JP6208059B2 - Container crane safety device - Google Patents

Description

  The present invention relates to a container crane safety device that works when a container is lifted from a trailer chassis in a harbor crane that handles containers.

  In order to transport a container as a load at a port, the container is lifted / suspended by a port crane called a gantry crane or a transfer crane.

  When a container is transported to a container ship with a gantry crane or when a container is transported to a storage yard with a transfer crane, the container transported by the trailer chassis is lifted.

  An operator who has boarded the trolley 5 grips and lifts a container on a predetermined trailer chassis when the container is transported to a container ship or a storage yard. To grasp the container, put the twist lock pins protruding at the four corners of the lower surface of the spreader into the holes at the four corners of the upper surface of the container, and rotate the lock pin 90 degrees by the twist lock operation to lock the container. I try not to come off. At this time, the limit switch for detecting the operation of the lock pin and the lock LS operate, and all the lock LS signals are ON.

  Further, the container on the trailer chassis is placed in a state in which the lock pins protruding on the chassis are inserted into the container holes at the four corners of the lower surface of the container. The lock pin is locked like the lock mechanism of the spreader so that the container does not come off during trailer travel.

  When lifting the container, the trailer driver first releases the lock pin on the chassis. Next, the operator who has boarded the trolley 5 performs the twist lock operation in a state where the spreader is landed on the container on the chassis, thereby grasping the container and performing the hoisting operation by operating the controller.

  In the conventional technology, when the container is picked up from the trailer chassis, it is detected that the spreader twist lock is locked by the lock LS signal, and includes a lock detection by a control device such as a PLC (programmable controller). The hoisting condition is determined to be satisfied and the hoisting is enabled.

  However, since it is not known on the crane side whether the lock on the chassis side has been released, when the operator picks up the container from the chassis, it is first visually observed that the container is completely lifted (separated) from the chassis by the low-speed hoisting operation. In order to prevent accidents, we have decided to operate at a high speed after confirming at step 2. Confirming that the container is completely removed from the chassis by the low-speed hoisting operation is called ground cutting (or ground cutting confirmation).

  Low speed hoisting operation during ground cutting may be speed limited by a control device such as PLC.

  In addition, depending on the terminal, a camera is installed at a position where the chassis and the container on the chassis can be seen so that the ground can be surely cut, and a system that prompts the operator to confirm the ground cutting is introduced.

JP 2004-175544 A

  In the conventional method, it is ultimately left to the operator to confirm whether the container has been removed from the chassis by the earth-cutting operation, so until the human error that the operator neglects the earth-cutting operation It cannot be completely prevented.

  Therefore, if the trailer driver forgets to open the lock pin, or if the trailer is inadequately opened due to malfunction of the mechanism, etc., the crane will be lifted together with the trailer when lifting the container, and an excessive load Will be added to the crane body and rope. Alternatively, if the lock is released during the lifting, the container may fall, causing damage to the trailer or injury to the trailer driver.

  Therefore, the present invention has been made to solve the above-described problems, and even if the trailer chassis is likely to be rolled up due to an operator's ground cutting check omission, etc., immediately after being lifted by a certain distance. A container crane safety device that stops the hoisting operation is provided.

According to one aspect of the present invention, there is provided a safety device of a container crane, installed in the body structure of the container crane, the scanning laser sensor you output the physical shape data space, the scanning laser sensor Based on the data processing device that processes the data detected in the above and recognizes the cab portion and container of the trailer chassis and the recognition data processed by the data processing device, it is determined whether the cab portion is lifted over a predetermined distance. A control device for giving a stop command for the hoisting operation of the container crane to the container crane .

  According to the present invention, even if the trailer chassis is likely to be rolled up due to an operator's ground cutting check omission, etc., the hoisting operation is stopped immediately after being lifted by a certain distance, so that the trailer can be moved by dropping the trailer. It is possible to prevent accidents such as breakage and injury to the trailer driver.

It is a figure showing the schematic structure of the safety device of the container crane concerning an embodiment. It is a figure which shows the external appearance of a gantry crane, and the installation example of a scanning laser sensor. It is a figure which shows the external appearance of a transfer crane, and the installation example of a scanning laser sensor. It is a figure explaining the detection of the trailer chassis and container by a scanning laser sensor.

  The container crane safety device according to the present embodiment detects the trailer chassis and the container on the chassis by the scanning laser sensor installed in the structure of the container crane main body, and whether the trailer chassis is lifted together when the container is lifted. It is determined and the lifting operation is controlled.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same portions are denoted by the same reference numerals, and redundant description is omitted.

  Drawing 1 is a figure showing the schematic structure of the safety device of the container crane concerning an embodiment. The container crane safety device according to this embodiment is applied to a harbor crane that handles containers called a gantry crane or a transfer crane, and mainly includes a scanning laser sensor 1, a detection data processing device 12, and a control device 13. It is composed of

  The scanning laser sensor 1 is installed at a position where the state of the trailer chassis 7 and the container 8 in the longitudinal direction can be detected.

  The scanning laser sensor 1 is a scanning optical distance meter that can output physical shape data of a space. For example, the uniaxial scanning type scanning laser sensor 1 outputs shape data obtained by cutting the scanning plane. Three-dimensional spatial data can also be obtained by further rotating the scanning laser sensor 1 to perform biaxial scanning. Details of the acquired data processing will be described later.

  FIG. 2 is a diagram illustrating an appearance of the gantry crane and an installation example of the scanning laser sensor. As shown in FIG. 2, when the scanning laser sensor 1 is installed in a gantry crane, the trailer chassis in the trailer chassis lane 6 is placed on the beam 2, girder 3, leg 4, or trolley 5 of the gantry crane. 7 and the container 8 are installed at positions where the longitudinal height of the container 8 can be detected.

  FIG. 3 is a diagram illustrating an appearance of a transfer crane and an installation example of a scanning laser sensor. As shown in FIG. 3, when the scanning laser sensor 1 is installed in a transfer crane, the trailer chassis 7 or the container of the trailer chassis lane 6 is placed on the girder 3, the leg 4, or the trolley 5 of the transfer crane. 8 is installed at a position where the height and other conditions can be detected.

  The detection data processing device 12 processes data detected by the scanning laser sensor 1. The detection data processing device 12 recognizes the cab portion 10 and the container 8 of the trailer chassis 7 based on the detected data. The recognized data is sent to the control device 13. The detection data processing device 12 is preferably installed on the crane body or the trolley 5, for example.

  The control device 13 determines lifting of the cab 10 based on the recognition data processed in the detection data processing device 12 and gives a command to the crane. When it is determined that the cab 10 is lifted, a crane hoist stop command is generated and output to the crane drive device 14.

  The detection data processing device 12 and the control device 13 can be combined into one device.

  Next, detection of the trailer chassis 7 and the container 8 by the scanning laser sensor 1 will be described. FIG. 4 is a diagram for explaining detection of the trailer chassis 7 and the container 8 by the scanning laser sensor. As shown in FIG. 4, when the trailer chassis 7 loaded with the container 8 enters the trailer chassis lane 6, the height distribution data 9 of the trailer chassis 7 and the container 8 is detected by the scanning laser sensor 1. The detected height distribution data 9 is subjected to data processing by the detection data processing device 12 and recognized separately for the trailer cab 10 portion and the loaded container 8 portion.

  When the spreader 11 is landed on the container 8 loaded on the trailer chassis 7, the twist lock of the spreader 11 is locked, and when the container 8 is rolled up, not only the loaded container 8 part but also the height of the trailer cab 10 part is If the trailer chassis 7 is also lifted together with the container 8 by the control device 13 when it rises higher than a predetermined distance together, a stop command for crane hoisting operation is output to the drive device 14.

  A condition for prohibiting the hoisting operation is provided in the control device 13 so that the hoisting operation is not performed after the hoisting stop so that only the hoisting operation is possible. In the unwinding operation, it is possible to limit abrupt operation by limiting the unwinding speed and the unwinding acceleration.

  According to the embodiment of the present invention, even if the trailer chassis is likely to be rolled up due to an operator's ground cut check omission, etc., the hoisting operation stops immediately after being lifted by a certain distance, so the trailer falls. Can prevent accidents such as damage to the trailer and personal injury of the trailer driver.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Scanning type laser sensor 2 ... Beam 3 ... Girder 4 ... Leg part 5 ... Trolley 6 ... Trailer chassis lane 7 ... Trailer chassis 8 ... Container 9 ... -Height distribution data 10 ... cab 11 ... spreader 12 ... detection data processing device 13 ... control device 14 ... drive device

Claims (2)

A container crane safety device,
Is installed in the main body structure of a container crane, the scanning laser sensor you output the physical shape data space,
A data processing device that processes data detected by the scanning laser sensor and recognizes a cab portion and a container of the trailer chassis;
A controller for giving the container crane an instruction to stop the hoisting operation of the container crane when it is determined that the cab portion is lifted over a predetermined distance based on the recognition data processed by the data processor; A container crane safety device. A container crane safety device,
It is placed on the trolley, and scanning laser sensor you output the physical shape data space,
A data processing device that processes data detected by the scanning laser sensor and recognizes a cab portion and a container of the trailer chassis;
A controller for giving the container crane an instruction to stop the hoisting operation of the container crane when it is determined that the cab portion is lifted over a predetermined distance based on the recognition data processed by the data processor; A container crane safety device.

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