JP2013234040A - Grab bucket type unloader control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a grab bucket type unloader control device capable of safely and efficiently performing traverse operation toward the land from hoisting operation without resetting the height of a hull by a driver of an unloader.SOLUTION: A grab bucket type unloader control device includes a grab bucket for grabbing bulk cargo in a ship on the berth vertically moving according to changes in tide level and draft amount, and throwing the bulk cargo into a hopper on a quay. The control device includes a drive device that performs motor control for the hoisting operation, lowering operation and opening/closing operation of the grab bucket or the operation of the grab bucket toward the sea and toward the land, and a master control part for giving operation instructions and speed reference instructions to the drive device. The grab bucket is suspended so as to be liftable from a traversing part that traverses along a boom projected onto the sea, and a microwave sensor for measuring, in non-contact manner, a distance to a hull that stores bulk cargo to be unloaded and to the bulk cargo is mounted to the traversing part. Information from the microwave sensor is transmitted to the master control part and reflected in the operation instructions and speed reference instructions.

Description

  The present invention relates to a grab bucket type unloader control device for grabbing loose loads such as coal, iron ore, and grains from a hold with a grab bucket, and in particular, a grab bucket type unloader control device that controls hoisting and traverse speed standards. About.

  Conventional bucket-type unloaders that grab bulk cargo such as coal, iron ore, and grains from the hold with a grab bucket open the grab bucket that grabbed the loose load when the bulk load held in the hold is rolled up. It is controlled so that the hoisting operation can be performed without any problems.

  In order to unload from a state where a loose load is held in the hold, once the grab bucket is hoisted to a height that does not interfere with the hull, and the hoisting operation is completed, the shortest path is achieved by interlocking operation to traverse operation. In the grab bucket is moving.

  The height of the hull that touches the quay will gradually change as cargo handling progresses, so the unloader driver must operate the hoist until the current height of the grab bucket is less than the hoisting height. It is controlled so that the linked operation from to is not possible.

JP 2011-42439 A

  Conventionally, in order to store the height of the hull, which changes with the progress of cargo handling, in the control device, the driver of the unloader has to reset the hull height each time.

  When the set hull height is different from the actual height and the grab bucket height is lower than the hull height, the grab bucket collides with the hull during the cargo handling operation.

  Although it is possible to reset the hull height correctly each time, to ensure safety, do not perform interlocking operation from hoisting operation to landline and traverse, and do land operation after hoisting operation is completed, The ship's height was set to a position with a margin more than the actual height.

  As a result, these operations are not the shortest in the movement trajectory of the grab bucket during the unloading operation, and lower the cargo handling efficiency.

  Accordingly, the present invention has been made to solve the above-described problems, and it is possible to safely perform a traverse operation from a hoisting operation to a land without resetting the hull height by an unloader driver. And it aims at providing the grab bucket type unloader control device which can be performed efficiently.

  According to one aspect of the present invention, there is provided a grab bucket unloader control apparatus including a grab bucket that holds a bulk load of a berthing ship that moves up and down according to changes in a tide level and a flooding amount and throws it into a hopper on a quay. A drive device for performing motor control for hoisting operation, lowering operation and opening / closing operation of the grab bucket or marine operation and land operation of the grab bucket, and an operation command and speed reference for the drive device. A hull storing a bulk load for dropping the grab bucket so that the grab bucket can be lifted and lowered from a traversing section that traverses along a boom protruding to the sea A microwave sensor that measures the distance to the bulk load in a non-contact manner is attached, and information from the microwave sensor is transmitted to the main control unit, and the operation command and speed are transmitted. Grab bucket unloader control device is provided, characterized in that to reflect the reference command.

  According to the present invention, it is possible to safely perform a traverse operation from a hoisting operation to a land without performing resetting of a hull height by an unloader driver, and further, it is possible to operate on a shortest route for unloading a bulk load. .

It is a figure which shows schematic structure of the grab bucket type unloader which concerns on embodiment of this invention. It is a figure explaining the driving | running pattern of a grab bucket type unloader. It is a figure explaining the shortest path Path (A-B) of hoisting / traversing operation.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same portions are denoted by the same reference numerals, and redundant description is omitted.

(First embodiment)
FIG. 1 is a diagram illustrating a schematic configuration of a grab bucket unloader that grabs and loads a loose load. The grab bucket unloader 1 includes a traveling frame 4 that can travel along the rail 3 laid on the quay 2, a girder 5 that protrudes from the traveling frame 4 to the sea, and a trolley 6 that traverses along the girder 5, A grab bucket 7 is provided.

  The grab bucket 7 hangs down from the trolley 6 by a wire rope (not shown), for example, and holds and handles a loose load by opening and closing the tip.

  A part of the girder 5 is formed to be able to undulate upward. This is in order not to disturb the progress of the ship when cargo handling is not performed.

  The cab 8 of the unloader 1 is installed at a position that is substantially the tip of the girder 5 and is offset from the track of the grab bucket 7. The driver of the unloader 1 is present in the cab 8 and is operated. The cab 8 can be traversed independently of the trolley.

  An electrical chamber 9 is provided on the quay 2 side of the girder 5. The electric chamber 9 is operated with respect to the drive device 9a for controlling the motor for hoisting operation, lowering operation and opening / closing operation of the grab bucket 7, or marine operation and land operation of the grab bucket 7, and the drive device 9a. A master control unit 9b that provides a command and a speed reference command is provided. For example, a programmable logic controller (not shown) is built in the main control unit 9b (hereinafter referred to as “mascon”), and for example, five speeds can be selected.

  Moreover, it is preferable that the mascon 9b has a position sensor (not shown) for recognizing the hoisting height and the traversing position of the grab bucket 7.

  As shown in FIG. 1, a hopper 10 that receives the unloaded bulk load and a ground conveyor 11 that is disposed below the hopper 10 are disposed in the machine of the traveling frame 4.

  In the grab bucket unloader 1 configured as described above, the traveling frame 4 is moved to the side of the hull 12 that is in contact with the quay 2. The grab bucket 7 connected to the trolley 6 is traversed and moved up to the ship, the grab bucket 7 is lowered into the hold 14 and the loose load 15 is gripped. After grabbing the bulk load 15, the grab bucket 7 is opened, closed, lifted, and traversed to carry the bulk load 15 from the hold 14 to the hopper 10, and then the grab bucket 7 is opened on the hopper 10 and the bulk load 15 is loaded on the ground conveyor 11. Take down and transport to the ground side.

  In the grab bucket unloader 1 according to the embodiment of the present invention, a microwave sensor 13 is attached to the trolley 6 as shown in FIG. For example, it is attached to the tip of the trolley 6.

  The microwave sensor 13 is a non-contact sensor using microwaves, and the height position information of the hull 12 that changes at the same time as unloading at the same time as the height information of the loose load 15 with respect to the traversing position of the trolley 6. Also collect. The hull height may be, for example, the height of a hatch.

  The microwave is in the SHF band (Super High Frequency) frequency band in which the wavelength of the electromagnetic wave is 10 cm to 1 cm. The frequency band used outdoors is the 24.2 GHz band (K band). The microwave sensor 13 with a high frequency of about 10 GHz is used to investigate the movement, distance, and properties of dust, powder, and objects covered with shielding that cannot be identified by infrared sensors, optical sensors, ultrasonic sensors, etc. Can do. Therefore, it is most suitable for grasping the level of loose load loaded on the hull.

  In the present embodiment, a transmission / reception facing sensor that emits a microwave and receives a reflected wave of the microwave is suitable.

  Data measured by the microwave sensor 13 is stored in, for example, a programmable logic controller (hereinafter referred to as PLC).

  Next, an efficient operation of the grab bucket unloader 1 according to the embodiment of the present invention will be described. FIG. 2 is a diagram for explaining an operation pattern of the grab bucket unloader 1. FIG. 3 is a diagram for explaining the shortest path Path (A-B) for hoisting / traversing operation.

<From inside the hold to the land>
In general, when unloading is attempted in the shortest time, the driver of the unloader 1 moves to the top notch (maximum speed control position) so as to drive the mascon 9b at the maximum speed (hereinafter referred to as the top speed) during the hoisting operation. At the same time, the top notch is operated so that the master computer 9b during the transverse operation is also operated at the top speed.

  If the hoisting operation and the traverse operation are performed at the top speed and the unloading is performed, a series of cargo handling cycle times can be shortened, and the cargo handling efficiency can be improved. However, it is necessary to prevent the grab bucket 7 from interfering with the hull 12 when unloading. For this purpose, it is necessary to perform the hoisting operation of the grab bucket 7 to a height equal to or higher than the hatch height position before performing the traversing operation. That is, as shown in FIG. 2, the hoisting height (A) from the position where the bulk load 15 is most piled up to the position where the grab bucket 7 starts traversing operation is from the position where the bulk load 15 is piled up most. The relation (AB)> (height dimension of the grab bucket 7) must be related to the height (B) to the hull hatch. Needless to say, it is also preferable to give a margin to the values of A and B, for example, by using a fixed value of 50 cm or 1 m as a bias value.

  In the case of cargo handling work in the shortest time, the grab bucket 7 moves along the trajectory along the speed reference signal of the hoisting operation and the traverse operation. Therefore, the shortest of the grab bucket 7 is uniquely determined according to the ratio of the hoisting speed and the traverse speed. The movement path Path (AB) of is determined. As shown in FIG. 3, the optimum hoisting speed and traverse speed are indicated by a line connecting the intersection of the hoisting top notch speed and the traverse top notch speed from the starting point of zero speed.

  When handling cargo at the optimum hoisting speed and transverse speed while avoiding interference with the hull 12 of the grab bucket 7, the bulk load 15 loaded in the hold 14 is grasped by the grab bucket 7 and moved to the hopper 10 position on land. The trajectory of the movement of the grab bucket 7 for this is the line of the path Path (AB) shown in FIG.

  According to this embodiment, since the distance to the reflector can be measured using the microwave sensor 13 corresponding to the traversing position of the grab bucket 7, only the height of the bulk load 15 in the hold 14. In addition, the height of the hull 12 can always be measured as the latest data.

  Therefore, even if the masscon 9b is operated so as to move the grab bucket 7 to the land while holding the loose load 15 in the hold 14, only the hoisting operation is performed up to the hull hatch position, and the hull height is increased. It is possible to perform control so as to be linked operation from hoisting operation to traversing operation after hoisting to a height exceeding.

  The height of the hull 12 changes according to the time when the hull 12 rises and the sea level rises as cargo handling progresses. The driver of the unloader 1 is not particularly aware of these changes, and the microwave sensor 13 automatically updates the height of the hull 12 to the latest state. Can be continued.

<From land to Funakura>
When the bulk cargo 15 is released on the hopper 10 on the land and then the bulk cargo 15 in the hold 14 is again picked up, the path (AB (AB) shown in FIG. ).

  Even in this case, since the hatch height of the hull 12 is always updated to the latest state, the grab bucket 7 can be operated to grab the loose load 15 in the shortest path without interfering with the hull 12. .

<Supports variation in cargo height>
When moving the empty grab bucket 7 onto the hold 14, the high load of the loose load 15 in the hold 14 is obtained from the information on the height of the load 15 of the loose load 15 in the hold 14 collected in the PLC. The rising position can be grasped. Thereby, the position control can be performed so that the traversing position of the grab bucket 7 when going to grab the bulk load 15 in the hold 14 is moved to the highest place where the bulk load 15 is piled up.

  Opening the grab bucket 7 at a place where the bulk load 15 is piled up makes it easy to grip the bulk load 15 and increases the gripping amount of the bulk load 15 in one unloading operation, thereby improving the handling efficiency.

<Accumulation of scattered bulks>
Due to the progress of the cargo handling operation, the angle of repose of the bulk load 15 that is piled up becomes small, and a part of the bulk load 15 falls from the grab bucket 7 and is scattered in the hold 14. Therefore, using the information obtained by the microwave sensor 13, the scattered loose loads 15 can be collected by the grab bucket 7.

  According to the present embodiment, since the latest height and the height of the hull are grasped by the microwave sensor 13, the traverse operation from the hoisting operation to the land can be performed without causing the grab bucket 7 to collide with the hull 12. It is possible to operate safely and on the shortest route for unloading the loose load 15.

(Second Embodiment)
The state of the bulk load 15 obtained by the microwave sensor 13 is output to a display device (not shown) provided outside via the PLC, so that the progress state of the cargo handling can be confirmed in real time. . The display device is preferably installed on the grab bucket unloader 1 or in a monitoring room (not shown) on the ground.

  According to the present embodiment, the information on the height of the bulk load and the height of the hull is output to the display device in a timely manner, thereby facilitating the management of the cargo handling state.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Grab bucket type unloader 2 ... Quay 3 ... Rail 4 ... Traveling frame 5 ... Girder 6 ... Trolley 7 ... Grab bucket 8 ... Driver's cab 9 ... Electric room 9a ... Drive device 9b ... Master control unit (mascon)
DESCRIPTION OF SYMBOLS 10 ... Hopper 11 ... Ground conveyor 12 ... Hull 13 ... Microwave sensor 14 ... Funakura 15 ... Bulk load

Claims (10)

A grab bucket type unloader control device comprising a grab bucket for grabbing a bulk load of a berthing ship that moves up and down according to changes in the tide level and the amount of inundation,
A drive device for performing motor control for hoisting operation, lowering operation and opening / closing operation of the grab bucket or marine operation of the grab bucket, and land operation;
A master control unit that gives an operation command and a speed reference command to the drive device,
From the traversing part that traverses along the boom protruding to the sea, the grab bucket is suspended so that it can be lifted,
A hull storing a bulk load to be unloaded at the traversing portion and a microwave sensor for measuring a distance to the bulk load in a non-contact manner are attached.
A grab bucket unloader control device, wherein information from the microwave sensor is transmitted to the master control unit and reflected in the operation command and speed reference command.   2. The grab bucket unloader control device according to claim 1, wherein the master control unit includes a programmable logic controller.   The grab bucket type unloader control device according to claim 1, wherein the main control unit includes a position sensor for recognizing a hoisting height and a traversing position of the grab bucket.   2. The grab bucket unloader control device according to claim 1, wherein the microwave sensor is a transmission / reception facing sensor that emits a microwave and receives a reflected wave of the microwave.   When transporting the grab bucket holding a loose load in the hold from the hold to the hopper on the quay, the master control unit changed according to the cargo handling using the microwave sensor. 2. The grab bucket unloader control device according to claim 1, wherein the shortest path from the sea side to land operation is set according to the sea level of the hull.   After releasing a loose load on the hopper on the quay, when the empty grab bucket is in sea operation, the master control unit uses the microwave sensor to land according to the sea level of the hull. 2. The grab bucket unloader control device according to claim 1, wherein the shortest route from the side to the marine operation is set.   During marine operation of the grab bucket, the master control unit uses the microwave sensor to move the grab bucket to a position where the bulk load is highest in the hold. The grab bucket type unloader control device according to claim 6.   The trunk control unit uses the microwave sensor to take in data representing the load state of the bulk load in the hold according to the traversing position of the grab bucket, and the load state of the bulk load according to the cargo handling, 2. The grab bucket unloader control apparatus according to claim 1, wherein the grab bucket unloader control apparatus sequentially displays on a display device.   The grab bucket unloader control device according to claim 1, wherein the traversing unit is a trolley that traverses along the boom, and the microwave sensor is attached to the trolley.   The grab bucket unloader control device according to claim 5 or 6, wherein, in the setting of the shortest path, a bias value is added to each of the actual distance to the hull and the actual distance to the bulk load.

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