end position. In addition, the driving trolley (
4) Suction cup (107) of the input/output truck (6) connected to
The center of the horizontal pin (102) at the base end of the arm (101) is at approximately the same height as the horizontal wheel (35) (36>) of the drive truck (4) (see FIG. 8).

The driving truck (4), the surface treatment truck (5) that is always connected to the driving truck (4), and the input/output truck (6) that is connected to the driving truck (4) as described above are connected to the driving device (4) of the driving truck (4). 3
4), the vehicle travels along the upper and lower tracks (8) and (9). At this time, the weight of these carts (4), (5), and (6) is transferred to the upper track ( 8)
It can be received by the vertical width rail (22). In addition, an overturning moment acts on these carts (4), (5), and (6) with the upper part tilting toward the inside of the dock, but this moment is caused by the horizontal wheels of the driving cart (4) and surface treatment cart (5) (35
) (3G) < 72) and surface treatment trolley (5)
and the upper and lower tracks (8
) and (9), the horizontal wheel rails (27) and (32) prevent these carts (4, 5, and 6) from overturning.

When loading and unloading work is not being performed, such as when performing surface treatment work, the loading and unloading truck (6) connected to the driving truck (4) is moved to the driving truck (4) according to the procedure shown in FIGS. 32 to 37. ) is separated from the storage platform (263) (26
4) Stored above.

First, as mentioned above, the input/output truck (6) is moved to the drive truck (,4
), move the carts (4), (5), and (6) to the storage preparation position, which is slightly closer to the entrance than the storage platform (264) on the dock entrance side (see Fig. 32). At this time, the lower surface of the storage block (26+> (262) of the input/outlet truck (6) is the block (265
) (26G> approximately 30+ nm below the top surface.

Next, at the storage preparation position, the push-up bin (193) of the input/outlet truck (6) is advanced to the lower end position with respect to the truck (6) (see FIGS. 33 and 39). This results in
The push-up bin (193) is connected to the connecting block (
67), and the input/output truck (6) is approximately 601III from the connected state to the drive truck (4).
l Lifted upwards. As a result, the lower surfaces of the storage blocks (261) (262) of the input/output truck (6) are the corresponding storage blocks (263) and (264> blocks (265)).
(266) Rise to about 3oI11111 above the top surface. In this state, the blocks (261) (262) of the input/outlet truck (6) are connected to the corresponding platform (263).
Move the carts (4), (5), and (6) to the storage position directly above the blocks (265) (26B) at (264). As a result, the first storage bin (
222) is the first storage bracket (222) on the dock side wall (2).
The guide plates (238) and (239) above and below this pin (222) are located slightly above and slightly below this bracket (267). In addition, the second storage pin (241) of the input/output truck (6)
is located inside the dock in a recess (2139) in the dock side wall (2), the lower end of this bin (241) being slightly above the second bracket (270) in the recess (26!). When moving the loading/unloading truck (6) to the storage position, the loading/unloading truck (6)
) storage, block (261) (262) block (265) with corresponding platform (263) (264)
<266) Since they are located above the top surface, there is no risk of them colliding. Also, since the top surface of the block (266) on the platform (264) on the dock entrance side is lower than the top surface of the block (265) on the platform (263) on the back side, the dock entrance/exit truck (6)
) The block (261) on the back side of the dock is the platform (26) on the entrance side.
There is no risk of collision with block 4) (26G). In addition, all storage blocks (261) (262)
(265> The thickness of (266) is greater than 30 mm, so even if the loading/unloading cart (6) is moved to the storage position without lifting it, the blocks (261) (262)
(265) (266) Comrades only clash.

And the block (265) of the stand (263) (264)
) (26B> is only held between the outside and inside of the dock by a pair of vertical plates ('274) fixed to the upper surface of the platform (263) (264> (No. 5
(see figure 0), block (261) of input/output truck (6)
When (262) collides with the platform (263) (264)
It comes off easily. Therefore, block (261)
(2G2) (265) (266) Even if two comrades collide, there is no risk of damage to the input/outlet truck (6) or storage platform (263) (264). Also, since the second storage bracket (270) is located in the recess (269) in the dock side wall (2), the first storage bin (222) and its guide (238) (239) can be Bracket (270)
There is no risk of collision.

Next, in the storage position, the push-up bin (193) of the input/outlet truck (6) is moved back and forth to the upper end position (see FIGS. 34 and 40). As the push-up bin (193) moves in and out, the loading and unloading cart (6) gradually descends, and from the lifted state to about 3
When the storage block (161) (162) of the input/output truck (6) corresponds to the storage platform (163) when it descends by 0 mm
(164) is received on the blocks (165) and (166), so the input/output truck (6) stops. and,
After this, only the push-up bin (193) is placed in the input/output truck (6).
) away from the support surface (98) and move up to the upper end position. In this way, the input/output truck (6> is the storage platform (163)
(164) When it is received on top of the loading/unloading cart (6
) is located approximately 3Qmm above the connected state, and the drive carriage (4
) and the connecting surfaces (74) and (170) of the input/outlet truck (6), there is a gap of approximately 3Qmm.

Next, temporarily connect the bins (2
07) on the corresponding hooks (69) of the drive cart (4), and then hook the first and second storage bins (222) (
241) of the first and second brackets (267) (270) of the dock side wall (2).
71) (see Fig. 35 and Figs. 45 to 47). Hook (69) the temporary connection bottle (207)
The operation for hooking is performed as follows. That is, first, the rod (21) of the hydraulic cinder (210') for temporary connection is
2) and extend the bottle (20
7) is moved to the outside of the dock from above the hook (69), as shown by the chain line (B>) in the figure.

Then, as shown by the chain line (C) in the same figure, the hydraulic cylinder (210) for temporary connection is turned to a horizontal state, and then the rod (210) is turned as shown by the solid line in the same figure.
2) and pull the bottle (207) onto the hook (69) 11
and pull the upper part of the input/outlet truck (6) slightly toward the drive truck (4). As a result, the overturning moment of the input/outlet truck (6), which was previously borne by the connecting bin (183), is borne by the temporary connecting bin (207) and the hook (69). In addition, in order to prevent the bottle (207> and the hook (69) from completely fitting together, the outer diameter of the bottle (207) is smaller than the diameter of the arc of the portion of the hook (69) on which it is hooked. To insert the storage bin (222) into the connection hole (268) of the first bracket (267),
The storage bin support tube (233) may be simply lowered to the lower end position. This allows the storage bin (222) to be placed in the upper kite plate (23) as shown in detail in FIG.
8), the connection hole (268) of the bracket (267), and the guide hole (240) of the lower guide plate (239) and descend to the lower end position to connect these. Insertion of the second storage bin (241) is performed as follows. That is, first, the second storage bin (241
)'s arm (260) is pivoted to the advanced position. As a result, the storage bin (241) stops directly above the recesses (269) and (271) in the dock side wall (2), so the storage bin (241,) is lowered to the lower end position and the connecting hole (2)
71).

Next, the connecting bin (183) of the input/outlet truck (6) is raised to the upper end position, and the upper and lower guides (6) of the drive truck (4) are raised to the upper end position.
5) and the upper and lower connecting holes (167) of the input/outlet truck (6)
(See Figures 36 and 43). At this time, the temporary connection bottle (207) and hook (69)
The overturning moment of the input/output truck (6) is borne by the guide (65) and the connecting hole (167).
Since the oil-free liner (66) (168) is provided on the inner surface of the bottle, the connecting bottle (, 183) can be easily pulled out. In addition, the storage bin (222) of the input/output truck (6) (
241) and the storage bracket on the dock side wall (2) < 26
7) There is a connecting hole (268) between (270) and (27
There is a slight gap in the part 1), but the temporary connection bin (207) and the hook (69) bear the overturning moment of the input/output cart (b).
83), so the connecting bottle (18'3) is attached to the guide (
65) and the storage bin (222) (2,1N) and bracket (267) when pulled out from the connection hole (167).
No impact force is generated during (270). Once the connecting bin (183) has risen to the upper end position, move the fall prevention plate (201) of the fall prevention device (197) to the inside of the dock, and remove the connecting bin (183) and the push-up bin that has already risen to the upper end position. (193) recess (189) (
194) into which the protrusion (203) of the fall prevention plate (201) is fitted (see Figs. 43 and 44).

As a result, the connection bottle (183) and push-up bottle (19) due to internal leakage of the hydraulic cylinders (180) (191)
3), especially the connecting bottle (183) with a large weight Ht, is reliably prevented from falling.

Next, by performing the operation opposite to the above, temporarily connect the bin (20
7) is separated from the hook (69) and stored between the guides (221), and the drive cart (4>) and surface treatment cart (5) are moved to the dock entrance side by RT&4U (see Fig. 37). As the rod (2'12) of the hydraulic cylinder (210) for temporary connection in the horizontal state gradually extends, the upper part of the docking truck (6>) tilts slightly toward the inside of the dock, and eventually the storage bins (222) (241) and bracket (267) (
270), the overturning moment of the input/output truck (6) is 1-
will be borne. Then, after this, temporarily connect the bin (
207) is stored at the position indicated by the chain line (Δ) after passing through the positions indicated by the chain lines (C) and (B) in FIG. Input/outlet truck (6
) The lower surfaces of the storage blocks (261) and (262) are cylindrical, so that these parts move smoothly when the input/output truck (6) is tilted. Bin for temporary connection (207
) are separated, the overturning moment of the input/output truck (6) is caused by the upper and lower guide plates (
238> (239) and first storage bin (222)
is received by the first bracket (2t37) via the shaft (247) of the second storage bin (241),
It is received at the second bracket (270) via the arm (260) and the second storage bin (241). At this time, the cylindrical column of the first storage bin (222) is placed so that the shaft (228), arm (232), etc. of the first storage bin (222) do not bear the overturning moment of the input/output truck (6). (234) and the inner surface of the hole (237) of the storage bin support cylinder bottom plate (236), the guide hole (240) of the first storage bin (222) and the guide plate (238), and the first
The size of the gap between the bracket (2137) and the inner surface of the connecting hole (268) is appropriately determined. In this way, when the input/output truck (6) is stored on the storage platform (263) (264), there is no need to worry about anything between the drive truck (4) and the input/outlet truck (6) that connects them or interferes with each other. Since there is nothing left to do, the drive cart (71) and surface treatment cart (
5) can be moved away from the docking truck (6) to the dock entrance side.

The driving truck (4) and the surface treatment truck (5) separated from the input/output truck (6) are connected to the drive device (3) of the driving truck (4).
4), the vehicle travels along the upper and lower tracks (8) and (9). At this time, the overturning moment of the surface treatment trolley (5) is caused by its horizontal wheels (72) and legs (70), and the horizontal wheels (70) at the lower end.
3) is received by the horizontal wheel rails (27) (32) of the upper and lower tracks (8) and (9). The drive bogie (4) only rests on the upper track (8) with vertical drive wheels (33) and horizontal wheels (35) (36), but the surface treatment bogie (5)
) has a structure that does not allow relative torsion around the axis parallel to the upper track (8) as described above, so the overturning moment of the drive bogie (4) is reduced by the surface treatment. It is supported by the truck (5) and the driving truck (4) does not fall. In addition, although the long jib (78) can be seen on the surface treatment trolley (5), the trolley (5) itself is long and thin, and the long and thin drive trolley (4) is always connected to one end of the trolley (5), so it is extremely difficult to Good stability. Since the load of these carts (4) and (5) is supported by the three vertical drive wheels (33) and vertical driven wheels (71), the deflection of the carts (4) and (5) is also small. Upper track (8)
Although it is desirable that the wafer be installed in a completely straight line, it is inevitable that some waviness will occur in the vertical and horizontal planes. However, the driving truck (4) and the input/output truck (5) are connected to the horizontal bin (82) and the vertical bin (82).
84), so even if the upper track (8) is meandering, the three vertical axes (33) (71) and the horizontal wheels (35) (
36) (72) is the rail (22) of the upper track (8)
, (27). For example, the drive trolley (4)
Assuming that the surface-treated truck (5) and the surface-treated truck (5) are made into a single unit that cannot rotate with respect to each other, when the upper track (8) is meandering, the wheels at three locations are always in contact with the rails (22) and (27). That is impossible. This problem can be solved by having wheels at two locations, but this results in undesirable structural problems such as the distance between the supporting points (the distance between the vertical wheels) of the elongated truck becoming longer and the deflection of the truck increasing. Further, the drive wheels (33) of the drive truck (4) are connected to the surface treatment truck (5).
), the wheel weight of the drive wheels (33) increases and a large driving force is obtained. In each drive device (34) of the drive truck (4), the two drive wheels (33) are each connected to a hydraulic motor (41),
Moreover, since these drive wheels (33) are connected to each other by idle gears (40), these drive forces can be balanced to prevent unbalanced loads, and the drive wheels (33) can be prevented from rusting. Even if the rail (22) is uneven, one drive wheel (33) will not be overloaded.

In order to reconnect the loading/unloading cart (6) stored on the storage platform (263) (264) on the dock side wall (2>) to the driving cart (4), perform the reverse operation as follows. Bye.

That is, first, the driving truck (4) and the surface treatment truck (
5) to the storage position and position the upper and lower connecting pin guides (65) of the driving truck (4) approximately directly below the upper and lower connecting holes (167) of the entry/exit prefectural truck (6), and then ,
Hook the temporary connection bottle (207) of the culvert truck (6) onto the hook (69) of the drive truck (4), and connect the input/output culvert truck (6).
Pull the top part of the drive truck (4) slightly toward the drive cart (4). Then, the fall prevention plate (201) of the fall prevention device ('197) is moved to the outside of the dock, and its protrusion (203) is attached to the connecting bin (
183) and push-up bottle (+93) recess (189)
(19'4), lower the connecting bin (183) to the lower end position, and connect the upper and lower connecting holes (167) of the input/output truck (6) and the upper and lower guides (
05). Simply moving the drive truck (4) to the storage position will cause damage to its guide (65) and the input/output truck (6).
The position of the connection hole (167) is slightly shifted in the direction perpendicular to the dock side wall (2), but as shown above, the connection hole (167)
By slightly pulling the drive truck (4) toward the drive truck (4), these positions will almost match. Since the lower end of the connecting bin (183) is formed into a tapered tapered shape, even if the positions of the drive truck (4) and the input/output truck (6) are slightly shifted in the length direction of the truck (4), , by lowering the connecting bin (183) and pushing its tapered part (188) into the connecting hole (167) of the chestnut cart (6) and the guide (65) of the driving cart (4), the driving cart ( 4) moves to the normal position. At this time, since the length of the temporary connection bin (207) is considerably larger than the width of the hook (69), these do not impede movement of the drive carriage (4).

Next, raise the first storage bin (222) of the loading/unloading truck (6) to the upper end position and insert the guide hole (240) of the lower guide plate (239) and the first bracket of the side wall (2) of the ship. (267) and pull it out upward from the connecting hole (268).

At the same time, the second storage bin (2
41) to the upper end position and
After the bracket (270) is extracted upward from the connecting hole (271), it is rotated to the retracted position.

Next, the temporary connection bin (207) is separated from the hook (69) and stored between the kites (221), and then the push-up bin (193) of the input/outlet truck (6) is advanced to the lower end position. As a result, the input/output truck (6) is moved to the drive truck (
4) is lifted approximately 6C1m above the connected state, and the storage platform (261) (262) is the storage platform (263) for the input/output truck (61).
Block (265) of (264) Approximately 3Qm+ away from (266)! It rises up to 1.

Next, while lifting the input/outlet truck (6) as described above, move the drive truck (4) and surface treatment truck (5) to the storage preparation position, and finally, move the push-up pin of the input/outlet truck (6>). (193) is retracted upward to cast the trolley (6),
Connection surface (170) of input/outlet truck (6) and drive truck (4)
contact with the connecting surface (74).

The dock entry/exit device (3) on the dock entrance side is also attached to the upper and lower tracks (8) and (9) in the same way as above. Stand (2133) (
264) etc. are similarly provided.

Then, the dock entry/exit device (3) on the dock entrance side and the storage platform (
263) <264>, etc. are symmetrical with the docking device (3) and storage platforms (263) (264) on the back side of the dock with respect to a vertical plane orthogonal to the dock side wall (2). In addition, the dock loading/unloading device (3) onibi storage platform (263) (264>, etc. on one side wall (2) of the dock is on the opposite side to the vertical plane in the center of the dock (1) parallel to the side wall (2). The corresponding inlet/outlet device (3) and storage platform (263) of the side wall (2) (
264) and so on. Then, each inlet/outlet device (3
) The loading and unloading cart (6) is stored and connected in the same manner as described above.

The dock (1) is equipped with the following equipment and an automatic installation device for docked ships (see Figure 51).

1, that is, 9)) The waterway 1) includes a winch (276) for opening and closing the gate (275), and a gate (275).
gate detector (277) to detect the opening and closing of etc. are provided. In addition, the beam bottom (
282), there are a plurality of keel boards placed in the center, and a plurality of belly boards placed on both sides of the keel boards (283).
), and the belly plate (283) is equipped with a belly plate detector (283) for detecting when it comes into contact with the bottom of the ship.
4) is provided.

In addition to the docking/undocking device (3), the automatic installation device for docked ships includes a gate control device (285), and a drainage pump control device RA (2).
86), an automatic belly board control device (287), a keel rough book detector (2118), a ship position detection device (289), an input/output device (290), and a central control table (291).

A gate control device (285) controls a winch (276) for opening and closing the gate (275), and the output of the gate detector <277> is input to this control device (285).

The drainage pump control device (286) is the main drainage pump (278).
), auxiliary drain pump (279) and residual water pump (2
80), and the output of the water level detector (281) is input to this control tllI device (286).

The automatic belly slab control device (287) is for automatically inserting the belly slab (283) into the bottom of the ship, and the output of the belly slab detector (284) is input to this control device (287). .

The keel book detector (288) is for detecting when the bottom of the ship comes into contact with the keel board wood.
The output of 811) is input to the central control unit (291).

The ship position detection device (289) detects the position of the ship in the dock (1), that is, the position in the length direction, the position in the width direction, the swing of the ship in the horizontal plane, the distance between the bottom of the ship and the keel board, and the position in the vertical plane. It is for detecting the longitudinal inclination (trim) and the width direction inclination (heel) of the hull, and includes a plurality of detectors (292). The output of the ship position detection device (289) is then output from the central control device (291).
).

The input/output device (290) is for inputting data necessary for automatic control (=J sub-control) to the central control device (291), and is equipped with a keyboard, CRT, etc.

The central control unit (291) controls the entire automatic oscillation (=l) device, and includes input/output circuits and control circuits that transfer signals with other parts, as well as data processing that processes collected data. It is made up of several parts.

The docking work of the ship (293) is carried out as follows with the docking/undocking truck (6) of each docking device (3) connected to the drive truck (4) as described above (see Fig. 1 ( a)).

That is, first, a tugboat (not shown) is used to guide the vessel (293> to the vicinity of the dock entrance, and its bow is placed in the dock (1). At this time, the four sets of dock side walls (2) The docking device (3) is located near the dock entrance, and the suction cup arm (101) of the docking truck (6) is placed in the upper and lower horizontal sections in a nearly horizontal state as shown in Figure 8. (9
1) Entered and left during (92). Once the bow of the ship (293) has entered the dock (1) to a certain extent, the arms (101) of the two sets of docking and unloading devices (3) at the back of the dock are rotated inward and the suction cups (107) are moved. While moving it to the ship (293) side, the suction cup (107) adjusts the inclination of the suction cup (107) as appropriate, and suctions the ship's side shell plate on the bow side with the suction cup (107). Once the bow has been suctioned in this way, while adjusting the attitude of the vessel (293) using a tugboat, move the two sets of docking and unloading devices (3) at the back of the dock, namely the drive truck (4), the surface treatment truck (5), and the The ship (293) is pulled into the dock (1) by moving the loading/unloading cart (6) to the back of the dock. Once most of the ship (293) has entered the dock (1), the suction cups (1) of the two sets of dock entry/exit devices (3) on the dock entrance side
07), by suctioning the ship's side shell of the stern section in the same way as above, and moving the four sets of docking and unloading devices (3) to the back of the dock,
Furthermore, the ship (293) is pulled into the dock (1). Once the vessel (293) has been pulled in to the designated position, the four sets of docking/docking devices (3) are stopped, the vessel (293) is braked and stopped by the tugboat connected to the stern, and each device (3) is stopped. ) The vessel (293) is positioned in the width direction by appropriately rotating the suction cup arm (,101) of the vessel (293). Then, the tugboat is separated from the vessel (293>) and taken out of the dock (1).

On the other hand, the central control device for automatic installation equipment for docked ships (291)
The data necessary for installation work such as the length, width, intake water, and installation position of the docked ship is input from the personnel equipment (290), and the ship (293) is docked as described above1).
Once the input/output device (2
90) commands the start of installation work. This activates the automatic installation device, and the vessel (293) is automatically installed on the keel board and belly board (283) of the beam bottom (282) as follows. At this point, the central control device (291) constantly monitors the position of the ship (293) measured by the ship position detection device (289), and controls the docking/docking device (
3) to maintain the position of the vessel (293) at the installed position, while controlling the other devices (285) (286) (28
7) Monitor and control.

When the start of installation work is commanded from the input/output device (290) of the automatic installation device, a gate closing command signal is sent from the central υ control device (291) to the gate control device (285), and the gate control device M ( 285) controls winch (276) to close gate (275).

When the detector (277) detects that the gate (275) has been closed, the gate control device (
285) sends a gate closing completion signal to the central control device (291).

When the central control device (291) receives the gate closing completion signal, it outputs a drainage command signal to the drainage pump control device (286) and starts drainage work. Then, the drainage pump control device (286) that receives the drainage command signal first starts the two main drainage pumps (278) and drains the water in the dock (1) at full speed. As a result, the water level in the dock (1) gradually decreases, and the vessel (293) also gradually decreases accordingly, so that the distance between the bottom of the ship and the keel board gradually decreases.

When the ship position detection device (289) detects that the distance between the bottom of the ship and the keel board has reached, for example, 300 mm, one main drainage pump (278) is stopped and the pump is pumped until the bottom of the ship comes into contact with the keel board. The main drain pump (278) drains at half speed.

During this time, the central controller (291)
While monitoring the output of 89), appropriate commands are given to the input/output device (3) to make the final adjustment so that the position of the ship (293) is at the installation position. If this adjustment is not possible,
The remaining main drain pump (278) is also stopped to temporarily stop draining.

The keel board detector (
28g), the central control unit (28g) is detected.
91) stores the water level at this time and calculates the water level at which the belly plate (283') should be inserted into the bottom of the ship based on the data input from the input/output device (290). At the same time, one main drainage pump (27B), which had been stopped, was
) and continue full speed drainage using the two main drainage pumps (278) while monitoring the output of the water level detector (281).

When the water level detector (281) detects that the water in the dock (1) has been drained to the level at which the belly deck (283) should be inserted, the central control device (294) sends an automatic belly deck control device. A belly plank insertion command signal is sent to (287), and the belly plank control device (2117) automatically inserts the belly plank (283) into the bottom of the ship. When the detector (284) detects that the belly plate (283) is completely inserted, the belly plate control device (287) sends the central control device (291) to the belly plate controller (287).
) is sent a belly board insertion completion signal.

Recognizing that the installation work on the ship (293) has been completed, each device <3) (285) (286) '(28
7) < 289) Outputs the installation work completion signal to (2'lO).

After receiving this signal, a confirmation signal is sent back from each device to the central control device (291).

After this, the drainage pump controller (286) continues the drainage work while monitoring the output of the water level detector (281). Then, according to a command from the drainage pump control device (286) based on the output of the water level detector (281), the main drainage pump (27B) is sequentially switched to the auxiliary drainage pump (279) and the residual water pump (280), and 1) All water inside is drained.

Each device of the automatic installation system is automatically controlled as described above according to the installation work procedure when performing automatic installation work, but is capable of independent operation at other times.

During the girder work as described above, the hull suction cup (107) of the input/output truck (6) is operated by the vacuum pump unit (139). The water ring vacuum pump of this unit (139) obtains a vacuum by circulating water inside the pump, and due to turbulence on the inner surface of the water circulation, the water inside the pump becomes water droplets together with compressed air and is discharged. Since water is discharged from the outlet, it is necessary to constantly replenish the pump with water during operation. Furthermore, in order to prevent the water temperature inside the pump from rising, it is necessary to discharge a certain amount of water from the discharge port and replenish the amount of new water from the suction port.

Therefore, in the above-mentioned input/outlet truck (6), as follows:
The water in the fresh water tank (140) is pumped into the vacuum pump unit (1
39) to constantly replenish water to the vacuum pump. In other words, the suction cup (107) is used to hold the ship (293).
), rotate the arm (101) to push the suction cup (107) down onto the outer panel, start the fresh water pump (+50), and at the same time start the fresh water supply pipe (14).
7) solenoid valve (153) opens. This allows the tank (
The water in 140) is sent to the vacuum pump unit (139) through the supply pipe (147), and is passed through the strainer (15) on the way.
In step 2), foreign objects in the water are removed. At this time, the flow rate of water is detected by the flow switch (154), and when the flow rate reaches a predetermined value, the vacuum pump unit (139) is activated to air the air between the suction cup (107) and the outer plate. Remove it and keep it in a vacuum state. Then, if the vacuum pressure saw meter (160) detects that a predetermined vacuum pressure has been obtained,
A hull adsorption completion signal is output. On the other hand, water discharged from the discharge port of the vacuum pump returns to the tank (140) through the fresh water return pipe (157) and is circulated again for use.

d5, the water supplied to the vacuum pump unit (139) not only supplements the discharge valve from the vacuum pump, but also serves to remove compression heat, prevent internal leakage of gas, and perform mechanical flushing. In addition, the vacuum pump unit (139) is equipped with two safety devices that perform the following functions. One device is the flow switch (154) when suctioning the hull (while maintaining the vacuum state). The output of the pump is monitored, and when the flow rate of the supplied water falls below the predetermined value, the vacuum pump unit (+39) is stopped, and at the same time,
Close the solenoid valve (153) and stop the fresh water pump (150). At this time, the solenoid valve (153) is closed by the vacuum bomb units 1 to (1) located above the tank (140).
This is to prevent water from flowing backwards from the vacuum pump unit (139) due to siphon action and running out of water in the vacuum pump unit (139). i
! This is because it is necessary to keep the same amount of water in the pump.

Another device is that excessive force is applied to the suction cup (+07) that holds the ship (293) during docking work, causing excessive force to be applied to the swinging hydraulic cylinder (96) and the docking/docking truck (6). When force is applied, the amount of distortion of the suction cup (107) is detected and suction is released. Then, in response to the adsorption release signal, the vacuum pump unit (139) and the fresh water pump (150)
) and the solenoid valve (153) is closed at the same time.

When the docking ship is suctioned by the suction cup (107) of the docking truck (6) connected to the driving truck (4), the docking truck (6)
At the tip of the suction cup arm (101), there is a stone that is used to control the wind force acting on the ship, the force on the tugboat 1 that pushes or pulls the ship, and the force that stops the moving ship. 11. A horizontal force perpendicular to the cart (6) and a horizontal force parallel to the cart (6) act on the T cable. horizontal saw).

In this case, the suction cup arm (101
) The center of the horizontal bin (102) at the M end is the drive cart (4
) horizontal wheels (35) are at almost the same height as <36>, so the right-angle horizontal force from the ship is mainly caused by the Am-returning hydraulic cylinder (9G) of the manned chestnut truck (6), the input and output truck ( 6),
Drive bogie (4) and horizontal wheels (35) of drive bogie (4)
(36> etc.) and is received by the horizontal wheel rail (27) of the upper track (8).

Therefore, if the perpendicular horizontal force becomes too large, there is a risk of damage to various parts such as the input/output cart (6) and the drive cart (4).To prevent this, it is necessary to keep the perpendicular horizontal force below a certain allowable value. need to be restricted. Input/outlet truck (6
) etc., the maximum value of the right angle horizontal force that the arm (1oi
), which is limited by the maximum value of the hydraulic pressure of the swing hydraulic cylinder (96).If the maximum value of this torque is constant, the maximum value of the right angle horizontal force is as follows: The arm (i
It changes depending on the turning angle of o and i). That is, the second
In the figure, if the length of the arm (101) is 11 and the torque for turning it is defined as the king, then the force (P) acting on the tip of the arm (101) in a direction perpendicular to this is as follows.

P=T/l Furthermore, if the turning angle of the arm (101) is θ, the perpendicular horizontal force (F) acting on the tip of the arm (101) is as follows.

F = P - cosθ = (T// )・COSθ At this point, the hydraulic control device (
120) individually controls the set pressure of the two electromagnetic proportional relief valves (121) (122>) of the swing hydraulic cylinder (96) according to the swing angle of the arm (101), as follows. , the vertical horizontal force is limited to below a certain allowable value.The angle detector (123) of the hydraulic control device (120) constantly detects the rotation angle of the arm (101), and its output The signal is a digital human horn circuit (1
25) is input to the calculation control unit (124). The output signal of the angle detector (+23>) is expressed in an alternating binary code, and this signal is converted into a pure binary code by the conversion circuit (126). Based on the above relationship, the arm (101
) for the rotation angle of the hydraulic cylinder (96) (1
21) The pressure setting values of (122) are stored individually, and the table reference circuit (127) is connected to the conversion circuit (126).
outputs, that is, pressure set values of the two relief valves (121) and (122) corresponding to the rotation angle of the arm (101), are individually output to the arithmetic circuit (128). The table pressure setting value is stored as a voltage value in a 9-bit pure binary code, and the arithmetic circuit (128) is the table reference circuit (128).
127)'s two output signals (pressure setting value), respectively.
It is doubled and converted into a 12-bit pure binary code, and these are output to the corresponding analog output circuits (129><430>.Each analog output circuit (129) (1
30) performs digital-to-analog conversion on the output of the arithmetic circuit (128) and outputs an analog signal corresponding to the pressure nozzle J setting value to the corresponding amplifier (131) <132>. Then, the corresponding current is applied to the corresponding relief valve (121) (
122) to control the set pressure of the relief valves (121) and (122). This allows the two relief valves to
121) The set pressure of (122) is individually controlled to a value according to the swing angle of the arm (101), and the oil pressure in the two oil chambers (115) and (116) of the swing hydraulic cylinder (96) correspond. Since the set pressure of the relief valves (121) and (122) is never exceeded, even if the rotation angle of the arm (101) changes, the perpendicular horizontal force acting on the tip of the arm (101) is always below a certain allowable value. limited to. In addition,
When the swing angle of the arm (101) is 90', the swing torque of the arm (101) to receive the right angle horizontal force becomes infinite, so the use of the hydraulic control device (120) is restricted. Further, the parallel horizontal force acting on the input/output beam truck (6) etc. is limited to a certain allowable value or less by limiting the running force of the driving bag changer (34) for traveling of the drive truck (4).

In addition, the ship in the dock (1) has moving parts such as vertical movement, rolling, or pitching due to changes in the water level in the dock (1), and the loading/unloading cart connected to the driving cart (4) (
When such a ship is suctioned by the suction cup ('107) in 6), a vertical force acts on the tip of the suction arm (101) of the docking truck (6) to move it up and down. do. In the above-mentioned input/output truck (6), the suction cup (10
7), pressure oil is supplied only to the oil chamber (133) on the head side of the elevation hydraulic cylinder (103) to lift the suction cup (107). Also, the relief valve (13B) allows the hydraulic pressure in the oil chamber (133) to exceed the pressure (lifting pressure) necessary to support the weight of the arm (ioi> and the suction cup (107)) by a slight pressure ( The suction cup (10
7) moves up and down following the vertical movement 8 and oscillation of the ship, and the suction cup (107) does not lift the ship. At this time, only a small force corresponding to the above-mentioned additional pressure acts on the attachment part of the elevation hydraulic cylinder (103) to the swing post (94).
The force acting between the horizontal wheels (93) of the legs (90) of the input/outlet truck (6) and the rails (32) of the lower track (9) is small. Further, as described above, the center of the horizontal bin (102) at the base end of the arm (101) is aligned with the horizontal wheel (3) of the drive truck (4).
5) Since it is located at almost the same height as (36), the horizontal horizontal force from the ship is mainly received by the horizontal wheel rail (27) of the upper track (8) via these horizontal wheels (35) and (36). It will be done. Therefore, the force acting between the horizontal ring (93) of the right-angled water (90) facing outward from the dock and the rail (32) of the lower track (9) is small. From these points, it becomes possible to reduce the number and size of the horizontal wheels (93) of the legs (90) of the input/output truck (6) and to downsize the lower track (9). The horizontal ring (9) of the leg (90) of (6)
3), the rail (32) of the lower track (9) is caused by the overturning moment of the bogie (6) itself, whose upper part is tilted toward the inside of the dock.
) (outward of the dock), and as mentioned above, is urged in the same direction by the additional pressure of the elevation hydraulic cylinder (103). As mentioned above, the right angle horizontal force from the ship is mainly received by the horizontal wheel rail (27) of the upper track (8) via the horizontal wheel (35) (3G) of the drive bogie (4). When a right-angled horizontal force is applied inward to the dock, the position of the ship is lowered by 1/7″1.
There is almost no force that tries to pull the book to Os's Jusakame/Q'1 away from the rail (32〉) of the lower track (9).In this way, even if an external force acts on the input/output truck (6), Legs (9
0) horizontal wheel (93) to the rail (32) of the lower track (9).
There is almost no force trying to pull it away from the horizontal wheel (9
3> is always biased in the direction of being pressed against the rail (32), so it is placed under the lower track (90) of the leg (90).
) There is no need to provide a horizontal ring or the like to prevent the device from moving away from the device. Therefore, the configuration of the lower part of the leg (90>), the configuration of the lower track (9), etc. can be simplified.

As mentioned above, the perpendicular horizontal force from the ship is mainly caused by the driving bogie (
4) through the horizontal wheels (35) (36) of the upper track (8).
) is received by the horizontal wheel rail rack 27) of the horizontal wheel housing (4), a fairly large force acts on the horizontal wheel housing (4
8), liner (61) and stopper (54) (5
5) to the trolley (4). Since these are in surface contact with each other, the horizontal wheels (35) (36
) can withstand large forces. Also, the housing (48), to which the horizontal wheels (35) and (36) are attached in advance, is mounted on the trolley (4) as described above.
Since it can be easily mounted, it is very easy to install and ensure the accuracy of the installation.

Once the work of docking and erecting the ship (293) has been completed,
As mentioned above, the input/output dolly truck (6) is separated from the drive truck (4) and stored on the storage platform (2 [33) (264), and only the drive truck (4) and surface treatment truck (5) are allowed to run. .

Then, the hull surface treatment Sl of the surface treatment truck (5)! i@
A series of hull surface treatment operations are carried out using high-pressure water to first clean the hull surface to remove salt and deposits, then plaster the chain sections, and finally paint the hull surface (first step).
(See figure (b)).

When the ship (193) is to be docked after the hull surface treatment work is completed, the above-mentioned docking work may be reversed.

According to the above-mentioned docking/undocking device (3), by connecting the docking/undocking truck 6) to the drive truck (4), it is possible to carry out ship loading/undocking work without using a traction wire rope. It is also possible to automate the work. For this reason, it is not necessary to have as many workers as in the past, and it is possible to save labor and improve safety in work involving people. In addition, when carrying out hull surface treatment work, the input/output truck (6) is moved to the drive truck (6).
4) and separate it from the drive cart (4) and surface treatment cart (5).
) can be run, so it can be reduced and economical. Furthermore, since only the driving truck (4) is provided with a traveling drive device (34), and the surface treatment truck (5) and the input/output truck (6) are not provided with a traveling drive device, it is economical. .

In the embodiment described above, the docking and unloading carts (6) are provided on the side walls (2) on both sides of the dock (1), but the docking and unloading carts (6) may be provided only on one side wall (2). Furthermore, in the above embodiment, two docking/unloading carts (6) are provided on the side wall (2) on one side of the dock (1).
Sometimes only one is provided on one side wall (2).

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and Fig. 1 is a plan view of the dock and docking device schematically showing two states during docking and docking work and ship hull surface treatment work, and Figure 2 shows the drive pedestal and surface. A front view of the processing cart, FIG. 3 is the same plan view, FIG. 4 is the same side view, FIG. 5 is the front view of the turnout east cart, FIG. 6 is the same plan view, and FIG. 7 is the same side view. Fig. 8 is a front view of the inlet/output device showing a state in which the driving cart and the handing cart are connected, Fig. 9 is a cutaway plan view of the same part, Fig. 10 is a side view of the same, and Fig. 11 is the second figure. 12 is an enlarged sectional view taken along the line 311-811 of FIG. 2, and FIG.
The figure is an enlarged front view of the traveling drive device of the drive bogie shown in Fig. 2, with a portion thereof cut away;
A sectional view taken along line 814-314 in Fig. 3, and Fig. 15
A sectional view taken along the line 815-815 in Fig. 3, and Fig. 16
A sectional view taken along the line 816-816 in Fig. 3, and Fig. 17
Fig. 18 is an enlarged sectional view taken along line 818-818 in Fig. 17;
The figure shows the horizontal wheel housing from Figure 18! Bottom view of the housing support plate of the drive truck showing the removed state, 2nd
Figure 0 is a plan view of the horizontal wheel housing of the drive truck, Figure 21 is a sectional view taken along line 821-821 in Figure 20, Figure 22 is an enlarged view of the main part of Figure 18, and Figure 23 is a diagram showing the drive truck and the horizontal wheel housing. A horizontal sectional view of the connecting portion of the surface treatment cart, FIG. 24, is shown at 824-82 in FIG. 23! 25 is a cross-sectional view taken along line 825-825 in FIG. 23, and FIG. 26 is a partially cutaway plan view of the input and output culvert truck showing the hull deck M in a state where it has advanced from the input and output beam truck. , FIG. 27 is an enlarged view along the line 327-827 of the M2O diagram, and FIG. 28 is an enlarged view taken along the line 828-82 of FIG. 27.
8 line, Fig. 29 is a hydraulic and electrical system diagram showing the hydraulic control and equipment of the hydraulic cylinder for turning the input/output beam truck, and Figure 30 is a hydraulic system diagram of the hydraulic cylinder for elevation of the input/output truck. , Figure 31 is a system diagram of the air and water between the hull suction cup of the input/output truck, vacuum pump unit for the suction cup, and fresh water tank, and Figures 32 to 37 show how the input/outlet truck is separated from the drive truck and stored. These figures sequentially show the operation of storing on the platform, each figure (a) is a side view with the middle omitted when the docking truck is viewed from the back side of the dock, and each figure (b) is a side view of the loading and unloading truck seen from the dock entrance side. The middle omitted side view, Fig. 38, is 838 in Fig. 32(a).
The enlarged cross-sectional view along line -838, Figure 39, is Figure 33 (a
), FIG. 40 is an enlarged sectional view taken along line 840-840 of FIG. 36(a), and FIG. 41 is an enlarged sectional view taken along line 841-841 of FIG. 39. , FIG. 42 is an enlarged sectional view taken along line 842-842 in FIG. 38, FIG. 43 is an enlarged sectional view taken along line 343-343 in FIG.
1m1. : An enlarged sectional view showing the fall along the cut; FIG. 45 is an enlarged view of the main part of FIG. 35(a) with a part thereof cut away; FIG. 46 is a view taken along the line 346-846 in FIG. 45. Figure 47 is an enlarged view of the main part of Fig. 35(a) with a part thereof cut away, and Fig. 48 is an enlarged view of the main part of Fig. 35(b) with a part thereof cut away. Figure 49 is a sectional view taken along the line 349-849 in Figure 48, Figure 50 is an enlarged view of the main part of Figure 34 (a), and Figure 51 is a block diagram of the automatic installation device for docked ships. be. (6)...Input/outlet truck, (94)...Swivel post,
(96)...Hydraulic cylinder for swinging, (101)...Arm for suction cup, (107)...Hydraulic cylinder for swinging,
(115) < 146)...Oil chamber, (120)...
・Hydraulic control device, (121) (122)...Solenoid proportional relief valve, (123)...Angle detector, (124)
)...Arithmetic control section. Fig. 5 Fig. 7 Shi-m-'' Fig. 14 tf curtain, Fig. 5 Fig. 7 Fig. 16 Fig. 117 Fig. 2 9(')l:i 46 zu th p2i≧11 61 Ej':j'24. Figure p5r=+ 261x<1 Figure 41 Figure 42λ1 Figure 48 Figure 49; Minister; I

Claims (1)

[Claims] A suction cup arm (10
1), a hull suction cup (107) attached to the tip of the arm (101), and a turning hydraulic cylinder (96) for turning the arm (101). An angle detector (123) that detects the rotation angle of the rotation hydraulic cylinder (96), and two relief valves (121) that can control the set pressure and are connected to the hydraulic cylinders (115) and (116) on both sides of the rotation hydraulic cylinder (96). ) (122
), and an arm (1oi) that keeps the maximum value of the horizontal force perpendicular to the input/outlet truck acting on the tip of the arm (1oi) constant.
01) swing angle and two relief valves (121) (1
22), and based on this relationship, controls the set pressures of the two relief valves (+21) and (122) according to the output of the angle detector (123). 124) A hydraulic control device for a suction cup arm.