JP2002265065A - Jib crane hatch collision-preventing method for grain unloader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a jib crane hatch collision-preventing method in an unloader for grain, which can automate collision avoidance. SOLUTION: This unloader for grain is provided with an elevator part 17 at the tip of a main boom 3 projected on a hatch of a ship brought alongside the pier by a main swivel tower on a quay, and with a jib crane 2 capable of swiveling on the main swivel tower 4. At least in swiveling the main boom 3, the position of the hatch 18 measured by a sensor fitted to the jib crane 2 is previously stored, the current position by the movement of a hook 14 due to swivel of the main boom 3 is computed, and the swivel of the main boom 3 is regulated by checking the current position of the hook 14 with the position of hatch 18 so that the hook 14 does not collide with the hatch 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grain unloader having a jib crane which can be swiveled further on a main swing tower of an unloader, and more particularly to a method for preventing a jib crane from hatch collision in a grain unloader which automates collision avoidance. It is.

[0002]

2. Description of the Related Art As shown in FIG. 3 (see also FIG. 4),
The grain unloader includes an unloader 1 that inserts an elevator unit into a hold, and a jib crane 2 that suspends a hook in the hold. The jib crane 2 is provided with an auxiliary swivel tower (not shown) on a main swivel tower 4 for swiveling the main boom 3 of the unloader 1, and the jib 5 can be swung by the auxiliary swivel tower. When the main boom 3 is turned, the jib 5 is also rotated.

Referring to FIG. 4, the grain unloader will be described in detail. Reference numeral 6 denotes a traveling platform that travels on a rail 7 laid along the quay, and the main swivel tower 4 is provided on the traveling platform 6. . The cab 8, the main boom 3,
And a tilting member 10 for tilting the main boom 3 are provided. The auxiliary swivel tower 11 that supports the jib 5 so as to be able to move up and down is provided adjacent to the support section 9 of the main boom (within a circle). 12 is an undulating wire for raising and lowering the jib 5, and 13 is a hoisting wire for winding up the hook 14. Reference numeral 15 denotes a counterweight for maintaining the horizontal balance of the main boom, and reference numeral 16 denotes a tilting member that tilts the elevator unit 17. The elevator section 17 raises the grains sandwiched between the endless belts by rotating the pair of upright endless belts facing each other. By transporting the grain in the direction of the quay by a conveyor (not shown) in the main boom 3, the grain in the hold can be unloaded continuously.

Normally, an unloader 1 is used exclusively for unloading, and a jib crane 2 is used to carry in / out a heavy machine such as a bulldozer into a hold. Although the manufacturer recommends that the jib crane 2 be evacuated after the heavy equipment is carried in, the user often operates the unloader 1 with the hook 14 kept in the hold because the user hasten the delivery of the load. . It is also possible to carry out unloading by the jib crane 2 in parallel with the operation of the unloader 1.

[0005] An unloader equipped with such a jib crane is not found in applications other than grain, and can be said to be a structure unique to a grain unloader.

[0006]

In the grain unloader, when the unloader 1 is operated and the main boom 3 is turned, the load (including the hook 14 alone) of the jib crane collides with the hatch 18. It is important to note. When driving the jib crane 2,
Although it is easy for the driver to avoid a collision with the hatch 18 and a collision with the main boom 3, when turning the main boom 3, the suspended load is caused by the jib 5 being swung.
Should be monitored closely. Conventionally, the driver visually confirms, but there is a case where the jib crane 2 is in a blind spot, and it is difficult for the driver alone to avoid collision between the suspended load and the hatch 18. For this reason, it was necessary to provide a supervisor on the ship or in the cab for assistance.

It is an object of the present invention to solve the above-mentioned problems and to provide a method for preventing a hatch collision of a jib crane in a grain unloader that automates collision avoidance.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention has an elevator section at the tip of a main boom protruding above a hatch of a ship berthed from a main swivel tower on a quay, and In a grain unloader having a jib crane that can be further turned on a swivel tower, at least when the main boom is turned, a hatch position measured by a sensor attached to the jib crane is stored in advance, and a hook accompanying the turning of the main boom is stored. The present position of the hook is calculated, and the current position of the hook is illuminated with the position of the hatch to restrict the turning of the main boom so that the hook does not collide with the hatch.

In order to measure the position of the hatch, hooks of a jib crane are moved to at least two corners of the hatch, and a hook winding position, a jib turning position, and a jib up-and-down position at respective destinations are measured by sensors. The positions of the two corners may be obtained from these measured values.

[0010]

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

The mechanical structure of the grain unloader of FIG. 4 is as described above. In the present invention, a main boom angle sensor for detecting a turning amount of the main boom 3 and a hoist position sensor for detecting a hook hoist position (a length from the tip of the jib 5 to the hook 14) based on an amount of feeding of the hoist wire 13. , Jib 5
A jib angle sensor for detecting the turning position of the sub-rotating tower 11 (relative turning angle of the main turning tower 4 with respect to the main turning tower 4), an up-and-down position sensor for detecting the jib up-and-down position (the up-and-down angle of the jib 5) from the feeding amount of the hoisting wire 12, Are not shown). The turning amount of the main boom 3 is detected as an increase / decrease amount of the turning angle of the main turning tower 4 with respect to the traveling platform 6. Here, it is assumed that the traveling platform 6 is fixed.

When the jib crane 2 is operated, the positional relationship between the feeding position of the hoisting wire 12 and the fulcrum of the jib 5 is known, and the length of the jib 5 is known. The moving distance of the tip in the horizontal direction and the height direction can be calculated using the jib undulation position. Therefore, the hook hoisting position, the jib turning position, and the jib up / down position are measured by the sensor, and the position of the hook 14 can be represented by three-dimensional position coordinates based on the jib crane from these measured values.

The center of rotation of the main swirl tower 4 and the sub-swirl tower 1
The positional relationship with the turning center of 1 is known. Therefore, the current position of the hook 14 when the hook 14 moves with the turning of the main boom 3 can be calculated by adding the turning amount of the main boom to the three-dimensional position coordinates.

In the present invention, a recognition push button used for storing the position of the hatch is provided in the cab.

FIG. 1 is a control block diagram related to the present invention.
FIG. 2 shows a control flow chart.

As shown in FIG. 1, a PLC (programmable logic controller) for inputting information from each of the sensors 21 and for permitting / automatically stopping the turning of the main boom is provided to the control device of the grain unloader of the present invention. ) 22 are provided. The PLC 22 has a memory that stores a hatch position obtained by hatch alignment (described later), calculates the current position of the hook 14 (the current position of the jib crane), and compares the hatch position with the current position of the jib crane to calculate the distance. It has a calculation unit for performing calculation, calculation for comparing the distance with a preset set value, and the like. The output signal of the PLC 22 includes a stop signal for stopping the turning of the main boom with respect to the control panel 23 provided in the cab, a failure display signal for instructing the display panel 24 provided in the cab to display a failure, and the like. There is. 25 is a motor for turning the main turning tower.

The hatch alignment is performed to store the hatch position viewed from the jib crane 2 before the operation of the unloader 1 is started. At this time, the traveling platform 6
The turning angle of the main boom 3 with respect to may be arbitrary.
In the hatch alignment, the driver operates the jib crane, moves the hooks 14 to two target corners among the four corners of one hatch 18, and pushes the recognition push button when the hooks 14 come to the respective destinations. Push. At this time, the position coordinates of the two corners are obtained from the hook winding position, the jib turning position, and the jib undulation position, and the coordinates of each side of the hatch 18 are stored in the memory so that the coordinates of each side of the hatch 18 can be estimated from the position coordinates of the two corners. (Or estimate the coordinates of each side and store them in the memory as hatch positions).

Specifically, it is assumed that the unloader 1 and the jib crane 2 are in the same hatch 18 as shown in FIG. The four corner points of hatch 18 are A, B, C,
Assuming that D is a horizontal two-dimensional coordinate for two points A and D, a rectangle excluding the left side of the hatch 18 can be grasped on the coordinates. In the present embodiment in which the jib crane 2 is arranged on the right side of the main boom 3, the side to be subjected to collision avoidance is mainly the right side. Therefore, the hook is moved to two points A and D, and the recognition push button is pressed to store the hatch position in the memory. Therefore, the coordinates of the point A obtained from the hook winding position, the jib turning position, and the jib up / down position when the hook 14 is at the point A, and the hook winding position, the jib turning position, and the jib when the hook 14 is at the D point. The D point coordinates obtained from the undulating position are stored.

After the hatch alignment is performed, the operation of the unloader 1 can be started. It is of course possible to operate the jib crane 2. Here, it is assumed that the operation of the jib crane 2 is stopped after the heavy equipment is carried in. Therefore, the position on the jib crane reference coordinates based on the hook hoisting position, the jib turning position, and the jib up / down position indicates the position where the heavy equipment has been carried in. Here, the hook 14
Of the present position is not sufficiently higher than the hatch 18 and a collision between the suspended load and the hatch 18 is likely to occur when the main boom 3 is turned. The description of the case where the height of the hook 14 is sufficiently higher than the hatch 18 and the collision between the suspended load and the hatch 18 does not occur even when the main boom 3 is turned will be omitted.

As shown in FIG. 2, after the hatch alignment (step 31), the turning of the main boom 3 is permitted.
When turning the main boom 3, the sensor detects the main boom 3
The turning position of the hook 14 is detected, and the PLC 22 recognizes the current position (the jib crane position in the figure) of the hook 14 by adding the turning amount of the main boom 3 to the position on the jib crane reference coordinates (step 32).

A hatch position (for example, coordinates on the right side) is obtained from the alignment data (coordinates of two corners) stored in the memory.
Is calculated, and the hatch position is compared with the recognized jib crane position to obtain a distance (comparison value in the figure) (step 3).
3). The distance is compared with a preset value (step 34). The set values are the size of the suspended load suspended on the hook 14, the swing of the load, the swing of the hull, the jib crane 2
The margin is given in consideration of the inertia and the like.

If the distance is not less than the set value, the main boom is allowed to turn and the jib crane position is continuously recognized.

When the distance becomes equal to or less than the set value, a stop signal for stopping the turning of the main boom 3 is output to the control panel, and a failure display signal for instructing a failure display is output to the display panel ( Step 35). Thereby, the turning of the main boom 3 is forcibly stopped, and the collision is avoided in advance.
The driver performs the operation of turning the main boom in the reverse direction in response to the failure indication on the display panel (step 36). Since turning in the opposite direction is permitted, the main boom will turn in the opposite direction. By performing a reverse turn, a collision is more positively avoided.

As described above, since the main boom 3 is turned, even if the jib 5 rotates, it is recognized that the suspended load has approached the hatch 18 and the main boom 3 is automatically stopped. Is done.

In the description of the flow shown in FIG. 2, the operation of the jib crane 2 is assumed to be stopped. However, even if the jib crane 2 is in operation, the change in the hook hoisting position, the jib turning position, and the jib up-and-down position will not be considered. If the turning amount of the main boom 3 is added to the obtained current position on the jib crane reference coordinates, the hook 14
Of course can be recognized. In addition, even when the traveling platform 6 travels, it is needless to say that the current position of the hook 14 can be recognized by taking the travel distance into consideration.

Further, in the embodiment, the current position and the hatch position are described by coordinates based on the jib crane, but may be described by absolute coordinates based on the ground.

[0027]

The present invention exhibits the following excellent effects.

(1) A jib crane hatch collision due to a human error during the operation of the unloader can be prevented.

(2) It is not necessary to operate the unloader after retreating the jib crane, and the working time can be reduced.

[Brief description of the drawings]

FIG. 1 is a control block diagram of a grain unloader showing one embodiment of the present invention.

FIG. 2 is a control flow chart of a grain unloader showing one embodiment of the present invention.

FIG. 3 is a plan view of a grain unloader.

FIG. 4 is a side view of a grain unloader.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unloader 2 Jib crane 3 Main boom 4 Main turning tower 5 Jib 14 Hook 17 Elevator part 18 Hatch

Continued on front page F term (reference) 3F077 AA04 BA02 BA06 BA07 BB01 BB08 DB06 EA12 EA19 EA20 FA02 FA05 GA06 3F204 AA04 BA02 CA01 CA05 DA01 DA10 DB03 DC01 DD07 FA01 FC03 FC08 FD07 3F205 AA03 BA06 CA09 DA03

Claims (2)

[Claims] 1. A grain unloader having an elevator section at the tip of a main boom protruding above a hatch of a ship berthed from a main swivel tower on a quay, and having a jib crane that can further swivel on the main swivel tower. At least, when turning the main boom, the position of the hatch measured by a sensor attached to the jib crane is stored in advance, and the current position of the hook due to the turning of the main boom is calculated, and the current position of this hook is calculated. A hatch collision prevention method for a jib crane in a grain unloader, wherein the turning of the main boom is restricted so that a hook does not collide with the hatch in light of the position of the hatch. 2. A jib crane hook is moved to at least two corners of the hatch in order to measure the position of the hatch, and a hook winding position, a jib turning position, and a jib up-and-down position at each destination are measured by sensors. The method for preventing a hatch collision of a jib crane in a grain unloader according to claim 1, wherein two corner positions are obtained from these measured values.