JP2000313528A - Collision preventing method for bucket - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision preventing method for a bucket, of which operating path can be automatically changed according to the vertical movement of a hull. SOLUTION: When a cargo is conveyed between a hopper 1 on the ground and a hold on the sea, by raising or lowering a bucket 4 hung on a trolley 3 while the trolley 3 is allowed to travel on a traverse beam 2 projected from the ground over the sea, the distance from the traverse beam 2 to a hull is detected to determine a lower limit AP of a passing area of the bucket 4 corresponding to the detected distance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grab type unloader that automatically performs combined operation of traversing and hoisting and lowering, and
In particular, the present invention relates to a bucket collision prevention method in which an operation route automatically changes in accordance with a vertical movement of a hull.

[0002]

2. Description of the Related Art A grab-type unloader is provided with a hopper above the quay wall, a traverse beam protruding from the hopper to the sea, a trolley running along the traverse beam, and a bucket wound up from the trolley. It is suspended so that it can be lowered. The bucket traverses by running the trolley. A ship is moored at the quay and cargo is transported between the hopper and the hold. At that time, in order to shorten the time,
Raise and lower the optimal bucket while running the trolley at the optimal speed. Such combined operation of traversing and hoisting / lowering is automated. However, in automatic driving, the driver needs to set in advance lines and points that limit the position of the bucket so that the bucket does not collide with the hull, hopper, or other obstacles.

In the conventional grab-type unloader, after the driver sets these lines and points, semi-automatic operation is performed. The semi-automatic operation is, for example, a case where a driver operates the opening and closing of a bucket and automatically performs a combined operation of traversing, hoisting and lowering.

[0004]

The height of the hull (hatch) and the entrance of the hold (hatch opening) fluctuate with changes in the tide level and the load in the ship. For example, in the case of unloading, the load on the ship decreases as the cargo handling operation time elapses, and the height of the hatch increases because the boat floats. On the other hand, if the setting of the line or the point is constant, the route of the combined operation may interfere with the hatch. Therefore,
The driver needs to redo the setting of lines and points during cargo handling operation. Such rework is troublesome for the driver.

[0005] When a driver sets a line or a point, individual differences occur.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a method for preventing a collision of a bucket in which an operation route automatically changes in accordance with a vertical movement of a hull.

[0007]

In order to achieve the above object, the present invention provides a trolley traveling on a traversing beam protruding above the sea from the ground while raising and lowering a bucket suspended from the trolley. When a cargo is transported between a hopper and a ship's hold at sea, the distance from the traversing beam to the hull is detected, and the lower limit of the passage area of the bucket is set according to this distance.

From the distance, a height above the ground at a position slightly higher than the entrance of the hold is determined, and a lowering stop line is set at this height, and a passing position when the bucket is put into the hold is set on the lowering stop line. A straight line connecting the intersection of the hopper level line at which the bucket does not collide with the hopper and the danger line at which the bucket below the hopper level line does not collide with the hopper to the passing position on the lowering stop line. May be set as the lower limit of the passage area of the bucket.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

As shown in FIG. 1, a grab-type unloader for performing the method of the present invention includes a hopper 1
And a trolley 3 running along the traverse beam 2 is provided, and a bucket 4 is hung from the trolley 3 so that the bucket 4 can be raised and lowered. is there. The structure supporting the traversing beam 2 and the hopper 1 are configured to be movable along the quay G. Reference numeral 5 denotes an anti-mineral plate provided on the quay G so as to prevent the load spilled from the bucket 4 from falling into the sea.

Although not shown, a rope for traveling the trolley 3, a rope for raising and lowering the bucket 4, and a rope for opening and closing the bucket 4 are provided, and a drum for winding these ropes is installed on the ground. An operator panel (not shown) is provided with an operation panel operated by a driver.
Here, the driver operates the opening and closing of the bucket 4 and
In the combined operation of hoisting and lowering, semi-automatic operation is performed automatically.

The ship 6 anchored on the quay G is, for example, a transport ship for transporting iron ore or coal. The ship 6 has a hold formed inside the hull, a hatch 7 covering the upper part of the hold, and a center of the hatch. A hatch opening 8 is provided in the section. The bucket 4 can be put into the hold by passing through the hatch opening 8.

At a predetermined position above the sea of the transverse beam 2,
A reflection type distance sensor 9 is provided facing downward. The distance sensor 9 detects the distance from the traversing beam 2 to the hatch 7.

Next, the contents of the automatic operation including the method of preventing the collision of the bucket will be described.

As shown in the figure, in the space from the hopper 1 to the upper part of the hull, the lowering stop line AX, the passing position B, the hopper level line X, the danger line Y, the far end point A of the hatch opening,
A hatch far end line AD, a passing area lower limit AP, and a shortest set route are set. These lines and points are virtually provided in the operation panel.

The hopper level line X indicates a height at which the bucket 4 does not collide with the hopper 1. In other words, when returning the bucket 4 onto the hopper 1, the bucket 4 must be lifted above the hopper level line X. The hopper level line X is a fixed value that is not changed by the driver because it is unique to the structure of the grab type unloader.

The danger line Y indicates a traversing position where the bucket 4 below the hopper level line X does not collide with the hopper 1. In other words, below the hopper level line X,
The bucket 4 must not be returned closer to the hopper 1 than the danger line Y. The danger line Y is a unique value determined by the structure of the grab-type unloader, and thus has a fixed value that is not changed by the driver.

The hatch opening far end point A and the hatch opening far end line AD which is vertically set to the hatch opening far end point A are set at the edge of the hatch opening 8 on the side farther from the hopper 1, and the bucket 4 is connected to the hatch 7. Indicates a traversing position that allows entry into the hold without collision. In the automatic operation, the bucket 4 does not travel farther than the hatch far end line AD. The driver can arbitrarily set the hatch opening far end point A, but it is preferable that the driver manually sets the bucket 4 closer to the hatch opening 8 before starting the cargo handling operation.

The lowering stop line AX is connected to the distance sensor 9.
Is automatically set at a position slightly higher than the height of the hatch opening 8 with respect to the ground based on the detection distance, and fluctuates according to the detection distance of the distance sensor 9. Since the height of the horizontal beam 2 from the ground is known, if the height of the hatch opening 8 with respect to the hatch 7 is known, the height of the hatch opening 8 from the detection distance is obtained from the detection distance and set at a slightly higher position. Is easy. Alternatively, the driver may manually initialize the lowering stop line AX, and thereafter move the lowering stop line AX up and down in accordance with an increase or decrease in the detection distance of the distance sensor 9.

The passing position B indicates the traversing position of the bucket 4 closest to the hopper 1 when the bucket 4 is put into the hold. The passing position B can be arbitrarily set by the driver, but it is preferable that the driver manually sets the bucket 4 before starting the cargo handling operation. In the automatic operation, the lowering is forcibly stopped when the bucket 4 attempts to pass through the lowering stop line AX in a range other than between the passing position B and the far end point A of the hatch opening. If the bucket 4 passes the lowering stop line AX between the passing position B and the far end point A of the hatch opening, it is guaranteed that the bucket 4 will surely pass through the hatch opening 8.

The lower limit AP of the passing area is a straight line connecting the intersection XY of the hopper level line X and the danger line Y to the passing position B on the lowering stop line AX. The parallel movement is performed according to the fluctuation of the stop line AX. In the combined operation of traverse and hoisting / lowering, the bucket 4 is prohibited from passing below the lower limit AP of the passing area. In addition, the passing area lower limit AP
Is set so as not to cross the ore fall prevention plate 5.

The shortest route is a route in which the inclination is determined by the traversing speed and the hoisting / lowering speed, and is a route in which the combined operation can be performed in the shortest time. Since the shortest setting path is set so as to always pass through the passing position B on the lowering stop line AX, the shortest setting path is translated in accordance with the fluctuation of the lowering stop line AX. However, the shortest set route cannot be set below the passing area lower limit AP. In the embodiment of FIG. 1, the shortest set route passing through the intersection XY is set so as to match the lower limit AP of the passing area.

Next, the operation of the grab type unloader shown in FIG. 1 will be described.

First, the driver sets the hatch mouth far end point A and the passing position B, and initializes the lowering stop line AX (solid line). If the height of the hatch opening 8 with respect to the hatch 7 is known, the lowering stop line AX may determine the height of the hatch opening 8 with respect to the ground from the detection distance and automatically set it at a slightly higher position. Based on these setting data and fixed data of the hopper level line X and the danger line Y, the lower limit AP of the passing area and the shortest setting path are initialized.

The cargo handling operation is performed by semi-automatic operation.
That is, the opening and closing of the bucket 4 is operated by the driver, and the combined operation of traversing and hoisting / lowering is automatically operated. Thereby, the bucket 4 reciprocates between the hopper 1 and the hold through the shortest set path. During this time, the bucket 4 does not collide with the hopper 1, the hatch 7, and the ore-prevention plate 5.

Thereafter, the height of the hatch 7 and the hatch opening 8 fluctuate with a change in the tide level and a change in the cargo volume in the ship. As a result, the detection distance of the distance sensor 9 fluctuates, so that the lowering stop line AX is changed, and the lower limit AP of the passing area and the shortest set path are changed. For example, when the hull 6 rises to the position shown by the two-dot chain line, the lowering stop line AX
(Two-dot chain line) rises, and the shortest set path becomes a straight line passing through the passing position B on the lowering stop line AX (two-dot chain line) as shown by the two-dot chain line.

In the above operation, the driver only needs to make settings before the cargo handling operation, and the setting is automatic after the cargo handling operation, so that the driver can reduce the work and operate with peace of mind (opening and closing the bucket). You can concentrate on it.

[0028]

The present invention exhibits the following excellent effects.

(1) Since the driving route automatically changes in accordance with the vertical movement of the hull, the work of the driver is reduced.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a grab-type unloader showing an embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hopper 2 Traversing beam 3 Trolley 4 Bucket 8 Hatch opening (Holder entrance) 9 Distance sensor AP Lower limit of passing area AX Lowering stop line B Passing position X Hopper level line Y Danger line

Claims (2)

[Claims] When a trolley travels on a traversing beam protruding above the sea from the ground, a bucket suspended from the trolley is raised and lowered to transfer cargo between a hopper on the ground and a cargo hold at sea. Detecting a distance from the traversing beam to the hull, and setting a lower limit of the passage area of the bucket according to the distance. 2. A lowering stop line is set at this height to obtain a ground clearance at a position slightly higher than the entrance of the hold from the distance, and a passing position when the bucket is put into the hold on the lowering stop line. From the intersection of the hopper level line at which the bucket does not collide with the hopper and the danger line at which the bucket below the hopper level line does not collide with the hopper to the passing position on the lowering stop line. 2. The bucket collision prevention method according to claim 1, wherein the connecting straight line is set as a lower limit of the passage area of the bucket.