Cargo handling device, seismic isolation system, and seismic isolation method

Abstract

To provide a cargo handling device, a seismic isolation system, and a seismic isolation method that can properly support the structure of the cargo handling device during cargo handling work and enable a seismic isolation section to function properly during an earthquake.SOLUTION: A cargo handling device 100 is equipped with a fixation switching mechanism 30 that can switch between fixation and release between a leg 1A (first structure) and a traveling unit 10A (second structure). Therefore, when the cargo handling device 100 is performing cargo handling work, the fixation switching mechanism 30 can fix the leg 1A and the traveling unit 10A. As a result, during cargo handling work, the fixation of the fixation switching mechanism 30 can appropriately support the leg 1A and the traveling unit 10A. On the other hand, when an earthquake detection unit 201 detects earthquake information, the fixation switching mechanism 30 releases the fixation. Therefore, during an earthquake, a seismic isolation unit 50 can fully exert its seismic isolation function between the leg 1A and the traveling unit 10A.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a loading and unloading device, a seismic isolation system, and a seismic isolation method. [Background technology]

[0002] BACKGROUND ART A cargo handling device such as that described in Patent Document 1 below is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-58969 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in Patent Document 1, a seismic isolation unit may be provided to attenuate earthquake shaking. When such a seismic isolation unit is provided, the structure may be fixed with a shear pin or the like to prevent the seismic isolation unit from acting during normal loading and unloading operations. However, the repeated loads caused by loading and unloading may cause the shear pin to break during times other than earthquakes. For these reasons, there is a need to properly support the structure of the loading and unloading equipment during loading and unloading operations, and to ensure that the seismic isolation unit functions properly during earthquakes.

[0005] The present invention aims to provide a loading and unloading device, a seismic isolation system, and a seismic isolation method that can properly support the structure of the loading and unloading device during loading and unloading operations and enable the seismic isolation section to function properly during an earthquake. [Means for solving the problem]

[0006] A loading and unloading device according to one aspect of the present invention is a loading and unloading device for performing loading and unloading operations, and includes a first structure, a second structure, a seismic isolation section provided between the first structure and the second structure, a fixation switching mechanism capable of switching between fixing and releasing the fixation between the first structure and the second structure, and an earthquake detection section that detects earthquakes, and the fixation switching mechanism releases the fixation when the earthquake detection section detects earthquake information.

[0007] This loading and unloading device is equipped with a fixation switching mechanism that can switch between fixing and releasing the fixation between the first structure and the second structure. Therefore, when the loading and unloading device is performing loading and unloading operations, the fixation switching mechanism can fix the first structure and the second structure. As a result, during loading and unloading operations, the first structure and the second structure can be properly supported by the fixation of the fixation switching mechanism. On the other hand, the fixation switching mechanism releases the fixation when the earthquake detection unit detects earthquake information. Therefore, during an earthquake, the seismic isolation unit can fully exert its seismic isolation function between the first structure and the second structure. As described above, the loading and unloading device's structures can be properly supported during loading and unloading operations, and the seismic isolation unit can function properly during an earthquake.

[0008] The loading and unloading apparatus may further include a first member and a second member that are movable relative to each other in response to vibration of the loading and unloading apparatus 100, and a shear pin inserted into the overlapping first member and the second member. In this case, when the locking switching mechanism releases the lock, the shear pin secures the first structure and the second structure via the first member and the second member. If the earthquake is small, the locking by the locking switching mechanism can be quickly restored without the seismic isolation unit functioning. On the other hand, if the earthquake is large, the shear pin can be broken, allowing the seismic isolation unit to fully exert its seismic isolation function between the first structure and the second structure. Furthermore, even if the locking switching mechanism releases the lock when the loading and unloading apparatus is powered off, the shear pin acts to maintain the seismic isolation function without using an expensive auxiliary power supply.

[0009] The loading and unloading device may further include a load reduction mechanism that reduces the load acting on the shear pin compared to the locking and unloading mechanism when the locking and unloading mechanism locks the first structure and the second structure together. In this case, the locking and unloading mechanism bears the load during loading and unloading operations, thereby preventing the shear pin from accidentally breaking.

[0010] The breaking load of the shear pin may be lower than the breaking load of the fixing member of the fixing switching mechanism. In this case, during loading and unloading operations, the first and second structures can be secured together by the fixing switching mechanism, whose fixing member has a higher breaking load than the shear pin. Meanwhile, during an earthquake, the shear pin can be broken with an appropriate load, allowing the seismic isolation function of the seismic isolation section to be demonstrated at the appropriate time.

[0011] The loading device may further include a power supply device capable of supplying power while the loading device is not operating. In this case, if an earthquake occurs while the loading device is not operating, the power supply from the power supply device can release the lock of the locking switching mechanism.

[0012] The loading device may further include a third member and a fourth member that are movable relative to each other in response to vibration of the loading device, and the locking switching mechanism may include an insertion member that can be inserted into the overlapping third member and fourth member, and a drive unit that reciprocates the insertion member. In this case, the locking switching mechanism can switch between locking and unlocking with a simple mechanism that simply reciprocates the insertion member.

[0013] The earthquake detection unit may detect an earthquake based on receiving earthquake information transmitted from an external source. In this case, the earthquake detection unit can detect an earthquake at an early stage.

[0014] A seismic isolation system according to one aspect of the present invention is a seismic isolation system provided in a loading and unloading device that performs loading and unloading operations, and includes a seismic isolation section provided between a first structure and a second structure of the loading and unloading device, a fixation switching mechanism that can switch between fixing and releasing the fixation between the first structure and the second structure, and an earthquake detection section that detects earthquakes, and the fixation switching mechanism releases the fixation when the earthquake detection section detects earthquake information.

[0015] A seismic isolation method according to one aspect of the present invention is a seismic isolation method for loading and unloading equipment that performs loading and unloading operations, the loading and unloading equipment comprising a first structure, a second structure, a seismic isolation section provided between the first structure and the second structure, and a fixation switching mechanism that can switch between fixing and unlocking the first structure and the second structure, and when an earthquake is detected by acquiring earthquake information while the fixation switching mechanism is fixing the first structure and the second structure, the fixation switching mechanism is unlocked.

[0016] According to the seismic isolation system and seismic isolation method, it is possible to obtain the same functions and effects as the above-mentioned loading and unloading device. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a loading and unloading device, a seismic isolation system, and a seismic isolation method that can properly support the structure of the loading and unloading device during loading and unloading operations and allow the seismic isolation section to function properly during an earthquake. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram illustrating the overall configuration of a cargo handling device equipped with a seismic isolation system according to an embodiment of the present invention. [Figure 2] This is a view of the legs and running gear as seen from the negative side to the positive side (land side to sea side) in the Y-axis direction. [Figure 3] The configuration of the seismic isolation system is shown when viewed from the negative side in the Y-axis direction. [Figure 4] FIG. 4 is a cross-sectional view taken along line IV-IV shown in FIG. [Figure 5]FIG. 10 is a schematic diagram showing the relationship between a shear pin and a fixing switching mechanism. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] FIG. 2 is a block diagram showing a system configuration of a cargo handling device equipped with a seismic isolation system. [Figure 11] 10 is a flowchart showing the control of the cargo handling device when an earthquake is detected while the cargo handling device is performing cargo handling work. [Figure 12] 10 is a flowchart showing the control of the cargo handling device when an earthquake is detected while the cargo handling device is performing cargo handling work. [Figure 13] FIG. 10 is a block diagram showing a system configuration of a cargo handling apparatus according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of a cargo handling apparatus according to the present invention will be described with reference to the accompanying drawings. In the following description, the same or equivalent elements will be designated by the same reference numerals, and redundant description will be omitted.

[0020] First, the structure of a cargo handling apparatus and a seismic isolation system according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a schematic diagram illustrating the overall configuration of a cargo handling apparatus equipped with a seismic isolation system according to this embodiment.

[0021] In this embodiment, a level luffing crane (LLC) is used as the cargo handling apparatus 100.

[0022] The cargo handling apparatus 100 is a device that is arranged on a quay or the like to load and unload cargo onto and from a cargo ship. As shown in Fig. 1, the cargo handling apparatus 100 includes legs 1A, 1B, a swivel device 2, a jib 3, a cargo handling section 4, a wire 6, a reeling device 7, and a retracting device 8. In the following description, the side facing the sea where the cargo ship is located relative to the quay (the left side of the drawing) will be referred to as the "sea side," and the side facing the land (the right side of the drawing) will be referred to as the "land side."

[0023] Legs 1A, 1B are a frame body that is placed on the quay and supports the entire cargo handling apparatus 100. Leg 1A is provided on the land side, and leg 1B is provided on the sea side. Legs 1A, 1B extend in the vertical direction. Traveling devices 10A, 10B that run on rails 9A, 9B provided on the quay are provided at the lower ends of legs 1A, 1B. This allows the cargo handling apparatus 100 to run on the rails along the quay. A slewing device 2 is provided on the upper part of legs 1A, 1B. The slewing device 2 rotates relative to legs 1A, 1B to rotate jib 3.

[0024] The jib 3 is a member supported by the slewing device 2 of the legs 1A, 1B. The jib 3 is positioned so that it extends from the slewing device 2 toward the sea side during cargo handling operations. For this reason, the side of the jib 3 closer to the slewing device 2 is sometimes called the land side, and the side farther from the slewing device 2 is sometimes called the sea side. The jib 3 has a front link 3A attached to the slewing device 2, and a jib link 3B that can be bent relative to the front link 3A. The jib link 3B is connected to the sea side tip of the front link 3A in a bendable manner.

[0025] The cargo handling unit 4 is suspended by a wire 6 from the seaward end of the jib link 3B of the jib 3. The cargo handling unit 4 is the part where cargo is loaded and unloaded. A grab bucket is used as the cargo handling unit 4. The wire 6 is a member connected to the cargo handling unit 4. The reeling device 7 is a mechanism that reels the wire 6 using a drum. The reeling device 7 reels in and unreels the wire 6 to move the cargo handling unit 4 up and down and open and close it. The cargo handling unit 4 is not limited to a grab bucket, and a hook or other lifting device depending on the load can be used. The retracting device 8 can adjust the distance R1 from the center of the cargo handling unit 4 by retracting the front link 3A of the jib 3. Various actuators such as a hydraulic cylinder or an electric cylinder can be used as the retracting device 8.

[0026] The cargo handling apparatus 100 is provided with a seismic isolation system 150 between the land-side leg 1A and the traveling unit 10A. In this embodiment, the land-side leg 1A corresponds to the "first structure" in the claims, and the traveling unit 10A corresponds to the "second structure" in the claims. The seismic isolation system 150 is a system that absorbs and damps vibrations between the leg 1A and the traveling unit 10A. For ease of explanation, the following explanation may be given using XYZ coordinates. The X-axis direction is the traveling direction of the cargo handling apparatus 100. The Y-axis direction is a direction perpendicular to the traveling direction. The Z-axis direction is the up-down direction. One side of the X-axis direction is the positive side. The sea side of the Y-axis direction is the positive side. The upper side of the Z-axis direction is the positive side.

[0027] FIG. 2 is a view of the leg 1A and the traveling device 10A viewed from the negative side in the Y-axis direction to the positive side (from the land side to the sea side). As shown in FIG. 2, the leg 1A has a support portion 11 at its lower end that supports the traveling device 10A. The support portion 11 extends in the X-axis direction. The traveling device 10A is provided on both sides of the support portion 11 in the X-axis direction. The traveling device 10A has a plurality of wheels 12 and a support portion 13 that supports the wheels 12. The traveling device 10A has a plurality of support portions 13 (two in this example). The support portions 13 are connected by connecting members 14 that extend in the X-axis direction. A seismic isolation system 150 is provided at each end of the support portion 11 of the leg 1A in the X-axis direction. The seismic isolation system 150 is provided between the support portion 11 of the leg 1A and the connecting members 14 of the traveling device 10A. The loading and unloading device 100 includes a rail clamp 20 and a fixing device 25 .

[0028] The rail clamp 20 includes a carriage 21 that travels on the rail 9A and a clamping portion 22 that grips the rail 9A. The rail clamp 20 is towed by the traveling unit 10A via a connecting portion 23 provided on the carriage 21 and a connecting portion 24 provided on the traveling unit 10A. The rail clamp 20 can switch between gripping and releasing the rail 9A using the clamping portion 22. By adopting a configuration in which the rail clamp 20 is towed by the traveling unit 10A, the rail clamp 20 is structured to be able to suppress the effects of seismic waves in the Y-axis direction (the direction perpendicular to the traveling direction) when the loading and unloading device 100 is in operation and at rest. In addition, a shear pin is inserted where the connecting portion 23 and the connecting portion 24 overlap. For seismic waves in the X-axis direction (the traveling direction), the shear pin breaks, cutting off the connection with the seismic waves.

[0029] The fixing device 25 includes a bracket 26 extending downward from the support portion 11, an anchor plate 27, and a receiving hardware 28 that receives the anchor plate 27. The anchor plate 27 is supported on the lower end of the bracket 26 so as to be able to reciprocate up and down. The receiving hardware 28 is provided in a position adjacent to the rail 9A in the Y-axis direction. The fixing device 25 inserts the anchor plate 27 into the receiving hardware 28 by moving the anchor plate 27 downward, and lifts the anchor plate 27 from the receiving hardware 28 by moving the anchor plate 27 upward. In the fixing device 25, when the loading / unloading device 100 is operating, the anchor plate 27 is lifted, thereby isolating the fixing device 25 from seismic waves. When the loading / unloading device 100 is at rest, the anchor plate 27 is inserted into the receiving hardware 28. If an earthquake occurs while the device is at rest, the shear pin breaks, thereby isolating the fixing device 25 from seismic waves in the Y-axis direction (perpendicular to the traveling direction). In the X-axis direction (travel direction), the length of the receiving hardware 28 in the X-axis direction is increased to provide a gap GP, creating a structure that is isolated from seismic waves. Furthermore, by inserting a spacer into the gap GP to reduce the gap, it is possible to prevent escape during a storm.

[0030] When loading and unloading operations are suspended, the fixing device 25 lowers the anchor plate 27, and the rail clamp 20 clamps the rail 9A. Even if an earthquake occurs, the above-mentioned mechanism can cut off seismic waves in all directions.

[0031] The detailed structure of the seismic isolation system 150 will be described with reference to Figures 3 and 4. Figure 3 shows the configuration of the seismic isolation system 150 when viewed from the negative side in the Y-axis direction. Note that Figure 3 shows the seismic isolation system 150 on the positive side in the X-axis direction out of the seismic isolation system 150 in Figure 2. Figure 4 is a cross-sectional view taken along line IV-IV in Figure 2. As shown in Figure 3, the seismic isolation system 150 includes a seismic isolation unit 50, slide mechanisms 70A and 70B, a damper mechanism 80, and link mechanisms 60A and 60B. The slide mechanisms 70A and 70B are arranged so as to sandwich the seismic isolation unit 50 in the X-axis direction. Furthermore, the damper mechanism 80 is arranged so as to sandwich the slide mechanism 70B between itself and the seismic isolation unit 50 in the X-axis direction. However, the arrangement of the components is not particularly limited.

[0032] The seismic isolation unit 50 includes a bracket 51 fixed to the underside of the support portion 11 of the leg 1A, a bracket 52 fixed to the upper surface of the base portion 41 provided on the upper surface of the connecting member 14 of the traveling device 10A, and a laminated rubber 53 provided between the bracket 51 and the bracket 52. The upper end of the laminated rubber 53 is fixed to the bracket 51, and the lower end of the laminated rubber 53 is fixed to the bracket 52. The laminated rubber 53 is formed by stacking multiple rubber plates in the vertical direction.

[0033] The slide mechanisms 70A and 70B each include a guided member 71 fixed to the underside of the support portion 11 of the leg 1A, a flange portion 72 extending horizontally from the lower end of the guided member 71, and anti-floating rollers 73 that prevent the flange portion 72 from floating up. The guided member 71 extends downward from the underside of the support portion 11 of the leg 1A and also extends in the Y-axis direction. The flange portion 72 extends from the lower end of the guided member 71 to both sides in the X-axis direction and also extends in the Y-axis direction. The anti-floating rollers 73 are provided in pairs to sandwich the guided member 71. The anti-floating rollers 73 are rotatably supported by a rotation shaft extending in the X-axis direction. The outer circumferential surfaces of the anti-floating rollers 73 are arranged to sandwich the flange portion 72 between them and a bottom plate 74. With the above-described configuration, in the slide mechanisms 70A and 70B, the anti-floating rollers 73 restrict movement of the guided member 71 and flange portion 72 in the X-axis direction and Z-axis direction, while allowing movement in the Y-axis direction.

[0034] The damper mechanism 80 includes an attachment portion 83, a hydraulic damper 81, and an attachment portion 82. The attachment portion 83 is fixed to the end of the support portion 11 of the leg 1A on the positive side in the X-axis direction and extends downward from the end of the hydraulic damper 81 on the positive side in the Y-axis direction. The end of the hydraulic damper 81 on the positive side in the Y-axis direction is attached to the attachment portion 83. The attachment portion 82 extends upward from the end of the base portion 41 on the negative side in the Y-axis direction. The end of the hydraulic damper 81 on the negative side in the Y-axis direction is attached to the attachment portion 82. The hydraulic damper 81 is composed of a cylinder and a rod extending in the Y-axis direction. In the damper mechanism 80, the cylinder attached to the attachment portion 83 and the rod attached to the attachment portion 82 move relatively in the Y-axis direction in response to vibrations during an earthquake. At this time, the damper mechanism 80 damps vibrations within the cylinder. The fixing location of the attachment portion 83 is not limited to the end portion in the X-axis direction.

[0035] As shown in Figures 3 and 4, link mechanism 60A is provided on the negative side of the seismic isolation unit 50 in the Y-axis direction. Link mechanism 60B is provided on the positive side of the seismic isolation unit 50 in the Y-axis direction. Link mechanisms 60A and 60B include a link member 61, a support member 64, and a support member 66. Unless otherwise specified, link mechanisms 60A and 60B have a generally symmetrical structure when viewed from the X-axis direction (as shown in Figure 4). In the following description, the "inside" in the Y-axis direction refers to the side approaching the seismic isolation unit 50, and the "outside" refers to the side away from the seismic isolation unit 50. Unless otherwise noted, the same description applies to link mechanisms 60A and 60B.

[0036] The link member 61 is disposed at the outer end of the support portion 11 of the leg 1A and the base portion 41 in the Y-axis direction, extending in the vertical direction. The support member 64 is fixed to the outer end surface of the support portion 11 of the leg 1A in the Y-axis direction. The support member 64 includes a pair of support portions 64a that sandwich the upper end of the link member 61 from both sides in the X-axis direction. A shaft member 67 that extends in the X-axis direction and penetrates the link member 61 is provided between the pair of support portions 64a. This allows the upper end of the link member 61 to be rotatably supported by the shaft member 67. The through hole at the upper end of the link member 61 is formed in the shape of an elongated hole that extends along the extension direction of the link member 61 (see FIG. 5), allowing the shaft member 67 to move relatively along the extension direction of the link member 61. The support member 66 is fixed to the outer end of the base portion 41 in the Y-axis direction. A pair of support members 66 are provided to sandwich the lower end portion of the link member 61 from both sides in the X-axis direction. A shaft member 68 is provided between the pair of support members 66, extending in the X-axis direction and passing through the link member 61. As a result, the lower end portion of the link member 61 is rotatably supported by the shaft member 68.

[0037] Furthermore, link mechanisms 60A, 60B include a bracket 63 (first member, third member) and a bracket 62 (second member, fourth member) that sandwiches bracket 63. Bracket 63 and bracket 62 are members that can move relatively to each other in accordance with vibration of cargo handling apparatus 100. Bracket 63 is fixed to the outer end surface of base portion 41 in the Y-axis direction and extends upward. The pair of brackets 62 are provided near the lower end of link member 61. The pair of brackets 62 are arranged to sandwich bracket 63 from both sides in the X-axis direction. As a result, bracket 63 and the pair of brackets 62 are overlapped in the X-axis direction.

[0038] The seismic isolation system 150 has a shear pin 69 inserted into the bracket 63 and the pair of brackets 62 of the overlapping link mechanism 60B. The shear pin 69 breaks when the magnitude of vibration of the cargo handling equipment 100 exceeds a certain level during an earthquake.

[0039] The seismic isolation system 150 includes a fixation switching mechanism 30 that can switch between fixation and release between the leg 1A and the traveling device 10A. The fixation switching mechanism 30 has an insertion member 31 that can be inserted into the bracket 63 and the pair of brackets 62 of the link mechanism 60A that are in an overlapping state (see FIG. 3). The insertion member is a pin-shaped member. The fixation switching mechanism 30 includes a drive unit 32 that reciprocates the insertion member 31 (see FIG. 3). A more detailed description of the fixation switching mechanism 30 will be given later.

[0040] With the above-described structure, when the fixation by the insertion member 31 is released and the shear pin 90 breaks in the seismic isolation system 150, the seismic isolation system 150 allows the leg 1A to move relative to the traveling device 10A in the Y-axis direction. That is, when the leg 1A moves relative to the traveling device 10A (movement direction D1 in FIG. 4), it moves in the Y-axis direction while being guided by the slide mechanisms 70A and 70B. At this time, the rod of the hydraulic damper 81 of the damper mechanism 80 moves back and forth in the Y-axis direction, thereby damping vibration. Also, as shown in FIG. 4, the laminated rubber 53 of the seismic isolation unit 50 deforms so as to tilt as the leg 1A moves relative to the traveling device 10A in the Y-axis direction, thereby damping vibration. Also, the link members 61 of the link mechanisms 60A and 60B rotate at their upper and lower ends about the shaft members 67 and 68 as the leg 1A moves relative to the traveling device 10A in the Y-axis direction. The upper end of the link member 61 rotates around the shaft member 68 on the lower end side (movement direction D2 in FIG. 4). At this time, the shear pin 90 is broken and the fixation switching mechanism 70 is released, so that the pair of brackets 62 move relative to the bracket 63 fixed to the base part 41 as the link member 61 moves.

[0041] The relationship between the shear pin 90 and the fixation switching mechanism 30 will be described in detail with reference to Figure 5. The link member 61 of the link mechanisms 60A, 60B has a through hole 61a into which the shaft member 68 is inserted and a through hole 61b into which the shaft member 67 is inserted. The through hole 61a is a circular hole with an inner diameter corresponding to the size of the shaft member 68. Therefore, relative movement between the shaft member 68 and the link member 61 is restricted. On the other hand, the through hole 61b is an oval hole extending in the Z-axis direction. Therefore, the shaft member 67 can move relative to the link member 61.

[0042] Here, the seismic isolation system 150 includes a load reduction mechanism 91. The load reduction mechanism 91 is a mechanism that reduces the load acting on the shear pin 90 compared to the locking switching mechanism 30 when the locking switching mechanism 30 locks the leg 1A and the traveling device 10A. Specifically, the load reduction mechanism 91 is configured by increasing the gap between the shaft member 67 and the long side surface of the oval through hole 61b of the link mechanism 60B. This gap is set larger than the gap of the link mechanism 60A. Note that the size of the gap is exaggerated in FIG. 5 . In this case, when the insertion member 31 and the shear pin 90 are inserted, a larger load is likely to be applied to the link mechanism 60A, which has a smaller gap between the through hole 61b and the shaft member 67. As a result, the load reduction mechanism 91 can reduce the load acting on the shear pin 90 of the link mechanism 60B. Furthermore, the breaking load of the shear pin 90 is lower than the breaking load of the insertion member 31, which is the fixing member of the locking switching mechanism 30. As a result, the shear pin 90 is more likely to break than the insert member 31 of the fixation switching mechanism 30. For example, the outer diameter of the shear pin 90 is set smaller than the outer diameter of the insert member 31.

[0043] Next, a specific configuration of the fixation switching mechanism 30 will be described with reference to FIG. 6. Note that FIGS. 6 and 7 to 9 are partially cut away to show characteristic features of the fixation switching mechanism 30, and the cutaway structure is sometimes indicated by two-dot chain lines. The insertion member 31 has a pin-shaped structure extending in the X-axis direction. The insertion member 31 is supported by the drive unit 32 at its end on the negative side in the X-axis direction. The drive unit 32 is fixed to the traveling device 10A. The insertion member 31 has a main body portion 33, a tip member 34, a tubular portion 36, and a protective portion 37. The main body portion 33 extends from the drive unit 32 toward the positive side in the X-axis direction. The tip member 34 is a member that extends from the end of the main body portion 33 on the positive side in the X-axis direction toward the positive side in the X-axis direction. The tip member 34 is connected to the main body portion 33 via a link mechanism. The tip member 34 is inserted into the overlapping brackets 62, 63 from the negative side to the positive side in the X-axis direction. The tubular portion 36 is a member that covers the connection portion of the link mechanism between the tip member 34 and the main body portion 33. When the tip member 34 is inserted into the brackets 62, 63, the tubular portion 36 is positioned on the negative side of the bracket 62 in the X-axis direction. The state in which the tip member 34 is inserted into the brackets 62, 63 is maintained by a brake of the electric cylinder of the drive unit 32. The protective portion 37 is provided to cover the outer periphery of the main body portion 33. The protective portion 37 is provided on the negative side of the tubular portion 36 in the X-axis direction. The protective portion 37 is a bellows-shaped cylinder cover that protects the sliding portion of the electric cylinder of the drive unit 32. The drive unit 32 can switch between a state in which the insertion member 31 is inserted into the brackets 62, 63 and a state in which the insertion member 31 is removed from the brackets 62, 63 by reciprocating the insertion member 31 in the X-axis direction (movement direction D3 in FIG. 6 ).

[0044] The fixation switching mechanism 30 is not limited to the structure shown in Fig. 6, and any structure may be adopted as long as it is possible to switch between fixation and release of the leg 1A and the traveling device 10A. For example, as modified examples of the fixation switching mechanism 30, the structures shown in Figs. 7 to 9 may be adopted.

[0045] The fixation switching mechanism 30 shown in FIG. 7 includes a housing 110, a screw portion 111, a pressing portion 112, a sphere 113, and a drive portion 114. Furthermore, in this fixation switching mechanism 30, the link member 61 has a fan-shaped plate portion 162. The plate portion 162 is a member that extends from near the lower end of the link member 61 toward the negative side in the Y-axis direction and the negative side in the Z-axis direction. The plate portion 162 extends parallel to the YZ plane. The plate portion 162 rotates around the shaft member 68 in accordance with the rotation of the link member 61 around the shaft member 68 (movement direction D4 in FIG. 7).

[0046] The housing 110 is provided at a position adjacent to the plate-shaped portion 162 on the negative side in the X-axis direction. The housing 110 is fixed to the traveling device 10A side. A side surface 110a of the housing 110 on the positive side in the X-axis direction is in contact with a side surface 162a of the plate-shaped portion 162 on the negative side in the X-axis direction. A drive unit 114 is provided on the negative side in the X-axis direction of the housing 110. The screw portion 111 extends from the drive unit 114 inside the housing 110 toward the positive side in the X-axis direction. A rotational force is applied to the screw portion 111 by the drive unit 114. A female screw groove for the screw portion 111 is formed in the internal space of the housing 110. As a result, the screw portion 111 moves back and forth in the X-axis direction (movement direction D5 in FIG. 7). The pressing unit 112 is provided inside the housing 110 at a position adjacent to the screw portion 111 on the positive side in the X-axis direction of the screw portion 111. A V-shaped groove for accommodating the sphere 113 is formed at the end of the pressing portion 112 on the positive side in the X-axis direction. Here, a V-shaped groove is formed on the side surface 162a of the plate-shaped portion 162 at a position facing the pressing portion 112 in the X-axis direction. In the fixed state by the fixation switching mechanism 30 (the state shown in FIG. 7 ), the sphere 113 is placed in a storage space formed by the V-shaped groove of the pressing portion 112 and the V-shaped groove of the side surface 162a. The pressing portion 112 presses the sphere 113 into the V-shaped groove of the side surface 162a. This restricts the rotation of the plate-shaped portion 162 and the link member 61 in the movement direction D4. In the unlocked state, the screw portion 111 and the pressing portion 112 move toward the negative side in the X-axis direction, allowing the sphere 113 to move within the housing 110 in the negative direction in the X-axis direction. In this case, the plate-shaped portion 162 and the link member 61 are able to rotate in the movement direction D4.

[0047] The fixation switching mechanism 30 shown in FIG. 8 includes a cam portion 120, a support portion 121, a drive portion 123, and a link mechanism 124. Furthermore, in comparison with the fixation switching mechanism 30, the link member 61 has a fan-shaped plate portion 163. The plate portion 163 is a member that extends from near the lower end of the link member 61 toward the negative side in the Y-axis direction. The plate portion 163 extends parallel to the YZ plane. The plate portion 163 rotates around the shaft member 68 in accordance with the rotation of the link member 61 around the shaft member 68 (movement direction D6 in FIG. 8). A recess 163a that recesses toward the positive side in the Y-axis direction is formed at the end of the plate portion 163 on the negative side in the Y-axis direction.

[0048] The cam portion 120 is disposed on the negative side of the plate-shaped portion 163 in the Z-axis direction. The cam portion 120 is a plate-shaped member extending parallel to the YZ plane. An insertion portion 120a that can be inserted into the recess 163a of the plate-shaped portion 163 is formed at the upper end of the cam portion 120. A part of the lower end of the cam portion 120 is supported by a support portion 121 via a shaft member 122. The support portion 121 is fixed to the base portion 41 on the traveling device 10A side. This allows the cam portion 120 to rotate around the shaft member 122 (movement direction D7 in FIG. 8). The drive portion 123 is disposed on the negative side of the support portion 121 in the Z-axis direction. The drive portion 123 is formed by a cylinder that is extendable and contractible in the Y-axis direction. The drive portion 123 rotates the cam portion 120 around the shaft member 122 via a link mechanism 124. In the fixed state by the fixation switching mechanism 30, the insertion portion 120a of the cam portion 120 is inserted into the recess 163a of the plate-shaped portion 163. This restricts the plate-shaped portion 163 and the link member 61 from rotating in the movement direction D6. In the unlocked state (the state shown in FIG. 8), the insertion portion 120a of the cam portion 120 is separated from the recess 163a. ​​In this case, the plate-shaped portion 163 and the link member 61 are able to rotate in the movement direction D6.

[0049] The fixation switching mechanism 30 shown in FIG. 9 includes a pair of pad portions 130 and a support portion 131. In addition, in comparison with this fixation switching mechanism 30, the link member 61 has a fan-shaped plate portion 164. The plate portion 164 is a member that extends from near the lower end of the link member 61 toward the negative side in the Y-axis direction and the negative side in the Z-axis direction. The plate portion 164 extends parallel to the YZ plane. The plate portion 164 rotates around the shaft member 68 in accordance with the rotation of the link member 61 around the shaft member 68 (movement direction D8 in FIG. 9).

[0050] The pair of pad portions 130 are arranged to sandwich the plate-shaped portion 164 from both sides in the X-axis direction. The pair of pad portions 130 are supported by a support portion 131 fixed to the base portion 41 on the traveling device 10A side. The pair of pad portions 130 can be switched between opening and closing in the X-axis direction by a hydraulic mechanism. In the fixed state by the fixation switching mechanism 30, the pair of pad portions 130 sandwich the plate-shaped portion 164. This restricts the rotation of the plate-shaped portion 164 and the link member 61 in the movement direction D8. In the unlocked state, the pair of pad portions 130 open and move away from the plate-shaped portion 164 in the X-axis direction. In this case, the plate-shaped portion 164 and the link member 61 are able to rotate in the movement direction D8.

[0051] Next, the system configuration of cargo handling equipment 100 equipped with a seismic isolation system 150 will be described with reference to Fig. 10. As shown in Fig. 10, cargo handling equipment 100 includes a control device 200, an earthquake detection unit 201, a cargo handling equipment power supply 202, the above-mentioned fixation switching mechanism 30, a retraction device 7, a retraction device 8, a swivel device 2, and traveling devices 10A and 10B. The seismic isolation system 150 includes the fixation switching mechanism 30 and the earthquake detection unit 201.

[0052] The control device 200 is a device that controls the entire cargo handling device 100. The control device 200 may be configured as a general-purpose computer, for example, including a processor, memory, storage, a communication interface, and a user interface. The processor is a computing device such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, communication interface, and user interface. The control device 200 realizes various functions by, for example, loading a program stored in ROM into RAM and executing the program loaded into RAM with the CPU. The user interface of the control device 200 includes output devices such as a display that provides visual output and a speaker that provides audio output, as well as input devices such as a control lever, buttons, a keyboard, a touch panel, and a microphone. The control device 200 may be configured by a single computer installed in one location, or may be configured by multiple computers, or may be installed in a distributed state at multiple locations.

[0053] When the loading and unloading apparatus 100 is performing a loading and unloading operation, the control device 200 sends operation commands to each of the devices 2, 7, 8, 10A, and 10B at the required timing. Furthermore, before starting loading and unloading operation, the control device 200 sends a command to the fixation switching mechanism 30 to fix the leg 1A and the traveling device 10A. When the loading and unloading apparatus 100 is at rest, the control device 200 sends a command to the fixation switching mechanism 30 to release the fixation between the leg 1A and the traveling device 10A. This fixes the leg 1A and the traveling device 10A to a state where they are fixed by the shear pin 90. In this state, the shear pin can support the swaying of the structure due to strong winds, etc. The loading and unloading apparatus power supply 202 supplies power to each of the devices 2, 7, 8, 10A, and 10B when the loading and unloading apparatus 100 is performing a loading and unloading operation. The loading and unloading apparatus power supply 202 also stops supplying power when the loading and unloading apparatus 100 is at rest.

[0054] The earthquake detection unit 201 has a function of detecting earthquakes. The earthquake detection unit 201 detects earthquakes by acquiring earthquake information such as emergency earthquake warnings issued by the Japan Meteorological Agency. When the earthquake detection unit 201 detects an earthquake, it transmits a signal command to the control device 200 based on the earthquake detection. When the control device 200 receives the signal command from the earthquake detection unit 201, it transmits a command to each of the devices 2, 7, 8, 10A, 10B, and 30 so that they are prepared for an earthquake. The control device 200 transmits an operation stop command to each of the devices 2, 7, 8, 10A, and 10B. As a result, each of the devices 2, 7, 8, 10A, and 10B stops operating. The control device 200 transmits an open operation command to the fixation switching mechanism 30. As a result, the fixation switching mechanism 30 releases the fixation between the leg 1A and the traveling device 10A. Therefore, the shear pin 90 bears the load between the leg 1A and the traveling device 10A. Incidentally, when the cargo handling apparatus 100 is out of service, the fixation of the fixation switching mechanism 30 is originally released. Incidentally, the earthquake detection unit 201 may be mounted on the cargo handling apparatus 100 or may be installed on the ground.

[0055] Next, with reference to Figures 11 and 12, the control of the loading and unloading apparatus 100 when an earthquake is detected while the loading and unloading apparatus 100 is performing loading and unloading work will be described. As shown in Figure 11, processing begins when the earthquake detection unit 201 receives earthquake information (step S10). Upon receiving the earthquake information, the earthquake detection unit 201 detects an earthquake (step S20). At this time, the control device 200 receives a notification of the earthquake detection from the earthquake detection unit 201. The control device 200 starts a process for activating the seismic isolation system 150 (step S30). The control device 200 also outputs an alarm to the driver and worker (step S40) and starts data measurement (step S50).

[0056] The control device 200 transmits a command to stop the operation of each of the devices 2, 7, 8, 10A, and 10B of the cargo handling apparatus 100 (step S60). The control device 200 determines whether the traveling of the cargo handling apparatus 100 has stopped (step S70). If the control device 200 determines that the traveling operation has not stopped, it repeats step S70. If the control device 200 determines that the traveling operation has stopped, it performs a process to release the traveling fixing device (step S80). Here, if the rail clamp 20 was clamping the rail, the clamp is released, and if the fixing device 25 had lowered the anchor plate 27, it is raised.

[0057] Next, the control device 200 determines whether the operation of each of the devices 2, 7, 8, 10A, and 10B has stopped (step S90). If the control device 200 determines that the operation of each of the devices 2, 7, 8, 10A, and 10B has not stopped, it repeats step S70. As shown in FIG. 12, if the control device 200 determines that the operation of each of the devices 2, 7, 8, 10A, and 10B has stopped, it performs a process to activate the seismic isolation system 150 (step S100). Here, the control device 200 releases the fixation of the leg 1A and the traveling device 10A by the fixation switching mechanism 30. In the example shown in FIG. 6, the control device 200 pulls out the insertion member 31 from the brackets 62 and 63. The control device 200 also outputs information to the outside.

[0058] Next, the control device 200 determines whether the earthquake detection has been canceled (step S120). If the control device 200 determines that the earthquake detection has not been canceled, it repeats step S120. If the control device 200 determines that the earthquake detection has been canceled, it starts the process of deactivating the seismic isolation system 150 (step S130). The control device 200 activates the running fixing device (step S140). Here, the rail is clamped by the rail clamp 20, and the anchor plate 27 of the fixing device 25 is pulled down.

[0059] The control device 200 determines whether the shear pin 90 has been manually inserted in the link mechanism 60B (step S150). Here, the control device 200 can confirm the completion of the work by, for example, having the worker input information after completing the work. If the control device 200 determines that the shear pin 90 has not been inserted, it repeats the process from step S120. If the control device 200 determines that the shear pin 90 has been inserted, it fixes the leg 1A and the traveling device 10A using the fixation switching mechanism 30 (step S160). The control device 200 confirms that the deactivation (return) operation of the seismic isolation system 150 has been completed (step S170), and ends the process shown in FIGS. 11 and 12.

[0060] Next, the functions and effects of the cargo handling apparatus 100, the seismic isolation system 150, and the seismic isolation method according to this embodiment will be described.

[0061] This loading and unloading apparatus 100 is equipped with a fixation switching mechanism 30 that can switch between fixation and unlocking between the leg 1A (first structure) and the traveling unit 10A (second structure). Therefore, when the loading and unloading apparatus 100 is performing a loading and unloading operation, the fixation switching mechanism 30 can fix the leg 1A and the traveling unit 10A. As a result, during loading and unloading operations, the leg 1A and the traveling unit 10A can be properly supported by the fixation of the fixation switching mechanism 30. On the other hand, when the earthquake detection unit 201 detects earthquake information, the fixation switching mechanism 30 releases the fixation. Therefore, during an earthquake, the seismic isolation unit 50 can fully exert its seismic isolation function between the leg 1A and the traveling unit 10A. As described above, the structure of the loading and unloading apparatus 100 can be properly supported during loading and unloading operations, and the seismic isolation unit 50 can function properly during an earthquake.

[0062] The cargo handling apparatus 100 may further include a bracket 63 (first member) and a bracket 62 (second member) that are movable relative to each other in response to vibration of the cargo handling apparatus 100, and a shear pin 90 that is inserted into the overlapping brackets 63 and 62. In this case, when the fixation switching mechanism 30 releases the fixation, the shear pin 90 fixes the leg 1A and the traveling unit 10A via the brackets 63 and 62. If the earthquake is small, the fixation by the fixation switching mechanism 30 can be quickly restored without causing the seismic isolation unit 50 to function. On the other hand, if the earthquake is large, the shear pin 90 is broken, allowing the seismic isolation unit 50 to fully exert its seismic isolation function between the leg 1A and the traveling unit 10A. Furthermore, even if the fixation switching mechanism 30 releases the fixation when the cargo handling apparatus 100 is powered off, the shear pin 90 acts to maintain the seismic isolation function without using an expensive auxiliary power supply. This eliminates the need for an expensive auxiliary power supply.

[0063] The cargo handling apparatus 100 may further include a load reduction mechanism 91 that reduces the load acting on the shear pin 90 compared to the fixation switching mechanism 30 when the fixation switching mechanism 30 fixes the leg 1A and the traveling device 10A. In this case, the fixation switching mechanism 30 bears the load during cargo handling work, thereby preventing the shear pin 90 from accidentally breaking.

[0064] The breaking load of the shear pin 90 may be lower than the breaking load of the fixing member of the fixation switching mechanism 30. In this case, during loading and unloading operations, the leg 1A and the traveling device 10A can be fixed by the fixation using the fixation switching mechanism 30, whose fixing member has a higher breaking load than the shear pin 90. On the other hand, during an earthquake, the shear pin 90 can be broken with an appropriate load, thereby enabling the seismic isolation function of the seismic isolation unit 50 to be exerted at an appropriate timing. In the example of FIG. 6, the insert member 31 corresponds to the fixing member. In the example of FIG. 7, the screw portion 111 corresponds to the fixing member. In the example of FIG. 8, the insert portion 120a of the cam portion 120 corresponds to the fixing member. In the example of FIG. 9, the pad portion 130 corresponds to the fixing member, and the load at which the gripping state of the pad portion 130 is forcibly released corresponds to the breaking load of the fixing member.

[0065] The cargo handling apparatus 100 may further include a bracket 63 (third member) and a bracket 62 (fourth member) that are movable relative to each other in response to vibration of the cargo handling apparatus 100, and the fixation switching mechanism 30 may include an insertion member 31 that can be inserted into the brackets 63, 62 that are stacked on top of each other, and a drive unit 32 that reciprocates the insertion member 31. In this case, the fixation switching mechanism 30 can switch between fixation and release using a simple mechanism that simply reciprocates the insertion member 31.

[0066] The earthquake detection unit 201 may detect an earthquake based on receiving earthquake information transmitted from an external source. In this case, the earthquake detection unit 201 can detect an earthquake at an early stage.

[0067] The seismic isolation system 150 of this embodiment is a seismic isolation system 150 provided in a loading and unloading device 100 that performs loading and unloading work, and includes a seismic isolation section 50 provided between the leg 1A and the running device 10A of the loading and unloading device, a fixation switching mechanism 30 that can switch between fixing and releasing the fixation between the leg 1A and the running device 10A, and an earthquake detection section 201 that detects earthquakes, and the fixation switching mechanism 30 releases the fixation when the earthquake detection section 201 detects earthquake information.

[0068] The seismic isolation method according to this embodiment is a seismic isolation method for a loading and unloading device 100 that performs loading and unloading work, and the loading and unloading device 100 comprises a leg 1A, a running device 10A, a seismic isolation section 50 provided between the leg 1A and the running device 10A, and a fixation switching mechanism 30 that can switch between fixing and releasing the fixation between the leg 1A and the running device 10A, and when an earthquake is detected by acquiring earthquake information while the fixation switching mechanism 30 is fixing the leg 1A and the running device 10A, the fixation switching mechanism 30 is released from the fixation.

[0069] According to the seismic isolation system 150 and the seismic isolation method, it is possible to obtain the same functions and effects as those of the cargo handling apparatus 100 described above.

[0070] The present invention is not limited to the above-described embodiments.

[0071] In the above-described embodiment, in addition to the link mechanism 60A provided with the fixation switching mechanism 30, the link mechanism 60B provided with the shear pin 90 is employed. Alternatively, a configuration may be employed in which the link mechanism 60B provided with the shear pin 90 is omitted. In this case, when the fixation switching mechanism 30 is released from the fixation, the seismic isolation section 50 immediately exhibits the seismic isolation function.

[0072] 13, the cargo handling apparatus 100 may further include a power supply device 204 capable of supplying power while the cargo handling operation of the cargo handling apparatus 100 is at a halt. In this case, if an earthquake occurs while the cargo handling operation of the cargo handling apparatus 100 is at a halt, the lock of the locking switching mechanism 30 can be released by the power supply from the power supply device 204.

[0073] Specifically, as shown in FIG. 13 , the power supply device 204 can supply power to the fixation switching mechanism 30, the rail clamp 20, and the fixing device 25. In this case, for example, when the cargo handling apparatus 100 is at rest, the fixation switching mechanism 30 may be maintained in a fixed position, the rail may be clamped by the rail clamp 20, and the anchor plate 27 of the fixing device 25 may be pulled down. When an earthquake is detected by the earthquake detection unit 201, the control device 200 transmits commands to release the fixation switching mechanism 30, release the clamp of the rail clamp 20, and lift the anchor plate 27 of the fixing device 25. At this time, because the power supply device 204 can supply power even when at rest, the fixation switching mechanism 30, the rail clamp 20, and the fixing device 25 can operate as instructed. Note that the power supply device 204 may be mounted on the cargo handling apparatus 100 or installed on the ground.

[0074] The control device 200 may be configured to monitor and record data relating to damage to the cargo handling equipment 100 when it receives information indicating that an earthquake has been detected from the earthquake detection unit 201. By configuring in this way, the control device 200 can record damage that the cargo handling equipment 100 has sustained due to the earthquake.

[0075] The control device 200 may be configured, when receiving a notification of earthquake detection from the earthquake detection unit 201, to issue an alarm to the driver and those around via an external receiving device such as a smartphone, or to display detailed earthquake information on a display on the cargo handling apparatus 100. The control device 200 may be configured, when receiving a notification of earthquake detection from the earthquake detection unit 201, to automatically slow down or stop the operation of the cargo handling apparatus 100. By configuring it in this way, the safety of the driver of the cargo handling apparatus 100 and those around it can be further improved.

[0076] The loading and unloading device is not limited to the horizontal retractable unloader described above, but may also be any of various unloaders such as a bridge unloader, a continuous unloader, or a pneumatic unloader, or any of various cranes such as a bridge crane or a jib crane. [Explanation of symbols]

[0077] 1A...leg (first structure), 10A...running device (second structure), 30...fixed switching mechanism, 31...insertion member, 32...drive unit, 50...seismic isolation unit, 62...bracket (second member, fourth member), 63...bracket (first member, third member), 90...shear pin, 100...loading device, 150...seismic isolation system, 201...earthquake detection unit, 204...power supply unit.

Claims

1. A cargo handling device for performing cargo handling work, a first structure and a second structure; a seismic isolation unit provided between the first structure and the second structure; a fixation switching mechanism capable of switching between fixation and release between the first structure and the second structure; an earthquake detection unit that detects earthquakes, The locking switching mechanism releases the locking when the earthquake detection unit detects earthquake information.

2. a first member and a second member that are movable relative to each other in response to vibration of the cargo handling device; 2. The loading apparatus according to claim 1, further comprising: a shear pin inserted into the overlapping first member and the overlapping second member.

3. 3. The cargo handling apparatus according to claim 2, further comprising a load reduction mechanism that reduces a load acting on the shear pin compared to the load acting on the shear pin when the fixation switching mechanism fixes the first structure and the second structure.

4. 3. The cargo handling apparatus according to claim 2, wherein the breaking load of the shear pin is lower than the breaking load of the fixing member of the fixing switching mechanism.

5. The loading and unloading apparatus according to claim 1 , further comprising a power supply device capable of supplying power when the loading and unloading operation of the loading and unloading apparatus is stopped.

6. a third member and a fourth member that are movable relative to each other in response to vibration of the cargo handling device; The fixed switching mechanism is an insert member insertable into the third member and the fourth member in a stacked state; The loading and unloading apparatus according to claim 1 , further comprising: a drive unit that reciprocates the insertion member.

7. The cargo handling apparatus according to claim 1 , wherein the earthquake detection unit detects the earthquake based on receiving earthquake information transmitted from an external source.

8. A seismic isolation system provided in a loading and unloading device that performs loading and unloading work, a seismic isolation unit provided between the first structure and the second structure of the cargo handling device; a fixation switching mechanism capable of switching between fixation and release between the first structure and the second structure; an earthquake detection unit that detects earthquakes, The fixation switching mechanism releases the fixation when the earthquake detection unit detects earthquake information.

9. A seismic isolation method for a loading and unloading device that performs loading and unloading work, comprising: The cargo handling device is a first structure and a second structure; a seismic isolation unit provided between the first structure and the second structure; a fixation switching mechanism capable of switching between fixation and release between the first structure and the second structure, A seismic isolation method in which, when an earthquake is detected by acquiring earthquake information while the fixation switching mechanism is fixing the first structure and the second structure, the fixation switching mechanism is released from its fixed state.

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