JP4698644B2 - Crane equipment - Google Patents

Description

  The present invention relates to a crane apparatus, and more particularly to a portal crane apparatus that handles a container at a container terminal by driving an electric motor.

  In a portal type crane apparatus that performs loading and unloading of containers with respect to a ship or a trailer at a container terminal, a plurality of electric motors are used to lift and lower a load, and further perform operations such as running and traversing a gantry. As a system for supplying operating electric power to these electric motors, there is an engine drive power generation system (see, for example, Patent Document 1). This engine-driven power generation system is configured to generate necessary power using an engine power generation device that drives a power generator with a diesel engine and supply the power to each motor.

  On the other hand, there is a ground power supply method as another method for supplying operating electric power to an electric motor. This ground power supply system has a configuration in which a power supply device is arranged for each lane partitioned in advance in a container terminal and power supplied from the power supply device is supplied to each motor.

  In addition, a gate-type crane apparatus used in a container terminal needs to consider not only traveling in a lane but also movement to another lane. In this case, in the ground power supply method, power is supplied without problems when traveling in the same lane, but the power supplied from the power supply device of the lane is disconnected during right-angle traveling to move the crane device to another lane. It will be. For this reason, a technique has been proposed in which a small engine power generator is mounted on a crane device, and operating power is supplied by the engine power generator when traveling at right angles (see, for example, Patent Documents 2 and 3).

JP 2000-272868 A JP 2003-137493 A JP 2003-137494 A

However, since such a conventional technique employs a system that combines a ground power supply system and an engine-driven power generation system, the problem of exhaust gas and noise from the diesel engine that cannot be completely suppressed. There was a point.
In other words, when driving in the same lane, the ground power supply method is used, so the influence of the exhaust gas and noise on the environment can be avoided, but the engine-driven power generation method is used when traveling at right angles to move to another lane. Even a small diesel engine cannot completely suppress the environmental impact of exhaust gas and noise.

  The present invention is for solving such problems, and provides a crane device capable of traveling at right angles while moving to another lane while completely suppressing the influence of exhaust gas and noise on the environment. The purpose is that.

In order to achieve such an object, the crane apparatus according to the present invention drives and lowers the container in a desired lane in the container terminal by driving the main winding motor, and drives the traveling motor to drive the container terminal. A self-propelled gate-type crane device that supplies power less than the maximum load power required by the main winding motor during the hoisting operation from the power supply device provided for each lane. A power supply device that supplies the motor as operating power, and stores part of the surplus operating power during traveling and traversing operations, stores regenerative power generated by the main winding motor during the lowering operation, and main winding during the hoisting operation Supply the stored power as part of the operating power required by the motor, and disconnect the supplied power when driving at right angles to other lanes And a power storage device for supplying the storage power in place of the operating power from the power supply device is stopped to the running electric motor in response to the power storage device, the power supplied from the power supply device when a right angle travel to other lanes In response to disconnection and reconnection, a power supply detection unit that detects the supply stop and start of supply of the operating power from the power supply device, and supplies power to the traveling motor when the supply power is detected to be disconnected. When the supply of the operation power from the power feeding device is resumed according to the connection, the discharge control unit stops the supply of the stored power to the traveling motor .

According to the present invention, the power supply device supplies the power supplied from the power supply device provided for each lane of the container terminal below the maximum load power required by the main winding motor during the winding operation to the main winding motor and the traveling motor. The power storage device stores a part of the surplus operating power during running and traversing operations, stores the regenerative power generated by the main winding motor during the lowering operation, and stores the main winding during the hoisting operation. The stored power is supplied as part of the operating power required by the motor, and the stored power is replaced with the operating power from the power supply device that is stopped when the supplied power is disconnected when traveling at right angles to other lanes. Is supplied to the traveling motor . Furthermore, at this time, the power storage device detects the supply stop and supply start of the operation power supply from the power supply device according to the disconnection and reconnection of the power supply from the power supply device when traveling at right angles to other lanes, and the supply When power disconnection is detected, the stored power is supplied to the traveling motor, and when the supply of the operating power from the power supply device is resumed in response to the reconnection of the supplied power, the supply of the stored power to the traveling motor is stopped. It is what you do. Therefore, when traveling at right angles, the traveling motor is driven by the stored power of the power storage device and moves to another lane.

Thereby, even when the power supplied from the power supply device to the crane device is disconnected, the vehicle can travel at right angles to other lanes without requiring an engine power generation device. For this reason, it becomes possible to perform the right-angle travel which moves to another lane, completely suppressing the influence on the environment by the exhaust gas and noise by the diesel engine of the engine power generator.
Therefore, even in a container terminal with many lanes, high work performance and cost performance that can be efficiently handled with a smaller number of crane devices than lanes by moving the crane devices between lanes. Therefore, it is possible to realize a container terminal having extremely high environmental efficiency, which can achieve both a low environmental load that can completely suppress the influence of exhaust gas and noise caused by the crane apparatus on the environment.

Next, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, a crane apparatus according to a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a functional block diagram showing the configuration of the crane apparatus according to the first embodiment of the present invention.

The crane device 100 is powered by the ground power supply system, drives the main winding motor to drive the container up and down in a desired lane in the container terminal, and drives the traveling motor to move inside the container terminal. It is a self-propelled portal crane device.
The crane device 100 is provided with a power supply device 1, a main winding motor 20, a traveling motor 21, a traverse motor 22, inverters (INV) 31 to 33, a power storage device 4, a controller 5, and a common bus 10 as main components. ing.

  In the present embodiment, the power supply device 1 supplies power supplied from the power supply device 7 provided for each lane to the motors 20 to 22 as operating power 1A, and the power storage device 4 supplies a part of the operating power 1A. When the battery is charged and travels at right angles to other lanes, the stored power 4A is supplied to the traveling motor 21 instead of the operating power 1A from the power supply device 1 that is stopped when the supplied power is disconnected. .

  Next, the structure of the crane apparatus concerning this Embodiment is demonstrated in detail. Below, the case where the electric power supplied from the power supply device of the said lane via the power cable is used as operating electric power of an electric motor is demonstrated as an example.

First, with reference to FIG. 1, the electrical structure of the crane apparatus concerning this Embodiment is demonstrated.
The power supply device 1 has an AC / AC converter (not shown), and supplies power supplied from a power supply device 7 provided for each lane, for example, high-voltage three-phase alternating current to a predetermined voltage. It has the function of converting into three-phase alternating current and supplying it to the common bus 10 as operating power 1A. The power cable 12 is connected to the power supply device 7 in the lane via the socket 11 by the worker.

The main winding motor 20 is an AC motor for moving the container up and down.
The traveling motor 21 is an AC motor for performing traveling in the forward direction X along the lane during normal cargo handling and traveling in the perpendicular direction Y perpendicular to the lane when moving to another lane, that is, traveling at right angles. .
The traversing electric motor 22 is an AC electric motor for performing an operation of horizontally transporting a suspended container along the right-angle direction Y, that is, traversing.

The inverter 31 is an AC / AC converter that converts the operating power 1A on the common bus 10 into AC power having a frequency corresponding to the rotational speed and supplies the AC power to the main winding motor 20 and the traveling motor 21.
The inverter 32 is an AC / AC converter that converts the operating power 1A on the common bus 10 into AC power having a frequency corresponding to the rotational speed and supplies the AC power to the traverse motor 22.
The inverter 33 converts the operating power 1A on the common bus 10 into AC power having a frequency corresponding to the rotational speed and supplies it as power for various auxiliary equipment including a lighting device, an air conditioner, or a controller such as the controller 5. AC / AC converter.

  The power storage device 4 is a circuit device having a built-in storage battery such as a battery or a capacitor, and is used in a DC circuit section of the inverter 31 that temporarily converts alternating current into direct current, that is, in a connection circuit portion between the AC / DC converter and the DC / AC converter. It has a function of storing the output DC power in the storage battery and a function of supplying the stored power (DC) stored in the storage battery from the inverter 31 to the main winding motor 20. The power output to the DC circuit section of the inverter 31 includes, in addition to the operating power from the power supply device 1, regenerative power generated when the main winding motor 20 lowers the load, and either or both of them are power storage devices. 4 is charged.

  Further, when the power storage device 4 moves to another lane, since the power supplied from the power supply device 7 provided for each lane is disconnected, the operating power 1A from the power supply device 1 that is stopped in response to this is cut off. Instead, it has a function of supplying the stored electric power 4 </ b> A to the auxiliary equipment via the traveling motor 21, further the common bus 10 and the inverter 33.

The controller 5 has a microprocessor such as a CPU and its peripheral circuits, and reads and executes the program from a memory provided in the microprocessor or the peripheral circuit, thereby causing the program and the hardware to cooperate with each other. Various functions for controlling the entire apparatus 100 are provided.
The main function of the controller 5 is to control the inverters 31 to 33 by exchanging various commands 3A based on an operator command input 5A detected via an operation lever or an operation switch, There is a crane operation function that controls operations such as traveling, traversing, and right-angle traveling.

  Next, with reference to FIG. 2 and FIG. 3, the mechanical structure of the crane apparatus concerning this Embodiment is demonstrated. FIG. 2 is a plan view showing the configuration of the crane apparatus according to the first embodiment of the present invention. FIG. 3 is a side view showing the configuration of the crane device according to the first embodiment of the present invention.

  The crane apparatus 100 according to the present embodiment is composed of a gantry 6 composed of a portal frame as a whole. The gantry 6 includes an upper beam 6A, leg portions 6B that support both ends of the beam 6A, and a base 6C that supports the leg portions 6B. A tire 6E is provided below the base 6C via a carriage 6D. The tire 6E is supported by the carriage 6D so that the traveling direction can be freely changed to a forward direction X along the lane or a perpendicular direction Y orthogonal to the lane.

A cable reel 6 </ b> F is provided on the outer side of the base 6 </ b> C, and the power cable 12 is unwound as the gantry 6 travels in the forward direction X. The power cable 12 is connected to the power supply device 7 for the lane that is arranged in advance on the ground G by an operator.
In addition, a device unit 6G that houses electrical devices such as the power feeding device 1 and the power storage device 4 is provided on the upper portion of the base 6C sandwiched between the leg portions 6B.

  A trolley 6H is provided on the beam 6A at the top of the gantry 6, and the trolley 6H travels on the rail of the beam 6A in the right-angle direction Y by driving the traverse motor 22 mounted on the trolley 6H. . Further, a spreader 6I for suspending the upper part of the container 9 is suspended from the trolley 6H via a cable 6J. The traversing motor 22 placed on the trolley 6H is driven to wind up the cable 6J. By performing the lowering, the spreader 6I moves up and down. In addition, the trolley 6H is provided with electrical equipment such as a command room 6K and a controller 5 on which an operator boardes.

Next, with reference to FIG. 4, the container terminal in which the crane apparatus concerning this Embodiment is used is demonstrated. FIG. 4 is a plan view showing a configuration example of the container terminal.
The container terminal 70 is provided facing the port wharf 7A, and the container 9 is loaded and unloaded from the ship 7B by a container crane 7C disposed on the wharf 7A.

The container terminal 70 is provided with a plurality of lanes 71 each having a rectangular area extending along the longitudinal direction of the container 9, that is, the forward direction X. The crane device 100 travels in the forward direction X in the lane 71. The containers 9 placed in the lane 71 are sorted efficiently.
Each lane 71 is provided with a power supply device 7 that supplies power to the crane device 100, and is supplied to the crane device 100 via the power cable 12 from the power supply device 7.

The container terminal 70 is provided with a gate 73 on the road 72 side, and the trailer 91 carries the container 9 in and out through the gate 73.
The lane 71 is provided with a passage for the trailer 91, and the crane 9 loads and unloads the container 9 on the trailer 91 stopped in this passage.
Although the crane apparatus 100 may be arranged in association with each lane 71, the crane apparatus 100 can be efficiently handled by moving to another lane 71. In such a case, the gantry 6 is caused to travel at a right angle in a right angle direction Y orthogonal to the forward direction X as in the crane device 100A, for example.

[Operation of First Embodiment]
Next, with reference to FIG. 5, operation | movement of the crane apparatus concerning the 1st Embodiment of this invention is demonstrated. FIG. 5 is a timing chart showing an operation example of the crane device according to the first embodiment of the present invention. Here, a case where the container is rolled up after the container is rolled up, is then rolled down and the container is placed, and then the crane apparatus 100 is moved to the end of the lane 71 and then moved to another lane to perform a right-angle traveling. This will be described as an example.

[Winding operation]
When a command input 5A indicating a winding command for the container 9 is input by an operator operation at time T0, the controller 5 instructs the drive of the main winding motor 20 by transmitting a command 3A to the inverter 31. As a result, the main winding motor 20 rotates and starts to wind up the container 9, so that the load power 10A applied to the common bus 10 increases from the normal load power Pe to the maximum load power Pa.

On the other hand, the power feeding device 1 outputs a constant power P that is always constant as the operating power 1A based on the power supplied from the power supply device 7 on the ground. Therefore, during the period when load power 10A exceeds operating power P, the shortage is discharged from power storage device 4 as stored power 4A and supplied to main winding motor 20 via inverter 31.
Thereafter, when the command input 5A indicating the winding command for the container 9 is stopped, the drive of the main winding motor 20 by the inverter 31 is stopped by the command 3A from the controller 5, and the load power 10A returns to the load power Pe. As a result, during the period when the load power 10A is lower than the steady power P, a part of the surplus power is stored as the stored power 4A in the power storage device 4 via the inverter 31.

[Row movement]
When a command input 5A indicating a traverse command for the container 9 is input by an operator operation at a subsequent time T1, the controller 5 instructs the drive of the traverse motor 22 by transmitting a command 3A to the inverter 32. As a result, the traverse motor 22 rotates to start the traversal of the container 9, so that the load power 10A applied to the common bus 10 rises from the normal load power Pe to the load power Pd. At this time, since the load power Pd is a value lower than the steady power P, a part of the surplus power is stored in the power storage device 4 as the stored power 4A via the inverter 31.

  Thereafter, when the command input 5A indicating the container traverse command is stopped, the drive of the traverse motor 22 by the inverter 32 is stopped by the command 3A from the controller 5, and the load power 10A returns to the load power Pe. Thereby, since the load power 10A is lower than the steady power P, the power storage to the power storage device 4 is continued.

[Lowering operation]
When a command input 5A indicating a container lowering command is input by an operator operation at the next time T2, the controller 5 instructs the drive of the main winding motor 20 by transmitting a command 3A to the inverter 31. . As a result, the main winding electric motor 20 rotates and starts to lower the container. At this time, since a rotational force is applied to the main winding motor 20 due to the container weight, a large regenerative electric power Pf is generated in the main winding motor 20. Therefore, this regenerative power Pf is stored as stored power 4 </ b> A in power storage device 4 via inverter 31.

Thereafter, when the command input 5A indicating the container lowering command is stopped, the drive of the main winding motor 20 by the inverter 31 is stopped by the command 3A from the controller 5, and the load power 10A returns to the load power Pe. Thereby, although the regenerative electric power Pf from the main winding electric motor 20 is stopped, the electric storage with respect to the electrical storage apparatus 4 is continued by a part of the surplus electric power.
The power storage device 4 is provided with a general charge / discharge control device. When the stored power 4A reaches a predetermined power storage amount, the power storage device 4 is charged by the charge / discharge control device. Is stopped. Further, the regenerative power Pf surplus due to the stoppage of power storage may be processed by converting it into thermal energy using a resistor or returning it from the power supply device 1 to the ground power supply device 7 via the socket 11.

[Running operation]
When a command input 5A indicating a travel command for the gantry 6 is input by an operator operation at a subsequent time T3, the controller 5 instructs the drive of the travel motor 21 by transmitting a command 3A to the inverter 31. As a result, the traveling motor 21 rotates and starts traveling of the gantry 6 along the lane 71. Therefore, the load power 10A applied to the common bus 10 increases from the normal load power Pe to the load power Pb. At this time, since the load power Pb is a value lower than the steady power P, a part of the surplus power is stored in the power storage device 4 as the stored power 4A via the inverter 31.

  Thereafter, when the command input 5A indicating the container travel command is stopped, the drive of the traverse motor 22 by the inverter 32 is stopped by the command 3A from the controller 5, and the load power 10A returns to the load power Pe. Thereby, since the load power 10A is lower than the steady power P, the power storage to the power storage device 4 is continued.

[Right-angle travel]
When the crane apparatus 100 is moved to a different lane 71, after the gantry 6 is traveled to the end of the lane 71 by a traveling operation, the trolley 6D is rotated 90 degrees to cause the gantry 6 to travel at right angles to another lane. become. At this time, the right angle traveling cannot be performed in a state where the power cable 12 of the crane apparatus 100 is connected to the power supply apparatus 7 provided in each lane 71. For this reason, at time T4, after the operator pulls out the socket 11 of the power cable 12 from the power supply device 7, the separation work of winding the power cable 12 around the cable reel 6F is performed.

When a command input 5A indicating a right-angle traveling command for the gantry 6 is input by an operator operation at a subsequent time T5, the controller 5 instructs the driving of the traveling motor 21 by transmitting a command 3A to the inverter 31.
In this case, ground power supply to the crane device 100 is stopped by the disconnection work at time T4, and the operating power 1A supplied from the power supply device 1 to the common bus 10 becomes zero, so the stored power 4A of the power storage device 4 is discharged, The electric power is supplied to the traveling motor 21 and the common bus 10 via the inverter 31 as operating power.

As a result, the traveling motor 21 rotates and starts the right-angle traveling of the gantry 6 in the right-angle direction Y orthogonal to the lane 71. Therefore, the load power 10A applied to the common bus 10 is changed from the normal load power Pe to the load power. It rises to Pc.
Thereafter, when the command input 5A indicating the right-angle traveling command of the gantry 6 is stopped, the driving of the traveling motor 21 by the inverter 31 is stopped by the command 3A from the controller 5, and the load power 10A returns to the load power Pe.

In this way, after the gantry 6 travels at right angles to a new lane, at time T6, the operator unwinds the power cable 12 from the cable reel 6F, and the socket 11 of the power cable 12 is connected to the power supply device 7 of the lane. The reconnection work of connecting is performed.
As a result, ground power supply to the crane device 100 is resumed, and the operating power 1A supplied from the power supply device 1 to the common bus 10 returns to the steady power Pa, and a part of the surplus power is stored in the power storage device via the inverter 31. 4 is stored as stored power 4A.

[Effect of the first embodiment]
As described above, in the present embodiment, the power supplied from the power supply device 7 provided for each lane 71 is supplied as the operating power 1A of each of the motors 20 to 22, and a part of the operating power 1A is supplied by the power storage device 4. When the vehicle travels at right angles to other lanes, the stored power 4A is supplied to the traveling motor 21 instead of the operating power 1A from the power supply device 1 that is stopped when the supplied power is disconnected. When traveling at right angles, the traveling motor 21 is driven by the stored power 4A of the power storage device 4 to move to another lane.

Thereby, even when the power supplied from the power supply device 7 to the crane device 100 is disconnected, the vehicle can travel at right angles to other lanes without requiring an engine power generation device. For this reason, it becomes possible to perform the right-angle travel which moves to another lane, completely suppressing the influence on the environment by the exhaust gas and noise by the diesel engine of the engine power generator.
Therefore, even in a container terminal with many lanes, high work performance and cost performance that can be efficiently handled with a smaller number of crane devices than lanes by moving the crane devices between lanes. Therefore, it is possible to realize a container terminal having extremely high environmental efficiency, which can achieve both a low environmental load that can completely suppress the influence of exhaust gas and noise caused by the crane apparatus on the environment.

  In the present embodiment, since power is supplied from the ground power supply device 1 to the crane device 100 via the power cable 12, sufficient power is supplied at the time of operation of the crane device 100 at a low cost. Can do. It is also possible to return the regenerative power generated by the electric motor from the crane device 100 to the power supply device 1 via the power cable 12. For this reason, compared with the case where regenerative electric power is converted into heat and released, energy can be used effectively, and high energy saving performance can be realized.

In the present embodiment, since the regenerative power generated in main winding motor 20 during container lowering is stored in power storage device 4, stored power 4A can be stored efficiently.
Further, in the present embodiment, AC operating power 1A is supplied from the power feeding device 1, so that the loss in the AC / AC converter in the power feeding device 1 is smaller than that in the case of the AC / DC converter. Since the power is small, the power supplied from the ground power supply device 7 can be efficiently supplied as the operating power 1A.

[Second Embodiment]
Next, with reference to FIG. 6, the crane apparatus concerning the 2nd Embodiment of this invention is demonstrated. FIG. 6 is a functional block diagram showing the configuration of the crane device according to the second embodiment of the present invention, and the same or equivalent parts as those in FIG.
In the first embodiment, the case where AC operating power 1A is supplied from the power feeding apparatus 1 to the common bus 10 has been described as an example. In the present embodiment, a crane apparatus 101 in which DC operating power 1A is supplied from the power feeding apparatus 1 to the common bus 10 will be described.

As shown in FIG. 6, in the crane apparatus 101 according to the present embodiment, when operating power 1 </ b> A is supplied to the common bus 10 with a direct current, an AC / DC converter (not shown) is used as the power supply apparatus 1. A power supply device is used, and a DC / AC converter is used as each of the inverters 31 to 33.
Further, since the operating power 1A is supplied by direct current, the power storage device 4 does not need to be connected to the direct current circuit section of the inverter 31 as in the first embodiment, and in the present embodiment, the common bus 10 is connected. It is connected.
In addition, about the other structure of the crane apparatus 101 concerning this Embodiment, it is the same as that of 1st Embodiment, and detailed description here is abbreviate | omitted.

[Operation of Second Embodiment]
Similarly to the first embodiment, also in the crane device 101, when there is a surplus in the operating power 1A output from the power feeding device 1 to the common bus 10, for example, when traversing from time T1 in FIG. 5 described above When the vehicle travels from time T3, and in a standby state where crane operation is not performed, the battery 4 is charged with the stored power 4A. At this time, the operating power 1A on the common bus 10 is directly stored in the power storage device 4 as the stored power 4A.

  When the winding operation is performed, the stored power 4A of the power storage device 4 is supplied to the main winding motor 20 via the common bus 10 and the inverter 31, and the shortage of the operating power 1A is compensated by the stored power 4A. On the other hand, during the lowering operation, the stored power 4 </ b> A is stored in the power storage device 1 by the regenerative power output from the main winding motor 20 to the common bus 10 via the inverter 31.

Further, during right-angle traveling, the stored power 4A of the power storage device 4 is supplied to the traveling motor 21 via the common bus 10 and the inverter 31, and further supplied from the common bus 10 to the auxiliary equipment via the inverter 33.
In addition, about other operation | movement of the crane apparatus 101 concerning this Embodiment, it is the same as that of 1st Embodiment, and detailed description here is abbreviate | omitted.

[Effect of the second embodiment]
As described above, in the present embodiment, since the operating power 1A is supplied from the power supply device 1 as a direct current, the power storage device 4 can be directly connected to the common bus 10 instead of the direct current circuit section of the inverter 31.
Therefore, when storing and discharging the stored power 4A with the operating power 1A in the power storage device 4, it is not necessary to perform AC / DC conversion by the inverter 31 as compared with the first embodiment, and the stored power 4A is stored. And discharge can be performed efficiently.

[Third Embodiment]
Next, with reference to FIGS. 7-9, the crane apparatus concerning the 3rd Embodiment of this invention is demonstrated. FIG. 7 is a functional block diagram showing the configuration of the crane device according to the third embodiment of the present invention. FIG. 8 is a side view showing the configuration of the crane apparatus according to the third embodiment of the present invention. FIG. 9 is an IX-IX cross-sectional view showing the configuration of the current collector of the crane apparatus according to the third embodiment of the present invention. FIG. 10: is XX sectional drawing which shows the structure of the current collector of the crane apparatus concerning the 3rd Embodiment of this invention.

  In 1st Embodiment, the case where electric power was supplied to the electric power feeder 1 of the crane apparatus 100 from the ground electric power device 7 via the power cable 12 was demonstrated to the example as a ground electric power feeding system. In the present embodiment, as another ground power feeding method, a case where power is supplied from the ground power supply device 7 to the power feeding device 1 of the crane device 102 via a trolley wire installed along the lane 71 will be described.

As shown in FIG. 7, the crane apparatus 102 according to the present embodiment is provided with a current collector 13 instead of the socket 11 in the first embodiment, and the current collector 13 collects current. The supplied power from the power supply device 7 is input to the power supply device 1.
As shown in FIG. 8, the current collector 13 is a lower outer portion of the base 6C of the gantry 6, and between the two carts 6D, a current collecting path on the ground G via a support member 6L and a horizontal link 6M. 8 is attached to a position opposite to 8.

  As shown in FIGS. 9 and 10, the current collecting passage 8 includes a wall portion 8B extending along the lane 71, four trolley wires 8A installed on different height positions of the wall portion 8B, and the side. Opening 8D is provided in the part, and it is comprised from cover 8C which covers trolley wire 8A from an upper part and a side part. This current collecting passage 8 may be provided for each lane 71, but in the case of FIGS. 9 and 10, two current collecting passages 8 are allocated and arranged between two adjacent lanes. Between these two current collecting passages 8, a fixing member 8E for fixing each wall portion 8B is provided.

  The current collector 13 has a plurality of terminals 13A that are in electrical contact with the four trolley wires 8A installed in the current collecting passage 8, and the terminals 13A are in contact with the trolley wires 8A that face each other with a predetermined pressing force. The pantograph mechanism 13B to be operated and the mounting member 13C that supports the pantograph mechanism 13B at the height position of each trolley wire 8A. Each terminal 13A is connected to the power feeding device 1 via a cable (not shown), and the power of the trolley wire 8A is transmitted to the power feeding device 1 via the terminal 13A.

The current collecting device 13 is rotatably attached to the tip of the horizontal link 6M, is inserted into the current collecting passage 8 from the end of the current collecting passage 8, and is supported by the horizontal link 6M through the opening 8D. Is done. The horizontal link 6M constitutes a parallel link mechanism in which two are arranged in parallel, and is rotatably attached to one end of a link 6N fixed to the support member 6L. One end of the hydraulic cylinder 6P is rotatably attached to the other end of the link 6N, and the other end is rotatably attached to the middle of the horizontal link 6M. By operating the hydraulic cylinder 6P, the horizontal link 6M turns, and as a result, a predetermined pressing force is generated in the pantograph mechanism 13B.
In addition, about the other structure of the crane apparatus 102 concerning this Embodiment, it is the same as that of 1st Embodiment, and detailed description here is abbreviate | omitted.

[Operation of Third Embodiment]
When the crane device 102 travels along the lane 71 with the current collector 13 being inserted into the current collector passage 8, the terminal 13 </ b> A of the current collector 13 contacts the trolley wire 8 </ b> A of the current collector passage 8. Then, the electric power supplied from the ground power supply device 7 to the trolley wire 8A is transmitted from the terminal 13A to the power feeding device 1 of the crane device 102 via a cable (not shown).

Further, when the crane device 102 travels at a right angle toward another lane, a disconnecting operation is performed in which the current collector 13 is taken out from the current collecting passage 8 after the gantry 6 is traveled to the end of the current collecting passage 8. .
Thus, as in FIG. 5, the ground power supply is stopped by the disconnection at time T4, and thereafter, until the time T6 at which the right-angle traveling ends and the current collector 13 is reconnected to the current collecting passage 8 of a new lane. The crane device 102 is operated by the stored power 4A supplied from the power storage device 4.
Note that other operations of the crane apparatus 102 according to the present embodiment are the same as those in the first embodiment, and detailed description thereof is omitted here.

[Effect of the third embodiment]
As described above, the present embodiment collects the power supplied from the power supply device 7 by contacting the trolley wire 8A installed along the lane 71 by the current collecting device 13, Since the power collected by the current collector 13 is supplied as the operating power 1A, compared with the case where the power cable 12 is unwound along the lane 71, the power cable 12 can be used for winding and unwinding. Work can be saved. Therefore, it is possible to greatly reduce the time and work load required for disconnection work and reconnection work required for right-angle traveling, and it is possible to realize a container terminal having high work performance and cost performance.

  In the present embodiment, since power is supplied from the ground power supply device 1 to the crane device 102 via the trolley wire 8A, sufficient power is supplied at the time of operation of the crane device 102 at a low cost. Can do. It is also possible to return the regenerative power generated by the electric motor from the crane device 102 to the power supply device 1 side via the trolley wire 8A. For this reason, compared with the case where regenerative electric power is converted into heat and released, energy can be used effectively, and high energy saving performance can be realized.

  Moreover, although this Embodiment demonstrated as an example the case where it applied to 1st Embodiment with which AC operating electric power 1A is supplied with respect to the common bus line 10 from the electric power feeder 1, it is limited to this Instead, the present embodiment can also be applied to the second embodiment in which the DC operating power 1A is supplied from the power supply apparatus 1 to the common bus 10 in the same manner as described above, and similar effects can be obtained. .

[Extended embodiment]
In each of the above embodiments, as the operation of storing the stored power 4A in the power storage device 4, as shown in FIG. 5, a part or all of the surplus power surplus in the operating power 1A and the regenerative power is stored in the stored power 4A. As an example, the case where the power is stored and the stored power 4A is supplemented from the power storage device 4 according to the decrease in the operating power 1A has been described.
At this time, in each embodiment, similarly to a general power storage device, the power is stored when the voltage of externally supplied power from the outside of the power storage device 4 is higher than the voltage of the stored power 4A, and the voltage of the externally supplied power is May be discharged when the voltage becomes lower than the voltage of the stored power 4A, but the discharge timing may be limited.

For example, at time T4 in FIG. 5, the stored power 4A may be discharged from the power storage device 4 when the ground power supply is disconnected from the crane device 100. Further, at time T6 in FIG. 5, the discharge of the stored power 4A from the power storage device 4 may be stopped when the ground power supply is reconnected to the crane device 100.
As a result, the stored power 4A of the power storage device 4 can be used only for right-angle travel, and a state where the stored power 4A is insufficient during right-angle travel can be avoided and can be supplied stably and sufficiently.

As a specific configuration for performing such discharge control, a power supply detection unit and a discharge control unit may be provided. That is, with regard to disconnection of ground power supply, a power supply detection unit is provided in the common bus 10 to monitor the voltage of the operating power 1A from the power supply apparatus 1 and when the voltage of the operating power 1A falls below a predetermined threshold value. The supply of the operating power 1A may be determined to be stopped, and the supply of the operating power 1A may be determined to start when the voltage of the operating power 1A recovers to a threshold value or more.
For the discharge control, a discharge control unit is provided in the power storage device 4, discharge of the stored power 4 </ b> A is started in response to the supply stop determination in the power supply detection unit, and the supply start determination in the power supply detection unit is started. What is necessary is just to start discharge of the stored electric power 4A.

  In addition to the method of monitoring the voltage of the operating power 1A, a method of detecting the input of the command input 5A indicating the discharge start and discharge stop by the operator's operation is also conceivable for the power supply detection unit. For example, when a command input 5A indicating start of discharge is input at time T4, the controller 5 (power supply detection unit) instructs the power supply control unit to start discharge, and command input 5A indicating discharge stop is input at time T6. In such a case, the controller 5 may instruct the power supply control unit to stop discharging.

  In this case, at time T5 in FIG. 5, the input and stop of the command input 5A indicating the right-angle traveling command by the operator operation are detected, and the controller 5 (power supply detection unit) instructs the power supply control unit to start and stop the discharge. You may make it do. In this case, since power supply to auxiliary equipment such as the controller 5 is stopped in the period from time T4 to time T5, a power storage device that compensates for this may be provided separately.

Moreover, according to the power feeding device 1 in each embodiment, sufficient power can be obtained as the operating power of each motor. For this reason, the power supply device 1 and the power storage device 4 are controlled from the controller 5, and the discharge from the power storage device 4 is stopped and supplied from the power supply device 1 during each operation of the crane devices 100 and 100 </ b> A other than the right-angle traveling. It is also possible to use only the operating electric power 1A, permit power storage to the power storage device 4 only when regenerative power is generated, and permit discharge from the power storage device 4 only during right-angle driving or during emergency operation during power failure.
Thereby, the frequency | count of charging / discharging in the electrical storage apparatus 4 can be reduced, and the lifetime of the electrical storage apparatus 4 can be extended significantly.

It is a functional block diagram which shows the structure of the crane apparatus concerning the 1st Embodiment of this invention. It is a top view which shows the structure of the crane apparatus concerning the 1st Embodiment of this invention. It is a side view which shows the structure of the crane apparatus concerning the 1st Embodiment of this invention. It is a top view which shows the structural example of a container terminal. It is a timing chart which shows the operation example of the crane apparatus concerning the 1st Embodiment of this invention. It is a functional block diagram which shows the structure of the crane apparatus concerning the 2nd Embodiment of this invention. It is a functional block diagram which shows the structure of the crane apparatus concerning the 3rd Embodiment of this invention. It is a side view which shows the structure of the crane apparatus concerning the 3rd Embodiment of this invention. It is IX-IX sectional drawing which shows the structure of the current collector of the crane apparatus concerning the 3rd Embodiment of this invention. It is XX sectional drawing which shows the structure of the current collector of the crane apparatus concerning the 3rd Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100,100A, 101,102 ... Crane apparatus, 1 ... Power feeding apparatus, 1A ... Operating power, 10 ... Common bus, 10A ... Load power, 11 ... Socket, 12 ... Power cable, 13 ... Current collector, 13A ... Terminal, 13B ... Pantograph mechanism, 13C ... Mounting member, 20 ... Main winding motor, 21 ... Traveling motor, 22 ... Traverse motor, 31-33 ... Inverter, 3A ... Command, 4 ... Power storage device, 4A ... Power storage power, 5 ... Controller, 5A ... Command input, 6 ... Base, 6A ... Beam, 6B ... Leg, 6C ... Base, 6D ... Car, 6E ... Tire, 6F ... Cable reel, 6G ... Equipment unit, 6H ... Trolley, 6I ... Spreader, 6J ... Cable, 6K ... Command room, 6L ... Support member, 6M ... Horizontal link, 6N ... Link, 6P ... Hydraulic cylinder, 7 ... Power supply, 70 ... Container terminal, DESCRIPTION OF SYMBOLS 1 ... Lane, 72 ... Road, 73 ... Gate, 7A ... Wharf, 7B ... Ship, 7C ... Container crane, 8 ... Current collecting passage, 8A ... Trolley wire, 8B ... Wall part, 8C ... Cover, 8D ... Opening part, 8E ... fixing member, 9 ... container, 91 ... trailer, G ... ground.

Claims (1)

It is a gate type crane device that self-propels in the container terminal by driving the main motor and driving and lowering the container in the desired lane in the container terminal, and driving the motor.
A power supply device that supplies, as operating power to the main winding motor and the traveling motor, supply power that is lower than the maximum load power required by the main winding motor during a winding operation from a power supply device provided for each lane; ,
A part of the operating power surplus during the traveling operation and the traversing operation is stored, the regenerative power generated in the main winding motor during the lowering operation is stored, and the main winding motor required for the winding operation Supplying the stored power as a part of the operating power and replacing the operating power from the power supply device, which is stopped according to the separation of the supplied power, when the vehicle travels at right angles to another lane, the stored power A power storage device for supplying to the traveling motor ,
The power storage device
A power supply detection unit that detects a supply stop and a supply start of the operation power supply from the power supply device according to disconnection and reconnection of the power supply from the power supply device when traveling at right angles to another lane;
When the separation of the supply power is detected, the stored power is supplied to the traveling motor, and when the supply of the operation power from the power feeding device is resumed in response to the reconnection of the supply power, the traveling power is supplied to the traveling motor. A discharge controller that stops the supply of the stored power
The crane apparatus characterized by having .

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