JP2000211884A - Collision preventive device for bucket of unloading device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bucket collision preventing device for an unloading device capable of preventing the end of a grab bucket from colliding with the side wall of a ship hold even if the hull makes rollings during the unloading works. SOLUTION: A gate-form frame 4a installed movably in the longitudinal direction of the hull is furnished with a truck 7 arranged movably in the direction perpendicular to the moving direction of the gate-form frame 4a, and a grab bucket 14 to lift the load from a ship hold is hung at the truck 7 in such a way as capable of elevating and sinking through cables 13 and 15, and distance measuring means 18 to measure the distance from the side wall of the hold are installed near the two ends of the grab bucket 14, and the movement of the truck 7 is controlled by a control means on the basis of the obtained distance information. Therefore the grab bucket 14 is precluded from colliding with the side wall. Even if the hull makes rollings during the unloading works, it is practicable to prevent the bucket 14 from colliding with the side wall to cause their being damaged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for preventing a bucket from colliding with a loading device for unloading cargo from a tank of a bulk carrier.

[0002]

2. Description of the Related Art Conventionally, as an unloading device capable of efficiently unloading cargoes such as coal, gravel, and sand piled up in a hull of a ship, for example, Japanese Patent Publication No. 7-5116 and Japanese Patent Application Laid-Open No. 9-202456 are disclosed. Are publicly known.

The unloading device disclosed in the former publication has a conveyor belt conveyor provided on one side of the hull in the front-rear direction of the hull, and is capable of running in the front-rear direction of the hull over both the left and right sides of the hull. A portal frame provided, a grab bucket attached to the upper part of the portal frame so as to be able to ascend and descend and having a length substantially equal to the lateral width of the hull, and a lower part of the portal frame at the same position in the front-rear direction as the grab bucket. A feeder conveyor facing the left and right direction of the hull provided so as to be able to run in the front-rear direction over the first position and the second position separated from the grab bucket in the front-rear direction, and provided on the upper part of the feeder conveyor. It is composed of a hopper that runs with the feeder conveyor, and can grab and unload cargo in the hull at once by moving up and down without moving the grab bucket left and right. It has.

The unloading device disclosed in the latter publication is provided with a traveling vehicle movable on the deck in the longitudinal direction of the hull, and a traversing vehicle movable on the traveling vehicle in the direction of the side of the boat. It is suspended as much as possible, and the unloading work is performed by this bucket, and the unloading work is continuously performed by automatic operation under program control.Since the unloading work can be automated, the efficiency of unloading work can be improved It is possible to achieve such effects as the following.

[0005]

In each of the above-mentioned conventional unloading devices, the portal frame moves in the longitudinal direction of the hull on rails laid on the deck, and can be raised and lowered from the portal frame via the cable. The grab bucket suspended from the vessel is used to grab the cargo in the hull and discharge it.

Therefore, when the hull rolls during unloading, the grab bucket suspended by the rope is swung right and left, and the end of the grab bucket collides with the side wall of the hull, and the side wall is crushed. There were problems such as breakage and damage to the grab bucket itself.

SUMMARY OF THE INVENTION The present invention has been made in order to improve such a conventional problem, and is intended to prevent the end of the grab bucket from colliding with a side wall of a hull even if the hull sways during unloading. It is an object of the present invention to provide a bucket collision prevention device for the device.

[0008]

In order to achieve the above object, the invention according to claim 1 is directed to a portal frame movably provided in the front-rear direction of a hull, which is perpendicular to the moving direction of the portal frame. A trolley is provided so that it can move freely in the direction
A grab bucket for unloading the cargo in the hull is suspended from the trolley via a cable so that the grab bucket can be lifted and lowered, and a distance measuring device is provided near both ends of the grab bucket to measure the distance to the side wall of the hull. Means are provided, and the control means controls the movement of the traversing carriage based on the distance information measured by the distance measuring means, thereby preventing the grab bucket from colliding with the side wall.

With the above structure, even if the trolley is moved while the grab bucket is being moved up and down to the hull, and the hull rolls during unloading of the load in the hull, the end of the grab bucket is kept in the hull. Since the trolley is stopped before colliding with the side wall, it is possible to prevent the grab bucket from colliding with the side wall and damaging the side wall and the glove bucket.

In order to achieve the above object, according to the present invention, the control means for controlling the movement of the traversing car has a set value D.
1 ', D1 are set, and when the distance information from the distance measuring means approaches the set value D1', the trolley is decelerated, and when the set value D1 is reached, the trolley is controlled to stop. It is.

According to the above configuration, when the end of the grab bucket approaches the side wall, the traversing vehicle is decelerated and stopped when the set value is reached. Therefore, the grab bucket can be accurately stopped at a position away from the side wall by a certain distance. As a result, the cargo at the corner of the hull can be easily unloaded, and the grab bucket can be prevented from colliding with the side wall of the hull due to the inertia during the movement of the grab bucket.

In order to achieve the above object, the invention according to a third aspect of the present invention is to provide a control means for controlling the movement of a traversing truck, in which setting values D1, D2, D3 are set in order of increasing distance from the hull side wall, and measurement is performed. When the distance information from the distance means reaches the set value D1, the trolley is decelerated, and when the set value D2 is reached, the trolley is stopped. When the trolley exceeds the set value D3, the traverse carriage reverses and stops. Is controlled as follows.

With the above construction, even if the hull rolls during unloading by the grab bucket, the trolley is decelerated and stopped before the end of the grab bucket collides with the side wall of the hull.
Alternatively, since the vehicle can be suddenly stopped or run backward, it is possible to prevent the side wall and the grab bucket from being damaged by the collision of the grab bucket with the side wall.

In order to achieve the above object, the invention according to claim 4 is provided with buffer means at both ends of the grab bucket to reduce the impact at the time of collision.

According to the above configuration, when the grab bucket collides with the side wall of the hull, despite the control of the movement of the traversing bogie, the shock absorbing means reduces the impact, so that the side wall of the hull and the grab bucket are damaged. Can be prevented beforehand.

[0016]

Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view of a bulk carrier equipped with an unloading device, FIG. 2 is an enlarged side view of the unloading device main body, FIG. 3 is a front view thereof, FIG. 4 is an enlarged front view of a grab bucket, and FIG. FIG. 6 is a block diagram of the control means, and FIG. 7 is a flowchart showing the operation.

1 and 2, reference numeral 1 denotes a hull of a bulk carrier having a plurality of tanks 2 for stacking loads such as coal, gravel, and sand. Guide rails 3 are laid on the deck 1a of the hull 1 on both sides of the hull 2 and extend in the front-rear direction of the hull 1.
Above, for example, two unloading device main bodies 4 are movably mounted.

The unloading device main body 4 has a portal frame 4a.
And at the bottom of this portal frame 4a,
A plurality of wheels 5 traveling on the guide rail 3 are provided, and a part of these wheels 5 is connected to a traveling motor (not shown). The frame 4a can be moved in the longitudinal direction of the hull 1. The above-mentioned portal frame 4
a on the cross beam 4b provided on the upper part of the
A guide rail 6 is laid in a direction perpendicular to the traveling direction of a, and a traversing carriage 7 is movably mounted on the guide rail 6. The traversing carriage 7 has wheels 7a that are rotated forward and reverse by a traversing motor 8, which is a motor with a reduction gear, and travels on the guide rails 6, and is formed of a winch on the traversing carriage 7. A bucket elevating means 10 is provided.

The above-mentioned bucket elevating means 10 comprises a plurality of elevating drums 10a which are rotated forward and reverse by an elevating motor 11.
And a plurality of opening / closing drums 10b that are rotated forward / reversely by an opening / closing motor 12, and a lifting rope 13 made of a wire, a chain, or the like suspended from the lifting drum 10a.
The upper portion of the grab bucket 14 is connected to the opening / closing cable 15 made of a wire or a chain hanging from the opening / closing drum 10b.
Is connected.

As shown in FIGS. 4 and 5, the grab bucket 14 has a horizontal rod 1 on which an elevating rope 13 is attached.
4a, a pair of bucket bodies 14c are rotatably pivoted by pins 14d at the lower ends of a plurality of support rods 14b projecting downward in a substantially U shape below the horizontal rods 14a. . The bucket body 14c is formed to be slightly longer than half of the lateral width of the hull 2, and when the opening / closing cable 15 connected to the opening / closing means 16 is loosened, the tip side of the bucket body 14c opens around the pin 14d. , Opening and closing cable 1
5 is configured so that the leading end side of the bucket body 14c is closed when the roll 5 is wound up.

The grab bucket 14 is provided with a plurality of distance measuring means 18 for measuring the distance D to the side wall 2 of the hull 2 toward the side wall 2a. The distance measuring means 18 is composed of, for example, an ultrasonic sensor as shown in FIG. 4, and the wave guide 18a is mounted at a position where it does not become an obstacle when unloading the load by the bucket body 14c, for example, at the upper part of the opening / closing means 16. The bucket main body 14c is installed toward the side wall 2a of the tank 2 and receives a reflected ultrasonic wave transmitted from the waveguide portion 18a toward the side wall 2a.
The distance D from the end to the side wall 2a is measured, and the obtained distance information is sent to the control means 20 provided in the unloading device main body 4 by the cable 19.

As shown in FIG. 6A, the control means 20 sets a plurality of different set values D1 'and D1 (D1
1 ′> D1) is set, and
The distance information sent from the distance measuring means 18 and the set value D
Are compared, and when the distance information approaches the set value D1 ', a control signal is output to the traverse motor 8 to decelerate the traverse motor 8 driving the traverse vehicle 7, and the traverse vehicle 7 stops at the set value D1. The traversing motor 8 is controlled so that

As shown in FIG. 6B, set values D1, D2 and D3 are set in the setting section 20a of the control means 20 in the order of increasing the distance from the side wall 2a of the hull 2, and the distance measuring means is set. When the distance information from 18 reaches the above D1, the trolley 7
May be controlled so that the trolley 7 is stopped when the set value D2 is reached, and the trolley 7 is reversed and stopped when the set value D3 is exceeded.

On the other hand, the unloading device main body 4 is provided with a feeder conveyor 22 for transporting the cargo unloaded from the hull 2 by the grab bucket 14 in the left-right direction of the hull 1. The feeder conveyor 22 has a conveyor truck 22a that runs on guide rails 23 laid in the front-rear direction on the portal frame 4a. On this conveyor truck 22a, a belt conveyor 22b is provided with a lateral width of the portal frame 4a. The belt conveyor 22 is provided full.
b, a hopper 22c for dropping the load input from the grab bucket 14 onto the belt conveyor 22b.
Is provided.

The cargo conveyed in the lateral direction by the feeder conveyor 22 is conveyed to the front or rear of the hull 1 by the conveyance conveyor 23 installed on one of the right and left sides of the deck 1a, and thereafter, the front of the hull 1 Alternatively, it is carried out on land by a boom conveyor 24 installed at the rear.

In FIG. 4, reference numeral 26 denotes buffer means provided on both sides of the grab bucket 14, which is constituted by an elastic body such as an air damper or a hydraulic damper.
Of the collision of the end of the hull 2 with the side wall 2a of the hull 2, the side wall 2a and the grab bucket 1
4 is prevented from being damaged.

Next, the operation of the above-structured bucket collision prevention apparatus will be described with reference to the flowchart shown in FIG. In unloading the bulk load in the hull 2, first, one of the unloading device main bodies 4 is stopped above the bow hull 2, and the other is stopped above the stern hull 2. To start.

In unloading, the traversing truck 7 is moved to, for example, port side by the traversing motor 8 with the portal frame 4a stopped, and the grab bucket 14 is moved by the bucket lifting / lowering means 10 into the hull 2. The grab bucket 14 grabs the cargo on the left side of the hull 2 and discharges the cargo. During the movement and lifting of the grab bucket 14, the distance measuring means 18 installed on the grab bucket 14 causes the end of the grab bucket 14 to move downward. The distance D from the part to the side wall 2a of the hull 2 is measured in step S1 of FIG.

The distance information measured by the distance measuring means 18 is
It is sent to the control means 20 and in step S2, it is compared with a set value D1 previously set in the setting unit 20a of the control means 20, and when the measurement information approaches the set value D1, the control means 20 sends a signal to the traverse motor 8. The control signal is output, the traversing motor 8 is decelerated, and the process proceeds to step S3 to compare the distance information with the set value D1. When the distance information reaches the set value D1, the trolley 7 is stopped (step S4). As a result, the trolley 7 is stopped at a position where the end of the club bucket 14 is separated from the side wall 2a of the hull 2 by a distance D1, so that the end of the grab bucket 14 can be prevented from colliding with the side wall 2a. .

The above is the case where the setting values D1 'and D1 are set in the setting unit 20a of the control means 20. As shown in FIG. 6B, the setting values D1 and D1 are set in the setting unit 20a.
The control operation when D2 and D3 are set is as shown in the flowchart of FIG. That is, the distance information measured in step S1 is compared with the set value D1 in step S2, and when the distance information reaches the set value D1, the trolley 7 is decelerated. Then, in step S3, the distance information and the set value D2
Are compared, and the trolley 7 is stopped when the distance information reaches the set value D2. If it is determined that the hull 1 is heavily rolled and the distance information exceeds the set value D3 (step S4), the process proceeds to step S5, and the traversing carriage 7 is stopped in the reverse direction. As a result, even if the hull 1 rolls during unloading, the end of the grab bucket 14 can be prevented from colliding with the side wall 2a of the tub 2.

Although the trolley 7 is stopped or reversely driven by the above control operation, the hull 1 is largely rolled and the end of the grab bucket 14 collides with the side wall 2a of the hull 2. However, buffer means 26 are provided at both ends of the grab bucket 14 in advance, and since the buffer means 26 reduces the impact at the time of collision, the side wall 2a and the grab bucket 14 are prevented from being damaged by the impact. can do.

On the other hand, the load in the hull 2 is
When the grab bucket 14 is grasped and raised to the imaginary line position shown in FIG. 2, the feeder conveyor 22 which has been waiting is advanced to the load receiving position, and the load in the grab bucket 14 is released with the grab bucket 14 being opened. In the hopper 22c. The load put into the hopper 22c is sent to the transport conveyor 23 by the feeder conveyor 22, is transported to the bow or stern by the transport conveyor 23, and is discharged to the land by the boom conveyor 24.

Further, the grab bucket 14 into which the cargo has been loaded into the hopper 22c is lowered into the hull 2 again with the evacuation of the feeder conveyor 22, and at the same time, the traversing carriage 7 is moved to the place where the unloading is completed. Grab the cargo in the adjacent place and rise again. The portal frame 4a is then moved in the front-rear direction of the hull 1 to discharge the cargo in the hull 2 one after another while repeating the above operation, and the cargo in the hull 2 is automatically and continuously loaded. You will be able to unload.

In the above embodiment, the ultrasonic sensor is used for the distance measuring means 18, but a proximity sensor using an infrared ray, an electromagnetic wave sensor using an electromagnetic wave such as a microwave or a millimeter wave, an optical sensor using a laser, etc. May be employed, or a mechanical sensor combining a link and a limit switch may be employed. Further, as the buffer means 26 for reducing the impact at the time of collision, an elastic body such as rubber or a spring may be used in addition to the air damper and the hydraulic damper. Further, a plurality of grab buckets 14 may be suspended from the portal frame 4a.

[Brief description of the drawings]

FIG. 1 is a side view of a bulk carrier equipped with a bucket collision prevention device of a discharge device according to an embodiment of the present invention.

FIG. 2 is an enlarged side view showing a bucket collision prevention device of the unloading device according to the embodiment of the present invention.

FIG. 3 is an enlarged front view showing a bucket collision prevention device of the unloading device according to the embodiment of the present invention.

FIG. 4 is an enlarged front view of a grab bucket provided in the bucket collision prevention device of the unloading device according to the embodiment of the present invention.

FIG. 5 is an enlarged side view of a grab bucket provided in the bucket collision prevention device of the unloading device according to the embodiment of the present invention.

FIG. 6A is a block diagram showing control means of the bucket collision prevention device of the unloading device according to the embodiment of the present invention. (B) is a block diagram showing a control means of the bucket collision prevention device of the unloading device according to another embodiment of the present invention.

FIG. 7 is a flowchart showing the operation of the bucket collision prevention device of the unloading device according to the embodiment of the present invention.

FIG. 8 is a flowchart showing the operation of the bucket collision prevention device of the unloading device according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Hull 2 ... Hull 2a ... Side wall 4a ... Gate type frame 7 ... Traversing truck 13, 15 ... Rope 14 ... Grab bucket 18 ... Distance measuring means 20 ... Control means 26 ... Buffer means D1, D1 ', D2, D3 … Set value

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Eiichi Takatsuka, Inventor Eiichi Takakaka 2-3-6, Akasaka, Minato-ku, Tokyo Inside Komatsu Drainage System Co., Ltd. (72) Inventor Hitoshi Hoshino 2-3-6, Akasaka, Minato-ku, Tokyo (72) Inventor Toshihisa Naruse 2-3-6 Akasaka, Minato-ku, Tokyo Inside the Komatsu Manufacturing Co., Ltd. (72) Inventor Tatsuya Kudo 2-3-6 Akasaka, Minato-ku, Tokyo Komatsu Corporation F term in the factory (reference) 3F204 AA03 BA09 CA01 CA05 DA04 DA10 DB07 DB09 DC02 DC05 DC06 DD02 DD14 FA02 FB01 FC10 FD01

Claims (4)

[Claims] 1. A portal frame (4a) provided movably in the front-rear direction of a hull (1).
Trolley (7) movably in the direction perpendicular to the direction of movement
And a grab bucket (14) for unloading the cargo in the hull (2) is laid on the trolley (7).
3) a distance measuring means (18) for suspending vertically via the grab bucket (14) and measuring the distance to the side wall (2a) of the hull (2) is provided near both ends of the grab bucket (14); The control means (20) controls the movement of the trolley (7) on the basis of the distance information measured by the distance measuring means (18), so that the grab bucket (14) can move the side wall (2).
a) A collision preventing device for a bucket of an unloading device, which prevents collision with a). 2. Set values (D1 ') and (D1) are set in control means (20) for controlling movement of the traversing carriage (7),
The distance information from the distance measuring means (18) is the set value (D
2. The bucket collision of the unloading device according to claim 1, wherein the trolley (7) is decelerated when approaching 1 ′), and further controlled so as to stop when the trolley (7) reaches the set value (D <b> 1). 3. Prevention device. 3. The control means (20) for controlling the movement of the traversing carriage (7) sets the set values (D1, D2, D3) in order of increasing distance from the hull side wall 2a, and sets the distance measuring means ( 1
When the distance information from 8) reaches the above (D1), the trolley (7) is decelerated, and when reaching the set value (D2),
The bucket collision prevention device for a discharge device according to claim 1, wherein the trolley (7) is stopped, and the trolley (7) is controlled to reversely run and stop when the set value (D3) is exceeded. 4. A device according to claim 1, further comprising buffer means (26) at both ends of the grab bucket (14) for reducing the impact upon collision. .