JP2001240370A - Bridge type unloader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve cargo handling efficiency by improving the swiveling follow ability of a load. SOLUTION: This bridge type unloader comprises a hoist gear 29 turn-ably provided in a trolley capable of running along a main beam for winding and unwinding a rope 11, a support instrument 13 attached for supporting a load by means of the rope 11, a specified mass body 40 rotated when the gear 29 turns or stops and a reaction means provided for giving angular anti-moment to the support instrument 13. In this constitution, the support instrument 13 is positively turned or stopped, for improving the swiveling follow ability of the load.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bridge-type unloader as a landing facility, and more particularly to a technique for improving the followability of a load in a winding-up work involving a turn.

[0002]

2. Description of the Related Art A bridge type unloader is installed at a pier to unload bulk cargo such as coal and iron ore from a ship. In particular, what is called a club trolley type
The so-called unloading (loading / unloading) work is carried out by grasping the load in the ship with the openable club bucket suspended from a trolley on the main girder with ropes, ascending, moving sideways, and paying it out to storage facilities on land. It is supposed to do.

[0003] Separately, there is a case where a bag is hung from a trolley with another rope, and loading (loading) to a ship is performed using the bag. This is a so-called auxiliary winding operation. In this case, a load is loaded on the bag on land, and then the bag is lifted, traversed and lowered onto the ship, and the load is lowered by tilting the bag.

[0004]

On the land, there is a case where the orientation of the bag is fixed because the load is dropped from the dump truck to the bag. On the other hand, on board
It is necessary to unload in all directions evenly. For this reason, the rope for suspending the bag is suspended by a rotatable hoisting device, so that the bag can be turned to an arbitrary direction in the air.

However, since the bag is suspended by a relatively long rope, there is a delay in turning and stopping the bag relative to turning and stopping the hoisting device, and it is difficult to determine the posture of the bag. In addition, even if the hoisting device stops turning to stop the bag, the turning of the bag does not stop easily, and the bag sometimes vibrates. In some cases, the ship was forced to hit the hull to stop the bag. As described above, there is a problem in that the handling efficiency of the bag is reduced due to the poor turning followability of the bag.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a bridge-type unloader which solves the above-mentioned problems, improves the ability to follow the turning of a load, and improves the cargo handling efficiency.

[0007]

A bridge-type unloader according to the present invention is provided with a hoisting device for hoisting and lowering a rope on a trolley that can travel along a main girder so as to be pivotable. And a reaction means for rotating a predetermined mass body when the hoisting device is turned or stopped to give a counter-rotational moment to the support device.

Here, the mass body is rotated in a direction opposite to the turning direction when the hoisting device is turned, and is rotated in the same direction as the turning direction before stopping when the hoisting device is turned. Is preferred.

[0009] Further, the bottom wall of the support is a double wall,
Preferably, the reaction means is provided in a space between the bottom walls.

It is preferable that the reaction means includes a motor attached to the support, and a disk-shaped momentum wheel which is rotationally driven by the motor and forms the mass body.

The trolley comprises a main trolley and a supplementary trolley, the hoisting device is mounted on the supplementary trolley so as to be pivotable, and a bag as the supporter is suspended, and another supporter is mounted on the main trolley. The club bucket may be suspended.

[0012]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 7 shows a bridge type unloader according to the present invention, particularly a club trolley type bridge unloader. This bridge-type unloader 1 has a main girder 2 and a pair of legs 3, and the entire body can travel along a pier 4. The main girder 2 extends in a traversing direction from above the quay 4 to the sea, and can be bent in the middle part, and the tip part is undulating. The pivot connection is indicated by 5. The undulation is performed by a hoisting winch 6 (see FIG. 5) provided at the base end of the main girder 2.

A trolley 7 is provided on the main girder 2 so as to be able to travel along its longitudinal direction. The main trolley 8 and the auxiliary trolley 9 are connected to the trolley 7, and the main trolley 8 and the auxiliary trolley 9 are connected.
Suspends the club bucket 12 and the bag 13 via the main rope 10 and the auxiliary rope 11, respectively. Note that the bag 13 forms the support of the present invention, and the club bucket 12
Constitute another support of the present invention. Main trolley 8 and auxiliary trolley 9
The main rope 10 and the auxiliary rope 11
Main hoisting device 14 and auxiliary hoisting device 15 for lowering
Is provided. The auxiliary hoisting device 15 forms the hoisting device of the present invention. The club bucket 12 and the bag 13 are attached to the lower ends of the main rope 10 and the auxiliary rope 11, respectively. The club bucket 12 can be opened and closed. A cab 18 capable of traveling is provided below the main girder 2.

The unloading (unloading) operation from the vessel 16 is mainly performed by the configuration on the main side. That is, the club bucket 12 is unloaded into the ship and loose cargo (coal,
Iron ore, etc.), rises, traverses to the land side by traveling of the trolley 7, descends, and storage facilities 17 including conveyors and the like.
(See FIG. 5).

On the other hand, the work of loading (loading) on the ship 16 is mainly performed by the configuration on the auxiliary side. That is, the bag 13 is lowered on the land side, and the load is loaded and supported on the bag 13 (FIG. 5,
6), the trolley 7 travels to the sea side to travel, descends into the ship, and the bag 13 is tilted to unload the cargo. This is a so-called auxiliary winding operation. The load in this auxiliary winding operation is mainly loose objects such as coal and iron ore. However, there may be a cargo handling machine such as a bulldozer or various types of work equipment.

The details of the trolley 7 are shown in FIG. The main trolley 8 is on the sea side and the auxiliary trolley 9 is on the land side. The main trolley 8 and the auxiliary trolley 9 have a main trolley 19 and an auxiliary trolley 20, and the main trolley 19 and the auxiliary trolley 20 can be rotated by the connecting portion 21. It is connected to. A self-propelled device (not shown) is provided only in the main trolley 8, and the auxiliary trolley 9 runs following the main trolley 8. Reference numeral 22 denotes wheels mounted on the main girder 2. The main trolley 8 and the auxiliary trolley 9 are covered with a main cover 23 and an auxiliary cover 24, respectively.

The main hoisting device 14 comprises a pair of main hoisting drums 25, a main speed reducer 26 and a main motor 27 symmetrically installed on a main carriage 19. Two main ropes 10 are suspended from each main hoist drum 25, and the upper end of the openable and closable club bucket 12 is attached to the lower ends of the main ropes 10. The main ropes 10 are wound and fed by the rotations of both main hoist drums 25 at the same speed and opposite directions, and the club bucket 12 is raised and lowered. On the main side, the club bucket 12 cannot turn around the vertical axis.

On the other hand, a swivel table 28 is provided on the auxiliary bogie 20 so as to be rotatable about the vertical axis, on which the hoisting device 15 is installed. On the auxiliary side, the bag 13 is rotatable about the vertical axis. Has become. The auxiliary hoisting device 15 is also composed of a pair of auxiliary hoisting drums 29, auxiliary speed reducers 30, and auxiliary motors 31 symmetrically installed, and two auxiliary ropes 11 are hung from each auxiliary hoisting drum 29. The lower ends of the auxiliary ropes 11 are attached to the upper ends of the bags 13. The auxiliary rope 11 is wound up and fed out by the rotation of both auxiliary hoisting drums 29 at the same speed and in opposite directions,
The bag 13 is raised and lowered. A turning motor (not shown) is installed on the auxiliary trolley 20 to turn the turning table 28.

As shown in FIGS. 1 and 2, the bag 13 is formed in a dish shape as a whole. The bag 13 includes an upper bottom plate 32 serving as a horizontal loading surface, an inclined plate 33 extending forward and backward of the upper bottom plate 32, and the upper bottom plate 32 and the inclined plate 33.
And a horizontally long hexagonal side plate 34 that stands up on both sides and prevents the load from falling off. Suspended ropes 35 having a relatively short length are attached to the upper end, the front end, and the rear end of both side plates 34, respectively, and the two suspended ropes 35 on both sides are connected to each other by a suspender 36 at each of the front and rear sides.

Each of the two auxiliary ropes 11 fed from each auxiliary hoist drum 29 is connected to a front or rear hanging member 36.
Are connected to both ends. Accordingly, when only one auxiliary winding drum 29 is wound, only the front or rear part of the bag 13 is lifted, and the load on the bag 13 slides down along the front or rear inclined plate 33.

When the turntable 28 is turned, both auxiliary hoist drums 29 are turned, and the bag 13 is turned accordingly. At this time, the bag 13 is pulled and turned using the twist of the entire four auxiliary ropes 11, and the rotation followability of the conventional bag 13 was not good due to the long length of the auxiliary rope 11. Therefore, in order to improve this, the bag 13 is provided with reaction means described below.

That is, the bottom wall of the bag 13 is a double wall,
The bottom wall is composed of the above-described upper bottom plate 32 and a lower bottom plate 32a provided below the predetermined distance. These bottom plates 32, 32a are connected to the front, rear, left and right bottom side
8, a wheel chamber 39 having a thin cubic shape and a closed box structure is defined between the upper and lower bottom plates 32 and 32a.

The wheel chamber 39 accommodates a disk-shaped mass body having a predetermined moment of inertia, that is, a momentum wheel (reaction wheel) 40 and a motor for rotating the same, that is, a servomotor 41. The momentum wheel 40 is rotatable around the center of the bag, and is directly driven by a servomotor 41. In this embodiment, the servomotor 41 is driven with the rotation axis directed downward and the upper bottom plate 32
, And the momentum wheel 40 is directly attached to the rotation shaft. However, the method of mounting the momentum wheel 40 and the servomotor 41 is not limited to this. The momentum wheel 40 and the servomotor 41 constitute the reaction means of the present invention.

As shown in FIG. 2 only, a power supply cable 42 is connected to the servomotor 41, and the power supply cable 42 extends upward through the bottom side plate 38 to the height of the main girder 2 and a control device (not shown). Connected to. The rotation control of the servomotor 41 or the momentum wheel 40 is performed in synchronization with the turning operation of the turntable 28.

Next, the operation of the present embodiment will be described.

As shown in FIGS. 5 and 6, in the auxiliary winding operation, first, the bag 13 is lowered onto the ground, and then the bag 13 is sequentially loaded with a load from the vehicle (the dump truck 43). At this time, the arrangement direction of the bag 13 and the loading direction of the bag 13 are determined in advance. That is, the bag 13
Is arranged such that both inclined plates 33 are along the transverse direction,
The dump truck 43 is backed into the bag 13 from the front and rear in the traveling direction, and loads a load from between the hanging ropes 35.

When the loading is completed, the bag 13 is raised. Then, the trolley 7 is made to travel on the marine vessel 16 and the bag 13 is lowered.

During or after the descent, it is necessary to turn the bag 13 in the direction in which the unloading is desired. Therefore, the swivel 2
8 is turned by a predetermined angle. In this case, the bag 13 is pulled by the auxiliary rope 11, and the bag 13 also turns following. In this case, the turning followability is greatly improved by the reaction means.

That is, as shown in the upper half of FIG. 3, it is assumed that, for example, the swivel table 28 is turned clockwise from the stopped state in plan view. Then since pulled to the auxiliary rope 11 is turn acceleration R ₁ clockwise in the bag 13 occurs, the servo motor 41 to the momentum wheel 40 is its turn acceleration R ₁ opposite direction, that is counterclockwise r ₁ at the same time
Is driven to rotate. In this case, since the momentum wheel 40 has a moment of inertia, the servo motor 41
Clockwise counter-rotational moment M ₁ on the casing side of
(Or angular momentum, the same applies hereinafter), and this rotational reaction moment M ₁ can be applied to the bag 13.
In this way, the bag 13 can be actively turned in the same direction as the swivel table 28, and the turning delay of the bag 13 can be prevented.

When the turntable 28 is turned in the opposite direction (counterclockwise), the momentum wheel 40
Is also reversed (clockwise).
, A rotational reaction force moment in the same direction (counterclockwise) as the turning direction is applied to the bag 13.

Next, as shown in the lower half of FIG. 3, it is assumed that the swivel 28 that has been swiveling clockwise in a plan view has stopped. Then, the auxiliary rope 11 is pulled and a counterclockwise turning acceleration R ₂ is generated in the bag 13.
At the same time, the momentum wheel 40 has its turning acceleration R ₂
Is rotated by the servo motor 41 in the opposite direction, that is, clockwise r ₂ . In this case, a counterclockwise rotational reaction force moment M ₂ is added to the casing side of the servomotor 41 and the bag 13, so that the bag 13 can be actively turned and stopped, and a delay in stopping the bag 13 can be prevented. . If the turning direction of the turntable 28 before stopping is reversed, the rotation direction of the momentum wheel 40 is also reversed.

As described above, the recoil means can improve the turning followability of the bag 13 or the load, and can change the direction of the bag 13 or the load in a short time, thereby improving the cargo handling efficiency. In particular, since the raising and lowering and turning operations of the bag 13 are often performed manually by an operator in the cab 18,
As described above, the load on the operator is reduced by automatically controlling the momentum wheel 40 in cooperation with the turning / stopping operation of the turntable 28. In addition, there is no need to hit and stop the bag 13 and the durability of the bag 13 is improved.

Also, when the bag 13 swings and vibrates in conjunction with the turning / stopping operation of the swivel table 28, the rotation of the momentum wheel 40 can be appropriately controlled to stop the vibration of the bag 13. Conventionally, the swing frequency of the bag 13 may be 0.1 Hz or less due to the length of the auxiliary rope 11.

When the bag 13 is turned to a desired direction and lowered to a desired height, only one of the auxiliary winding drums 29 is wound up, and the bag 13 is tilted. Then, the load on the bag 13 is slid down in a desired direction, and the auxiliary winding operation can be completed.

The technology using the momentum wheel is used for controlling the attitude of a space robot or the like. This crane applies this technology to improve the turn following performance of the bag. (Reference: Transactions of the Society of Instrument and Control Engineers, Vol. 32, No. 8, p. 1206-1121) Embodiments of the present invention are not limited to the above. For example, in the present embodiment, the reaction means is provided on the auxiliary trolley side, but may be provided on the main side of the trolley, or may be provided on a trolley having no distinction between the main and auxiliary parts. In short, the present invention can be applied to all bridge cranes having a rotatable hoisting device. The configuration of the reaction means may be a configuration other than this embodiment. For example, a configuration is also possible in which a ring gear is provided on the outer periphery of the mass body and is driven from the outer periphery by a motor.

[0037]

The present invention exhibits the following excellent effects.

(1) The ability of the load to follow the turn can be improved, and the cargo handling efficiency can be increased.

(2) The work becomes easy and the burden on the operator can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a main part of the present embodiment.

FIG. 2 is a view showing the bag of the embodiment, and shows only a bottom side in a cross section.

FIG. 3 is a plan view showing the operation of the momentum wheel.

4A and 4B show a trolley, wherein FIG. 4A is a plan view and FIG. 4B is a front view.

FIG. 5 is a front view showing a configuration of a crane on a land side.

FIG. 6 is a schematic side view of the same.

FIG. 7 is a front view showing the entire bridge crane.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bridge type unloader 2 Main girder 7 Trolley 8 Main trolley 9 Auxiliary trolley 11 Auxiliary rope 12 Club bucket 13 Bag 15 Auxiliary hoisting device 32 Upper bottom plate 32a Lower bottom plate 39 Wheel room 40 Momentum wheel 41 Servo motor

Claims (5)

[Claims] 1. A hoisting device for hoisting and lowering a rope is installed on a trolley that can travel along a main girder so as to be pivotable, and a support for supporting a predetermined load is attached to the rope. A bridge-type unloader, comprising a reaction means for rotating a predetermined mass body when the hoisting device is turned or stopped to apply a counter-rotational moment to the support. 2. The mass body is rotated in a direction opposite to the turning direction when the hoisting device is turned, and is rotated in the same direction as the turning direction before stopping when the hoisting device is turned. 2. The bridge-type unloader according to 1. 3. The bridge-type unloader according to claim 1, wherein the bottom wall of the support is a double wall, and the reaction means is provided in a space between the bottom walls. 4. The apparatus according to claim 1, wherein the reaction means includes a motor attached to the support, and a disk-shaped momentum wheel which is rotated by the motor and forms the mass body. Bridge type unloader. 5. The trolley comprises a main trolley and a supplementary trolley, the hoisting device is mounted on the supplementary trolley so as to be pivotable, and a bag as a supporter is suspended from the trolley. The bridge-type unloader according to any one of claims 1 to 4, wherein a club bucket serving as the support is suspended.