JP7689150B2 - Quay crane and control method thereof - Google Patents

Description

The present invention relates to a quay crane equipped with a seismic isolation device and a control method thereof, and more specifically to a quay crane and a control method thereof that can improve the safety of chassis and other equipment performing loading and unloading operations near the quay crane.

Various quay cranes equipped with seismic isolation devices have been proposed (see, for example, Patent Document 1). Patent Document 1 discloses the configuration of a quay crane in which a seismic isolation device is installed between each of the four running gears and the leg structure.

The seismic isolation device needed to be enlarged to withstand a large earthquake. However, enlarging the size of the seismic isolation device would increase the amplitude of the horizontal vibration of the quay crane during an earthquake. This meant that there was a risk that the vibrating legs or seismic isolation device would collide with the chassis (vehicle) or workers performing loading and unloading work near the bottom end of the leg structure. There was also a risk that the vibrating legs would collide with ships docked at the quay.

Japanese Patent Application Publication No. 2011-144044

The present invention was made in consideration of the above problems, and its purpose is to provide a quay crane and a control method thereof that can improve the safety of chassis and other equipment performing loading and unloading operations near the quay crane.

A quay crane for achieving the above object includes a leg structure having a pair of sea-side legs and a pair of land-side legs, a traveling device installed at the lower end of the leg structure, sea-side seismic isolation devices respectively arranged at positions corresponding to the pair of sea-side legs, and land-side seismic isolation devices respectively arranged at positions corresponding to the pair of land-side legs, wherein the leg structure has a lower horizontal member extending in the lateral direction and connecting the sea-side legs and the land-side legs, the sea-side seismic isolation devices are arranged at a position above the lower horizontal member, and the land-side seismic isolation devices are arranged at a position below the lower horizontal member. The leg structure has a configuration in which an upper horizontal member is arranged in the running direction and connects the upper ends of a pair of sea-side legs, a first diagonal member having an upper end connected to the sea-side leg and a lower end connected to the land-side leg, and a second diagonal member having an upper end connected to the land-side leg at a position near the lower end of the first diagonal member and a lower end connected to the sea-side leg, and the sea-side seismic isolation device is composed of a first sea-side seismic isolation device arranged above the upper end of the first diagonal member and below the upper horizontal member, and a second sea-side seismic isolation device arranged below the lower end of the second diagonal member .

A control method for a quay crane for achieving the above object provides a control method for a quay crane comprising a leg structure having a pair of sea-side legs and a pair of land-side legs, a traveling device installed at the lower end of the leg structure, a sea-side seismic isolation device arranged at a position corresponding to the pair of sea-side legs, and a land-side seismic isolation device arranged at a position corresponding to the pair of land-side legs, wherein the leg structure has in advance a lower horizontal member extended in the lateral direction to connect the sea-side leg and the land-side leg, the sea-side seismic isolation device is arranged in advance at a position above the lower horizontal member, the land-side seismic isolation device is arranged in advance at a position below the lower horizontal member, and an upper horizontal member extending in the traveling direction to connect the upper ends of the pair of sea-side legs together. The leg structure already has a horizontal member, a first diagonal member whose upper end is connected to the sea-side leg and whose lower end is connected to the land-side leg, and a second diagonal member whose upper end is connected to the land-side leg at a position near the lower end of the first diagonal member and whose lower end is connected to the sea-side leg, and the sea-side seismic isolation device is already constructed from a first sea-side seismic isolation device arranged in a position above the upper end of the first diagonal member and below the upper horizontal member, and a second sea-side seismic isolation device arranged in a position below the lower end of the second diagonal member, and the part of the sea-side leg below the second sea-side seismic isolation device , the running device arranged in a position corresponding to the sea-side leg, and the lower horizontal member are vibrated together when an earthquake occurs.

According to the present invention, the sea-side seismic isolation device is positioned above the lower horizontal member, so the amount of lateral displacement of the sea-side legs can be suppressed below the sea-side seismic isolation device. Since the sea-side legs do not displace significantly in the lateral direction, this is advantageous for improving the safety of the chassis, etc.

FIG. 1 is an explanatory diagram illustrating an outline of a quay crane. FIG. 2 is an explanatory diagram illustrating the quay crane of FIG. 1 as viewed from the arrow AA. FIG. 2 is an explanatory diagram illustrating a state in which the quay crane of FIG. 1 is vibrating toward the sea. FIG. 2 is an explanatory diagram illustrating a state in which the quay crane in FIG. 1 is vibrating toward the land side. FIG. 2 is an explanatory diagram illustrating a modified example of FIG. 1 . FIG. 6 is an explanatory diagram illustrating a state in which the quay crane in FIG. 5 is vibrating toward the sea. FIG. 6 is an explanatory diagram illustrating a state in which the quay crane in FIG. 5 is vibrating toward the land side. FIG. 6 is an explanatory diagram illustrating a modified example of FIG. 5 .

The following describes a quay crane and its control method based on the embodiment shown in the figure. In the figure, the direction of travel of the quay crane is indicated by arrow y, the lateral direction perpendicular to the travel direction is indicated by arrow x, and the up-down direction is indicated by arrow z.

As shown in FIG. 1, the quay crane 1 comprises a leg structure 2, a number of travelling devices 3 installed at the lower end of the leg structure 2, and a seismic isolation device 4. The quay crane 1 is made up of a container crane for loading and unloading containers and an unloader for loading and unloading bulk cargo such as ore.

The leg structure 2 has an ocean-side leg 5a arranged on the ocean side in the lateral direction x, a land-side leg 5b arranged on the land side, and a lower horizontal member 6 extending in the lateral direction x and connecting the ocean-side leg 5a and the land-side leg 5b (hereinafter, collectively referred to as legs 5).

As shown in FIG. 2, the leg structure 2 has a pair of sea-side legs 5a spaced apart in the running direction y, an upper horizontal member 7a extending in the running direction y to connect the upper ends of the pair of sea-side legs 5a, and a bottom horizontal member 8a extending in the running direction y to connect the lower ends of the pair of sea-side legs 5a.

Similarly, the leg structure 2 has a pair of land-side legs 5b spaced apart in the running direction y, an upper horizontal member 7b extending in the running direction y to connect the upper ends of the pair of land-side legs 5b, and a bottom horizontal member 8b extending in the running direction y to connect the lower ends of the pair of land-side legs 5b. The sea-side upper horizontal member 7a and the land-side upper horizontal member 7b are sometimes collectively referred to as the upper horizontal member 7. The sea-side bottom horizontal member 8a and the land-side bottom horizontal member 8b are sometimes collectively referred to as the bottom horizontal member 8.

The leg structure 2 also has a diagonal member 9 that connects the sea-side leg 5a and the land-side leg 5b, which are arranged opposite each other in the lateral direction x. In the embodiment illustrated in FIG. 1, the upper end of the diagonal member 9 is connected to the sea-side leg 5a and the lower end is connected to the land-side leg 5b. The lower end of the diagonal member 9 is located above the lower horizontal member 6.

As shown in FIG. 1, a girder 10 extending in the lateral direction x is disposed near the upper end of the leg structure 2, and a boom 11 extends from the sea-side end of the girder 10 toward the sea side (the right side in FIG. 1). The girder 10 and the boom 11 are supported by the leg structure 2.

The traveling gear 3 is disposed below each of the four legs 5. In this embodiment, the four traveling gears 3 are installed at the lower end of the leg structure 2. Each traveling gear 3 has iron wheels. The traveling gear 3 allows the quay crane 1 to travel along a traveling direction y that crosses the land-sea direction (transverse direction x) at a right angle.

As illustrated in Figures 1 and 2, in this embodiment, the seismic isolation device 4 is composed of an ocean-side seismic isolation device 4a arranged at a position corresponding to the ocean-side leg 5a, and a land-side seismic isolation device 4b arranged at a position corresponding to the land-side leg 5b. As illustrated in Figure 2, the ocean-side seismic isolation devices 4a are installed at positions corresponding to the pair of ocean-side legs 5a. The quay crane 1 is equipped with two ocean-side seismic isolation devices 4a and two land-side seismic isolation devices 4b.

The position corresponding to the sea-side leg 5a refers to a position that is midway in the extension direction (vertical direction z) of the sea-side leg 5a. The position corresponding to the land-side leg 5b refers to a position that is midway in the extension direction (vertical direction z) of the land-side leg 5b, as well as a position between the land-side leg 5b and the land-side traveling device 3 arranged below it. The above are sometimes collectively referred to as positions corresponding to the leg 5. The position corresponding to the leg 5 can also be said to be a position that is midway in the extension direction of the leg 5, or a position that is on an extension line of the extension direction.

As shown in FIG. 1, in this embodiment, the sea-side seismic isolation device 4a is configured to be positioned above the upper end of the diagonal member 9 and below the sea-side upper horizontal member 7a. The sea-side seismic isolation device 4a is positioned above the lower horizontal member 6.

The land-side seismic isolation device 4b is configured to be disposed between the lower ends of the land-side legs 5b and the land-side running gear 3. In more detail, the land-side seismic isolation device 4b is configured to be disposed between the bottom horizontal member 8b, which connects the lower ends of the land-side legs 5b, and the land-side running gear 3. The land-side seismic isolation device 4b is disposed in a position lower than the lower horizontal member 6.

The seismic isolation device 4 is made of laminated rubber, for example. The seismic isolation device 4 made of laminated rubber is configured to be deformable only along the lateral direction x, for example. The seismic isolation device 4 may be configured to be deformable in the travel direction y in addition to the lateral direction x. The configuration of the seismic isolation device 4 is not limited to laminated rubber. The seismic isolation device 4 may be configured by combining a slider configured to be slidable in the lateral direction x and a telescopic cylinder that generates a restoring force on the slider. The seismic isolation device 4 may also be configured by a telescopic cylinder that telescopes in the vertical direction z, or a tilting mechanism that tilts around the travel direction y as a central axis.

As shown in FIG. 1, the first structure 2a is integrally configured, which is configured from the lower horizontal member 6 through the part of the sea-side leg 5a that is below the lower horizontal member 6 to the sea-side running device 3 that is located at a position corresponding to the sea-side leg 5a. In FIG. 1, the range of the first structure 2a is illustrated by encircling it with a dashed line for the purpose of explanation. The first structure 2a is configured to include a part of the leg structure 2 and the sea-side running device 3. The first structure 2a being integrally configured refers to a state in which the seismic isolation device 4 is not disposed in the middle part of each member that constitutes the first structure 2a. It can also be said that the first structure 2a does not include the seismic isolation device 4. The quay crane 1 has a configuration in which the sea-side seismic isolation device 4a corresponding to the sea-side leg 5a is not installed at a position below the lower horizontal member 6.

It is desirable that the first structure 2a be constructed so that each member is interconnected in a state in which they vibrate at the same frequency when an earthquake occurs.

As illustrated in Figures 3 and 4, when an earthquake occurs, the seismic isolation device 4 becomes operable, and becomes deformable, for example, along the lateral direction x. For the sake of explanation, the position of the quay crane 1 in a stationary state before the earthquake occurs is shown by a dashed line in Figures 3 and 4. Figure 3 shows the state in which the boom 11 of the quay crane 1 is displaced toward the sea (right side in Figure 3) relative to the quay 12, while Figure 4 shows the state in which the boom 11 is displaced toward the land (left side in Figure 4) relative to the quay 12.

When an earthquake occurs, the members that make up the first structure 2a vibrate as a unit. The sea-side traveling device 3 included in the first structure 2a vibrates, for example, along the lateral direction x together with the quay wall 12. Members such as the boom 11 that are arranged above the sea-side seismic isolation device 4a and the land-side seismic isolation device 4b tend to remain in place due to inertial forces. The boom 11 etc. vibrates significantly relative to the quay wall 12, and this vibration is absorbed by the seismic isolation device 4.

The lower horizontal member 6 constituting the first structure 2a, the portion of the sea-side leg 5a that is below the lower horizontal member 6, and the sea-side traveling device 3 arranged at a position corresponding to the sea-side leg 5a vibrate together. The first structure 2a vibrates in the lateral direction x around the lower end of the sea-side traveling device 3. At this time, the first structure 2a is disconnected from the girder 10, boom 11, etc. by the sea-side seismic isolation device 4a. Therefore, the amount of displacement of the sea-side leg 5a in the lateral direction x can be suppressed at a position below the lower horizontal member 6. The sea-side leg 5a does not displace significantly in the lateral direction x.

The chassis 13 handles cargo by traveling between the sea-side leg 5a and the land-side leg 5b, which are opposed in the lateral direction x. For this reason, the lower horizontal member 6 is positioned higher than the upper end of the chassis 13. The quay crane 1 can prevent the sea-side leg 5a from colliding with the chassis 13 in the event of an earthquake. Furthermore, if the lower horizontal member 6 is positioned higher than the upper deck 14a of the ship 14, the sea-side leg 5a can be prevented from colliding with the ship 14. This is advantageous for improving the safety of the chassis 13, etc.

The land-side seismic isolation device 4b is positioned below the lower horizontal member 6. Generally, the lower the seismic isolation device 4 is positioned, the better the seismic isolation effect of the quay crane 1 can be. The land-side seismic isolation device 4b can efficiently suppress vibrations of the quay crane 1. In this configuration, the seismic isolation device 4 is not positioned above the lower horizontal member 6 on the land-side leg 5b. Since there is only one land-side seismic isolation device 4b positioned at a position corresponding to the land-side leg 5b, this is advantageous in suppressing an increase in the wheel load of the quay crane 1. In addition, vibrations of the boom 11 etc. transmitted to the land-side leg 5b are absorbed by the deflection of the land-side leg 5b.

The sea-side seismic isolation device 4a is located at a higher position than the land-side seismic isolation device 4b, so it is less efficient than the land-side seismic isolation device 4b, but it still exerts a seismic isolation effect that suppresses vibrations of the quay crane 1.

Vibrations can also be absorbed by the deflection of the sea-side leg 5a below the sea-side seismic isolation device 4a. This is advantageous for improving the seismic isolation effect. In the portion of the sea-side leg 5a below the lower horizontal member 6, the displacement of the sea-side leg 5a is not so large. This improves the safety of the chassis 13, etc.

The quay crane 1 has a configuration in which the sea-side seismic isolation device 4a is positioned higher in the vertical direction z than the land-side seismic isolation device 4b. On the sea side, the displacement of the sea-side leg 5a below the sea-side seismic isolation device 4a is suppressed, while on the land side, vibrations of the part above the land-side seismic isolation device 4b can be efficiently absorbed. This is advantageous for suppressing the displacement of the sea-side leg 5a while suppressing a decrease in the seismic isolation effect of the quay crane 1. Even if the seismic isolation device 4 is enlarged to accommodate a large-scale earthquake, the quay crane 1 can improve safety while still obtaining the seismic isolation effect.

As shown in Figures 1 and 2, it is possible to install a cable reel 15 at a position lower than the sea-side seismic isolation device 4a. For example, the cable reel 15 can be installed on the lower horizontal member 6 or the traveling device 3. The cable reel 15 is a device for winding up a cable to connect the power source arranged on the quay 12 to the quay crane 1.

When an earthquake occurs, the sea-side leg 5a or the sea-side traveling device 3 is displaced relatively in the lateral direction x, and the problem of colliding with the cable reel 15 can be avoided. It is possible to place the cable reel 15 at a low position relatively close to the quay wall 12.

As shown in FIG. 5, the quay crane 1 may be configured with a diagonal member 9 whose upper end is connected to the land-side leg 5b and whose lower end is connected to the sea-side leg 5a. In this embodiment, the lower end of the diagonal member 9 is connected to the sea-side leg 5a in a state where it is above the lower horizontal member 6. The sea-side seismic isolation device 4a is located below the lower end of the diagonal member 9 and above the lower horizontal member 6.

As illustrated in Figures 6 and 7, when an earthquake occurs, the seismic isolation device 4 becomes operable, and becomes deformable, for example, in the lateral direction x. For the sake of explanation, Figures 6 and 7 show the position of the quay crane 1 in a stationary state before the earthquake occurs with a dashed line. Figure 6 shows the state in which the boom 11 etc. of the quay crane 1 are displaced toward the sea (right side in Figure 6) relative to the quay 12, while Figure 7 shows the state in which the boom 11 etc. are displaced toward the land side (left side in Figure 7) relative to the quay 12.

When an earthquake occurs, the members that make up the first structure 2a vibrate as a unit. Therefore, as in the embodiment illustrated in FIG. 1, etc., the amount of displacement of the sea-side leg 5a in the lateral direction x can be suppressed at a position lower than the lower horizontal member 6. This is advantageous for improving the safety of the chassis 13, etc.

The part of the sea-side leg 5a that is above the sea-side seismic isolation device 4a is connected to the land-side leg 5b via a diagonal member 9. Vibrations of the members located above the sea-side seismic isolation device 4a are suppressed by the land-side seismic isolation device 4b in addition to the sea-side seismic isolation device 4a.

The mass of the components arranged above the sea-side seismic isolation device 4a and the land-side seismic isolation device 4b is larger than in the embodiment illustrated in FIG. 1, etc. This is advantageous for improving the seismic isolation effect, since the mass of the portion that is isolated by the seismic isolation device 4 from the quay wall 12 that vibrates during an earthquake is relatively large.

The sea-side seismic isolation device 4a may be configured to be arranged at a position at least above the lower horizontal member 6. For example, in the embodiment illustrated in FIG. 1, the position at which the sea-side seismic isolation device 4a is arranged is not limited to a position above the upper end of the diagonal member 9. The sea-side seismic isolation device 4a may be arranged at a position below the upper end of the diagonal member 9. For example, in the embodiment illustrated in FIG. 5, the position at which the sea-side seismic isolation device 4a is arranged is not limited to a position below the lower end of the diagonal member 9. The sea-side seismic isolation device 4a may be arranged at a position above the lower end of the diagonal member 9.

The sea-side seismic isolation device 4a can be placed at any position within the range below the sea-side upper horizontal member 7a and above the lower horizontal member 6. In the embodiment illustrated in FIG. 1, the sea-side seismic isolation device 4a may be placed at a height just above the lower horizontal member 6, for example. In the embodiment illustrated in FIG. 5, the sea-side seismic isolation device 4a may be placed at a height just below the sea-side upper horizontal member 7a, for example. In other words, the height at which the sea-side seismic isolation device 4a is placed may be determined regardless of the state of the diagonal member 9.

As shown in FIG. 8, the quay crane 1 may be configured to include a first diagonal member 9a whose upper end is connected to the sea-side leg 5a and whose lower end is connected to the land-side leg 5b, and a second diagonal member 9b whose upper end is connected to the land-side leg 5b and whose lower end is connected to the sea-side leg 5a. The upper end of the second diagonal member 9b is connected to a position near the lower end of the first diagonal member 9a.

In this embodiment, the quay crane 1 is equipped with a first sea-side seismic isolation device 4c that is positioned above the upper end of the first diagonal member 9a and below the upper horizontal member 7a, and a second sea-side seismic isolation device 4d that is positioned below the lower end of the second diagonal member 9b and above the lower horizontal member 6. In other words, in this embodiment, the sea-side seismic isolation device 4a has the first sea-side seismic isolation device 4c and the second sea-side seismic isolation device 4d.

When an earthquake occurs, the members that make up the first structure 2a vibrate as a unit. Therefore, as in the embodiment illustrated in FIG. 1, etc., the amount of displacement of the sea-side leg 5a in the lateral direction x can be suppressed at a position lower than the lower horizontal member 6. This is advantageous for improving the safety of the chassis 13, etc.

The portion of the sea-side leg 5a that is sandwiched between the first sea-side seismic isolation device 4c and the second sea-side seismic isolation device 4d, and the first diagonal member 9a and the second diagonal member 9b vibrate together with the land-side leg 5b above the land-side seismic isolation device 4b. The vibration of these components is absorbed by the deflection of the land-side leg 5b.

In this embodiment, the quay crane 1 becomes a node when the first sea side seismic isolation device 4c and the second sea side seismic isolation device 4d vibrate due to an earthquake. Compared to the embodiments illustrated in Figures 1 and 5, the quay crane 1 in this embodiment has more nodes when vibrating. This is advantageous for improving the seismic isolation effect against long-period vibration. Since two sea side seismic isolation devices 4c, 4d are installed on one sea side leg 5a, this configuration can be used on a quay 12 that can tolerate an increase in the wheel load of the quay crane 1. On the other hand, if you want to suppress the increase in the wheel load of the quay crane 1, it is desirable to adopt the configuration illustrated in Figures 1 and 5.

1 Quay crane 2 Leg structure 2a First structure 3 Traveling device 4 Seismic isolation device 4a Sea side seismic isolation device 4b Land side seismic isolation device 4c First sea side seismic isolation device 4d Second sea side seismic isolation device 5 Leg 5a Sea side leg 5b Land side leg 6 Lower horizontal member 7 Upper horizontal member 7a (Sea side) Upper horizontal member 7b (Land side) Upper horizontal member 8 Bottom horizontal member 8a (Sea side) Bottom horizontal member 8b (Land side) Bottom horizontal member 9 Diagonal member 9a First diagonal member 9b Second diagonal member 10 Girder 11 Boom 12 Quay wall 13 Chassis 14 Ship 14a Upper deck 15 Cable reel x Lateral direction y Travel direction z Up-down direction

Claims (3)

A quay crane comprising a leg structure having a pair of sea-side legs and a pair of land-side legs, a traveling device installed at a lower end of the leg structure, sea-side seismic isolation devices respectively arranged at positions corresponding to the pair of sea-side legs, and land-side seismic isolation devices respectively arranged at positions corresponding to the pair of land-side legs,
The leg structure has a lower horizontal member extending in a lateral direction and connecting the sea-side leg and the land-side leg,
The sea-side seismic isolation device is configured to be disposed at a position above the lower horizontal member, and the land-side seismic isolation device is configured to be disposed at a position below the lower horizontal member,
The leg structure has an upper horizontal member extending in the traveling direction and connecting the upper ends of the pair of sea-side legs, a first diagonal member having an upper end connected to the sea-side leg and a lower end connected to the land-side leg, and a second diagonal member having an upper end connected to the land-side leg at a position adjacent to the lower end of the first diagonal member and a lower end connected to the sea-side leg,
A quay crane characterized in that the sea-side seismic isolation device is composed of a first sea-side seismic isolation device arranged in a position above the upper end of the first diagonal member and below the upper horizontal member, and a second sea-side seismic isolation device arranged in a position below the lower end of the second diagonal member. The quay crane according to claim 1, wherein the first structure, which is configured from the lower horizontal member through the part of the sea-side leg that is below the lower horizontal member to the traveling device that is located at a position corresponding to the sea-side leg, is an integrated structure that does not include a seismic isolation device. A control method for a quay crane including a leg structure having a pair of sea-side legs and a pair of land-side legs, a traveling device installed at a lower end of the leg structure, a sea-side seismic isolation device arranged at a position corresponding to the pair of sea-side legs, and a land-side seismic isolation device arranged at a position corresponding to the pair of land-side legs, comprising:
The leg structure already has a lower horizontal member that is extended in the lateral direction and connects the sea-side leg and the land-side leg, the sea-side seismic isolation device is already arranged in a position above the lower horizontal member, and the land-side seismic isolation device is already arranged in a position below the lower horizontal member,
The leg structure already has an upper horizontal member extending in the traveling direction and connecting the upper ends of the pair of sea-side legs, a first diagonal member having an upper end connected to the sea-side leg and a lower end connected to the land-side leg, and a second diagonal member having an upper end connected to the land-side leg at a position adjacent to the lower end of the first diagonal member and a lower end connected to the sea-side leg,
The sea-side seismic isolation device is previously configured with a first sea-side seismic isolation device arranged at a position above the upper end of the first diagonal member and below the upper horizontal member, and a second sea-side seismic isolation device arranged at a position below the lower end of the second diagonal member,
A control method for a quay crane , characterized in that the part of the sea side leg that is below the second sea side seismic isolation device , the traveling gear arranged at a position corresponding to the sea side leg, and the lower horizontal member are vibrated together when an earthquake occurs.

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