JP2015151262A - Rope trolley type unloader and control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rope trolley type unloader and a control method of the same which can bring a grab bucket into a closed state reliably when allowing the grab bucket to traverse without using a mechanically complicated mechanism.SOLUTION: A rope trolley type unloader comprises: a trolley traveling on a girder and a boom; a grab bucket suspended from the trolley; first, second, third, and forth drive mechanisms for allowing the grab bucket to rise with respect to the trolley, open and close, and traverse with the trolley; and a control unit for controlling the first, send, third, and forth drive mechanisms. For each motor of the first to forth drive mechanisms, the control unit has a speed controller and a current control system individually. Also, when allowing the grab bucket to traverse with the trolley, the control unit determines a deviation of the current value of the current control system for a corresponding support motor as well as an opening/closing motor, and performs synchronization control so as to synchronize the speeds of the support and the opening/closing motor based on the deviation.

Description

  The present invention relates to a rope trolley type unloader used when landing loose materials such as ore and coal from a transport ship and a control method thereof.

  Conventionally, a bridge-type crane unloader has been used to land loose materials such as ore and coal from a transport ship. The bridge-type crane unloader is installed in a girder installed horizontally on a plurality of legs that can move on rails laid on the ground surface such as a quay, and on the sea side end of the girder so that it can move up and down. A boom, a trolley that horizontally moves on the boom, and a grab bucket that is suspended from the trolley so as to be lifted and lowered to unload the bulk material from the transport ship.

  As such a bridge type crane type unloader, two open / close drums wound with an open / close rope for opening / closing the grab bucket and a hoisting rope (support rope) for lifting / lowering the grab bucket are wound. There are two hoisting drums (support drums) that are hung, and these four drums are independently rotated by a motor, and by driving these drums, the grab bucket is opened / closed, raised / lowered, and traversed A rope trolley type unloader configured to perform three operations is known (for example, Patent Document 1).

  In Patent Document 1, when the two hoisting drums (support drums) are stopped and the open / close ropes are simultaneously fed out by the two open / close drums, the grab bucket is opened, and when these are simultaneously wound, the grab bucket is closed. In addition, if the operation of feeding the hoisting rope (supporting rope) by the two hoisting drums (supporting drums) and the operation of feeding the opening / closing rope by the two open / close drums are performed simultaneously, the grab bucket descends, and conversely the two hoisting ropes. When the operation of winding the hoisting rope (supporting rope) with the upper drum (supporting drum) and the operation of winding the opening / closing rope with the two open / close drums are performed simultaneously, the grab bucket rises. Furthermore, by simultaneously performing the operation of winding the rope by one hoisting drum (support drum) and one open / close drum and the operation of unwinding the rope by the other hoisting drum (support drum) and the other open / close drum, A grab bucket ramps along with the trolley.

  On the other hand, the rope trolley type unloader has three drums, a first winding drum, a second winding drum, and an open / close drum, and the first winding drum has a first planetary gear speed reduction mechanism through a first planetary gear reduction mechanism. The hoisting drive motor is connected, and the second hoisting drum is connected to the second hoisting drum via the second planetary gear reduction mechanism, and the first hoisting drum and the second hoisting drum are A structure in which a traverse drive motor is connected via a first planetary gear reduction mechanism, a second planetary gear reduction mechanism, and a synchronous gear mechanism has also been proposed (Patent Document 2).

International Publication No. 98/06657 Pamphlet JP 2012-116592 A

  However, in the technique disclosed in Patent Document 1, the four drums perform different operations when the grab bucket is opened / closed, raised / lowered, and traversed, and therefore it is necessary to independently control the motors that drive these drums. When the grab bucket is traversing, with the grab bucket closed, an operation of winding a rope by one hoisting drum and one opening / closing drum and an operation of feeding the rope by the other hoisting drum and the other opening / closing drum are performed. It is necessary to carry out simultaneously, and the grab bucket may open due to a slight difference in rotational speed between the hoisting drum motor and the open / close drum motor, which may cause spillage.

  On the other hand, the technique disclosed in Patent Document 2 does not cause such a problem, but adopts a mechanically complex planetary gear mechanism, which increases the maintenance risk and the accuracy of the planetary gear mechanism. Therefore, it is necessary to always have spare parts to deal with troubles.

  The present invention has been made in view of such circumstances, and a rope trolley capable of reliably closing a grab bucket when traversing the grab bucket without using a mechanically complicated mechanism. It is an object to provide an expression unloader and a control method thereof.

  In order to solve the above problems, the present invention provides the following (1) and (2).

(1) A trolley that runs on the girder and boom,
A grab bucket suspended from the trolley;
First, second, third and fourth drive mechanisms for raising and lowering the grab bucket with respect to the trolley, opening and closing, and traversing with the trolley;
A control device for controlling the first, second, third and fourth drive mechanisms;
Each of the first and second drive mechanisms includes a support drum, a support motor for driving the support drum, and the support drum and the grab bucket via different sheaves provided in the trolley. And a supporting rope to be connected,
Each of the third and fourth drive mechanisms includes an open / close drum, an open / close motor for driving the open / close drum, and the open / close drum and the grab bucket via different sheaves provided on the trolley. And an open / close rope to connect,
With the support drum stopped, the grab bucket is opened by rotating the open / close drum by the open / close motor of the third and fourth drive mechanisms and feeding the open / close rope, and the open / close drum is turned to the opposite side. Rotate and close the grab bucket by winding the open / close rope,
With the grab bucket closed, an operation of rotating the support drum by the support motor of the first and second drive mechanisms to feed out the support rope, and the opening and closing of the third and fourth drive mechanisms By simultaneously performing the operation of rotating the opening / closing drum by rotating the opening / closing drum by a motor and lowering the grab bucket and conversely winding the support rope, and performing the operation of winding the opening / closing rope, Raise the grab bucket,
With the grab bucket closed, the support drum of the first drive mechanism and the opening / closing motor of the third drive mechanism rotate the support drum and the opening / closing drum corresponding thereto to cope with them. The operation of feeding out the support rope and the opening / closing rope, and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism rotate the corresponding support drum and the opening / closing drum. The support rope and the opening / closing rope corresponding to these are simultaneously operated, or the support motor of the first drive mechanism and the opening / closing motor of the third drive mechanism correspond to these. The support rope and the opening / closing drum are rotated to correspond to the support rope and The operation of winding the open / close rope and the support motor of the second drive mechanism and the open / close motor of the fourth drive mechanism rotate the corresponding support drum and the open / close drum to correspond to them. By simultaneously carrying out the operation of drawing out the support rope and the opening and closing rope, the grab bucket is moved along with the trolley,
The control device has a speed controller and a current control system individually for each of the motors of the first to fourth drive mechanisms, and supports correspondingly when the grab bucket is traversed together with the trolley. A rope trolley type unloader characterized in that, for a motor and an opening / closing motor, a deviation of a current value of the current control system is obtained, and based on the deviation, tuning control is performed so that the speeds of the support motor and the opening / closing motor are synchronized.

(2) A trolley that travels on the girder and the boom, a grab bucket that is suspended from the trolley, a first, second, 3 and a fourth drive mechanism, and the first and second drive mechanisms respectively include a support drum, a support motor for driving the support drum, and different sheaves provided on the trolley. A support rope that connects the support drum and the grab bucket, and the third and fourth drive mechanisms respectively include an open / close drum, an open / close motor for driving the open / close drum, and the trolley. And an open / close rope connecting the open / close drum and the grab bucket via different sheaves provided on the In this state, the open / close drum is rotated by the open / close motor of the third and fourth drive mechanisms and the open / close rope is extended to open the grab bucket, and the open / close drum is rotated to the opposite side to open / close the open / close drum. Closing the grab bucket by winding a rope, and rotating the support drum by the support motor of the first and second drive mechanisms in the state where the grab bucket is closed; Simultaneously performing the operation of rotating the open / close drum by the open / close motors of the third and fourth drive mechanisms and feeding the open / close rope, lowering the grab bucket and conversely winding the support rope; The grab bucket is raised by simultaneously performing the operation of winding the rope, and the grab With the bucket closed, the support drum of the first drive mechanism and the opening / closing motor of the third drive mechanism rotate the support drum and the opening / closing drum corresponding to them to correspond to the above. The operation of feeding out the support rope and the opening / closing rope and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism rotate the corresponding support drum and the opening / closing drum to rotate them. The support rope and the opening / closing rope corresponding to each other at the same time, or the support motor corresponding to the first drive mechanism and the opening / closing motor corresponding to the third drive mechanism The drum and the opening / closing drum are rotated to correspond to the support rope and the opening / closing rod. The operation of winding a loop, and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism rotate the support drum and the opening / closing drum corresponding thereto, and correspond to them. A rope trolley type unloader control method for traversing the grab bucket with the trolley by simultaneously performing a support rope and an operation of drawing out the opening and closing rope,
When each of the motors of the first to fourth drive mechanisms performs speed control and current control individually, and when the grab bucket is traversed together with the trolley, the currents of the corresponding support motor and opening / closing motor are A control method for a rope trolley type unloader, wherein a deviation of a current value at the time of control is obtained, and tuning control is performed based on the deviation so that the speeds of the support motor and the opening / closing motor are synchronized.

  According to the present invention, during the traversing operation, the deviation of the current value in the current control system of the corresponding support motor and the opening / closing motor is taken, and based on this, the tuning control is performed so that the speeds of the support motor and the opening / closing motor are synchronized. Therefore, even when the torque of the support motor and the opening / closing motor fluctuates, these speeds can be made to coincide with each other, and spillage during traversing can be reliably prevented. Further, since a mechanically complicated mechanism such as a planetary gear mechanism is not used, maintenance risk does not increase, and it is not necessary to always have spare parts.

It is a side view showing the whole rope trolley type unloader composition concerning one embodiment of the present invention. It is a perspective view which shows the drive part used for the rope trolley type unloader of FIG. It is a side view which shows the open state of the grab bucket used for the rope trolley type unloader of FIG. It is a side view which shows the closed state of the grab bucket used for the rope trolley type unloader of FIG. It is a block diagram which shows the control apparatus in the drive part used for the rope trolley type unloader of FIG. It is a block diagram which shows the speed / current control part in the control apparatus of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a side view showing an overall configuration of a rope trolley type unloader according to an embodiment of the present invention, and FIG. 2 is a perspective view showing a drive unit in the rope trolley type unloader of FIG.

  The rope trolley type unloader 1 is movable on a rail 11 laid on the installation surface of a quay 10, and has a front leg 13 on a sea side and a rear leg 14 on a land side running on the rail 11, a front leg 13 and A girder 15 installed horizontally on the rear leg 14, a boom 16 attached to an end of the girder 15 on the sea side so as to be able to rise and fall, and the boom 16 and the girder 15 along the longitudinal direction thereof. A traversing trolley 17, a grab bucket 18 that is suspended from the trolley 17 by a rope so as to be able to be raised and lowered and opened and closed, and a drive unit 19 for raising and lowering, opening and closing and traversing the grab bucket 18 by operating the rope And have. The grab bucket 18 is used for unloading loose materials such as ore from the transport ship 20, and the ore unloaded by the grab bucket 18 is received by the hopper 21. The ore and the like stored in the hopper 21 are carried out by the conveyor 22.

  As shown in FIG. 2, the drive unit 19 includes first to fourth drive mechanisms 31, 32, 33, and 34 for moving the grab bucket 18 up and down, opening and closing, and traversing operation, and a control device 35 that controls these. And have.

  The first drive mechanism 31 and the second drive mechanism 32 mainly perform the raising / lowering operation of the grab bucket 18, and the first drive mechanism 31 drives the support drum 41 and the support drum 41. The second drive mechanism 32 has a support drum 51 and a support for driving the support drum 51. The support motor 42, the speed reducer 43, and a support rope 44 that connects the support drum 41 and the grab bucket 18. The motor 52, the speed reducer 53, and the support rope 54 which connects the support drum 51 and the grab bucket 18 are provided. The support drums 41 and 51 are rotated by the support motors 42 and 52 so that the support ropes 44 and 54 can be fed out and rolled up, so that the grab bucket 18 is raised and lowered. ing.

  The third drive mechanism 33 and the fourth drive mechanism 34 mainly perform an opening / closing operation of the grab bucket 18, and the third drive mechanism 33 is for driving the opening / closing drum 61 and the opening / closing drum 61. The fourth drive mechanism 34 has an open / close drum 71 and an open / close drum for driving the open / close drum 71. The open / close motor 62, the speed reducer 63, and the open / close rope 64 that connects the open / close drum 61 and the grab bucket 18. It has a motor 72, a speed reducer 73, and an open / close rope 74 that connects the open / close drum 71 and the grab bucket 18.

  The support rope 44 of the first drive mechanism 31 is connected to the first sheave 45 provided at the sea side end of the boom 16 from the corresponding support drum 41 and the second side provided on the sea side in the trolley 17. It is connected to the grab bucket 18 through the sheave 46.

  The support rope 54 of the second drive mechanism 32 is connected to the third sheave 55 provided at the land side end of the girder 15 from the corresponding support drum 51 and the fourth side provided on the land side in the trolley 17. It is connected to the grab bucket 18 through the sheave 56.

  The opening / closing rope 64 of the third drive mechanism 33 is connected to the fifth sheave 65 provided at the sea side end of the boom 16 from the corresponding opening / closing drum 61 and the sixth side provided at the sea side in the trolley 17. It is connected to the grab bucket 18 through the sheave 66.

  The open / close ropes 74 of the fourth drive mechanism 34 are connected from the corresponding open / close drums 71 to the seventh sheave 75 provided on the land side end of the girder 15 and the eighth side provided on the land side in the trolley 17. The sheave 76 is connected to the grab bucket 18.

  As shown in FIGS. 3 and 4, the grab bucket 18 has two main body portions 81 and 82, and the main body portions 81 and 82 are fixed to the outer support arm 84 by the fixing pins 83 and are supported by the fixing pins 85. It is fixed to the arm 86. A fixing member 87 is attached to the upper portion of the outer support arm 84, and support ropes 44 and 54 are attached to the fixing member 87. In addition, two sheaves 88 are attached to the inside of the inner support arm 86, and the open / close ropes 64 and 74 are attached to a connecting portion 84a that connects the two outer support arms 84 via the sheave 88, respectively. Therefore, the main body portions 81 and 82 of the grab bucket 18 are supported by the support ropes 44 and 54 and the opening and closing ropes 64 and 74.

  The open / close drums 61 and 71 are rotated by the open / close motors 62 and 72 of the third and fourth drive mechanisms 33 and 34 with the support drums 41 and 51 of the first and second drive mechanisms 31 and 32 stopped. When the opening and closing ropes 64 and 74 are simultaneously fed out, as shown in FIG. 3, the grab bucket 18 is opened, and when the opening and closing drums 61 and 71 are rotated to the opposite side and the opening and closing ropes 64 and 74 are wound simultaneously, FIG. As shown, the grab bucket is closed.

  In addition, with the grab bucket 18 closed, the support drums 41 and 51 are rotated by the support motors 42 and 52 of the first and second drive mechanisms 31 and 32 and the support ropes 44 and 54 are fed out, When the opening / closing drums 61 and 71 are rotated by the opening / closing motors 62 and 72 of the fourth drive mechanisms 33 and 34 and the opening / closing ropes 64 and 74 are fed simultaneously, the grab bucket 18 descends, and conversely the support rope 44. , 54 and the operation of winding the open / close ropes 64, 74 are performed simultaneously, the grab bucket 18 rises.

  Further, with the grab bucket 18 closed, the support drum 41 and the open / close drum 61 are rotated by the support motor 42 of the first drive mechanism 31 and the open / close motor 62 of the third drive mechanism 33 so that the support rope 44 and The support drum 54 and the open / close rope 74 are rotated by rotating the support drum 51 and the open / close drum 71 by the operation of feeding the open / close rope 64 and the open / close motor 72 of the second drive mechanism 32 and the open / close motor 72 of the fourth drive mechanism 34. The trolley 17 traverses along the direction of arrow A (direction toward the sea) on the rail 23 and winds the support rope 44 and the opening / closing rope 64, and the support rope 54 and opening / closing. By simultaneously carrying out the operation of drawing out the rope 74, the trolley 17 moves in the direction of arrow B (direction toward the land side). Rampant along the.

  The trolley 17 has wheels 24, and when the trolley 17 traverses, the trolley 17 travels on a rail 23 provided on the girder 15 and the boom 16 via the wheel 24.

  The first drive mechanism 31 and the third drive mechanism 33 form a pair as a sea-side drive mechanism, and the second drive mechanism 32 and the fourth drive mechanism 34 serve as a land-side drive mechanism. Make a pair.

  As shown in FIG. 5, the control device 35 includes an operation unit 36 for performing each operation of opening / closing, raising / lowering, and traversing of the grab bucket 18, and an operation command from the operation unit 36. A speed command unit 37 that gives a speed command to the support motors 42 and 52 of the drive mechanisms 31 and 32 and the opening and closing motors 62 and 72 of the third and fourth drive mechanisms 33 and 34, and a speed command from the speed command unit 37 And a speed / current control unit 38 for controlling the speed and current of the motors 42, 52, 62, 72.

  The speed / current control unit 38 is configured as an inverter, and independently controls the speed / current of each motor according to the speed command for the motor of each drive mechanism from the speed command unit 37. Tuning control is performed to control the torque so that the speed of the opening / closing motor 62 of the third drive mechanism 33 on the sea side is synchronized with the speed of the support motor 42 of the first drive mechanism 31, and the fourth drive on the land side Tuning control is performed to control the torque so that the speed of the opening / closing motor 72 of the mechanism 34 is synchronized with the speed of the support motor 52 of the second drive mechanism 32.

  FIG. 6 is a control block diagram of the speed / current control unit 38 and shows parts corresponding to the sea-side support motor 42 and the opening / closing motor 62. The control block diagram of the land-side support motor 52 and the opening / closing motor 72 is exactly the same.

  Portions of the speed / current control unit 38 corresponding to the sea-side support motor 42 and the opening / closing motor 62 are a first support motor control unit 101 corresponding to the support motor 42 and a first opening / closing motor control unit corresponding to the opening / closing motor 62. 102 and a tuning control unit 103.

The first support motor control unit 101 includes a speed controller (ASR) 111 that performs speed control based on the control command (Va ^* (%)) of the speed command unit 37 and the measured value Vam (%) of the support motor 42; Current control system (ACR) 112. The speed controller (ASR) 111 performs PI control and is represented by P · (1 + sTi) / sTi. Here, P is a proportional gain, and Ti is an integral gain (integration time) of the speed controller. The current control system (ACR) 112 performs current control by adding a delay characteristic up to the actual current with respect to the current command value with a first order delay, and is represented by 1 / (1 + sTa). However, Ta is a first-order lag time constant of the current control system. The current Ia output from the current control system 112 is converted into a torque by the torque converter 113 (the rated torque Tm is 100%), the load torque 114 as a disturbance is added, and the drum inertia 115 of the support drum 41 is further added. Then, the signal is integrated by the integrator 116 and pulse-modulated by the pulse modulator (PWM) 117. Then, the obtained speed signal Va is given to the support motor 42. The speed of the support motor 42 is measured by a pulse generator (PG) 118, and the measured value is converted by the measurement value adjusting unit 119 into a percentage with the maximum speed (r / min) being 100%, and the motor speed measurement system The adjustment is made taking into account the delay of ## EQU1 ## and the measured value Vam (%) is obtained.

The first opening / closing motor control unit 102 includes a speed controller (ASR) 121 that performs speed control based on a control command (Vc ^* (%)) of the speed command unit 37 and a measured value Vcm (%) of the opening / closing motor 62; Current control system (ACR) 122. The speed controller (ASR) 121 performs PI control, and is represented by P · (1 + sTi) / sTi, similarly to the speed controller (ASR) 111. The current control system (ACR) 122 performs current control by adding a delay characteristic up to the actual current with respect to the current command value with a first-order lag, and like the current control system (ACR) 112, 1 / It is represented by (1 + sTa). The current Ic output from the current control system 122 is converted into a torque by the torque converter 123 (the rated torque Tm is set to 100%), the load torque 124 as a disturbance is added, and the drum inertia 125 of the open / close drum 61 is also added. Then, the signal is integrated by the integrator 126 and pulse-modulated by the pulse modulator (PWM) 127. The obtained speed signal Vc is supplied to the opening / closing motor 62. The speed of the opening / closing motor 62 is measured by a pulse generator (PG) 128, and the measured value is converted into a percentage with the maximum speed (r / min) being 100% in the measured value adjusting unit 129, and the motor speed measuring system is also converted. The adjustment is made taking into account the delay in the measurement, and the measured value Vcm (%) is obtained.

  When the grab bucket 18 is closed and traversed by the open / close motor 62 of the third drive mechanism 33 and the open / close motor 72 of the fourth drive mechanism 34, the tuning control unit 103 turns on the switches 131 and 132, The deviation between the current value Ia output from the current control system (ACR) 112 of the support motor control unit 101 and the current value Ic output from the current control system (ACR) 122 of the first opening / closing motor control unit 102 is calculated. Tuning control is performed so that the speed difference based on the deviation is eliminated. Specifically, after taking the deviation between the current values Ia and Ic, the speed is converted and a control signal is sent to the speed controller 121 of the first opening / closing motor control unit 102, the speed of the support motor 42 and the speed of the opening / closing motor 62. Tuning control is performed so as to match. At this time, the gains 133 and 134 are adjusted and converted into a speed by the integrator 135.

  It is preferable that the state equation is determined so that the control device 35 can close the grab bucket 18 with the opening / closing motors 62 and 72 with sufficient torque.

  In the rope trolley type unloader configured as described above, when bringing the transport ship 20 to the quay 10, the boom 16 is retracted to the position of the two-dot chain line in FIG. The boom 16 is set in a horizontal state, and preparations for landing of ore and the like in the transport ship 20 are made. In this state, the trolley 17 is moved along the boom 16 to a predetermined position corresponding to the transport ship 20, the grab bucket 18 is lowered, the grab bucket 18 is opened, and ore and the like are accommodated, then the grab bucket 18 is closed and raised. Let Then, with the grab bucket 18 closed, the grab bucket 18 containing ore and the like together with the trolley 17 is moved to the land side, and when the grab bucket 18 reaches above the hopper 21, the grab bucket 18 is lowered. The ore and the like in the grab bucket 18 are put into the hopper 21. The ore and the like thrown into the hopper 21 are carried out by the conveyor 22.

  The raising / lowering / opening / closing / traversing operation of the grab bucket 18 at this time is performed by the first to fourth drive mechanisms 31 to 34. At this time, the control device 35 includes two support motors for driving the two support drums and Since the two open / close motors that drive the two open / close drums can be independently controlled in speed, simple and highly accurate control can be performed.

  By the way, when transporting ore and the like by traversing with the grab bucket 18 closed, as described above, the operation of winding the support rope 44 and the open / close rope 64 by the sea-side support drum 41 and the open / close drum 61. And the operation of extending the support rope 54 and the opening / closing rope 74 by the land-side support drum 51 and the opening / closing drum 71 at the same time, the speed between the sea-side support motor 42 and the opening / closing motor 62, and the land If there is a slight difference in speed between the support motor 52 on the side and the opening / closing motor 72, the grab bucket may open and spillage may occur. However, if the speed control of the two supporting motors 42 and 52 for driving the two supporting drums 41 and 51 and the two opening and closing motors 62 and 72 for driving the two opening and closing drums 61 and 71 are performed independently, a disturbance or the like As a result, the speed difference between the sea-side support motor 42 and the opening / closing motor 62 and the speed difference between the land-side support motor 52 and the opening / closing motor 72 may not be completely eliminated.

  Therefore, in the present embodiment, during the traversing operation, the current value deviation in the current control system of the sea-side support motor 42 and the opening / closing motor 62 is taken, and based on this, the speeds of the support motor 42 and the opening / closing motor 62 are synchronized. Thus, the same control is performed for the land-side support motor 52 and the opening / closing motor 72. That is, since the current value is proportional to the torque, the independent control alone corresponds to the case where the torque of the support motor 42 and the opening / closing motor 62 and the torque of the support motor 52 and the opening / closing motor 72 fluctuate due to the influence of disturbance or the like. Thus, there is a risk that the speeds of the support motor 42 and the opening / closing motor 62 may be different. Thus, by performing synchronous control of the motor speed based on the deviation of the current value in the current control system, the speed of the motors 42 and 62, Further, the speeds of the motors 52 and 72 can be made to coincide with each other, and the spillage during the traverse can be surely prevented.

  The drive mechanism basically uses a drum, a motor, a speed reducer, a rope, and a sheave, and does not use a mechanically complicated mechanism such as a planetary gear mechanism. And there is no need to always have spare parts.

  Furthermore, since a general speed reducer is used between the motor and the drum as the drive mechanism, it is possible to quickly respond to troubles and reduce the risk.

  The present invention can be variously modified without being limited to the above embodiment. For example, the structure of the bucket 18 is not limited to that of the present embodiment, and may be any one that is operated by two support ropes and two opening / closing ropes. Further, the positions of the drums of the first to fourth drive mechanisms are not limited to the positions in the above embodiment. Furthermore, the configuration of the speed / current control unit 38 is merely an example, and is not limited to the above configuration as long as it can perform independent control of each motor and synchronous control of the speeds of the support motor and the opening / closing motor during traversing.

DESCRIPTION OF SYMBOLS 1 Rope trolley type unloader 11 Rail 15 Girder 16 Boom 17 Trolley 18 Grab bucket 19 Drive part 20 Transport ship 31-34 1st-4th drive part 35 Controller 36 Operation part 37 Speed command part 38 Speed / current control part 41, 51 Support drum 42, 52 Support motor 43, 53, 63, 73 Reducer 44, 54 Support rope 61, 71 Opening drum 62, 72 Opening motor 64, 74 Opening rope 45, 46, 55, 56, 65, 66, 75, 76 1st-8th sheave 101 1st support motor control part 102 1st opening-and-closing motor control part 103 Tuning control part 111,121 Speed controller (ASR)
112, 122 Current control system (ACR)
113, 123 Torque converter 114, 124 Load torque 115, 125 Drum inertia 116, 126, 135 Integrator 117, 127 Pulse modulator 118, 128 Pulse generator 119, 129 Measurement value adjustment unit 131, 132 Switch 133, 134 Gain

Claims (2)

A trolley running on the girder and boom,
A grab bucket suspended from the trolley;
First, second, third and fourth drive mechanisms for raising and lowering the grab bucket with respect to the trolley, opening and closing, and traversing with the trolley;
A control device for controlling the first, second, third and fourth drive mechanisms;
Each of the first and second drive mechanisms includes a support drum, a support motor for driving the support drum, and the support drum and the grab bucket via different sheaves provided in the trolley. And a supporting rope to be connected,
Each of the third and fourth drive mechanisms includes an open / close drum, an open / close motor for driving the open / close drum, and the open / close drum and the grab bucket via different sheaves provided on the trolley. And an open / close rope to connect,
With the support drum stopped, the grab bucket is opened by rotating the open / close drum by the open / close motor of the third and fourth drive mechanisms and feeding the open / close rope, and the open / close drum is turned to the opposite side. Rotate and close the grab bucket by winding the open / close rope,
With the grab bucket closed, an operation of rotating the support drum by the support motor of the first and second drive mechanisms to feed out the support rope, and the opening and closing of the third and fourth drive mechanisms By simultaneously performing the operation of rotating the opening / closing drum by rotating the opening / closing drum by a motor and lowering the grab bucket and conversely winding the support rope, and performing the operation of winding the opening / closing rope, Raise the grab bucket,
With the grab bucket closed, the support drum of the first drive mechanism and the opening / closing motor of the third drive mechanism rotate the support drum and the opening / closing drum corresponding thereto to cope with them. The operation of feeding out the support rope and the opening / closing rope, and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism rotate the corresponding support drum and the opening / closing drum. The support rope and the opening / closing rope corresponding to these are simultaneously operated, or the support motor of the first drive mechanism and the opening / closing motor of the third drive mechanism correspond to these. The support rope and the opening / closing drum are rotated to correspond to the support rope and The operation of winding the open / close rope and the support motor of the second drive mechanism and the open / close motor of the fourth drive mechanism rotate the corresponding support drum and the open / close drum to correspond to them. By simultaneously carrying out the operation of drawing out the support rope and the opening and closing rope, the grab bucket is moved along with the trolley,
The control device has a speed controller and a current control system individually for each of the motors of the first to fourth drive mechanisms, and supports correspondingly when the grab bucket is traversed together with the trolley. A rope trolley type unloader characterized in that, for a motor and an opening / closing motor, a deviation of a current value of the current control system is obtained, and based on the deviation, tuning control is performed so that the speeds of the support motor and the opening / closing motor are synchronized. A trolley that travels on the girder and the boom, a grab bucket that is suspended from the trolley, and a first, second, third, and third that causes the grab bucket to move up and down relative to the trolley, open and close, and traverse with the trolley. 4, each of the first and second drive mechanisms via a support drum, a support motor for driving the support drum, and different sheaves provided on the trolley. A support rope that connects the support drum and the grab bucket; and the third and fourth drive mechanisms are provided in the trolley, an opening / closing drum, an opening / closing motor for driving the opening / closing drum, respectively. And an open / close rope connecting the open / close drum and the grab bucket via different sheaves, and the support drum is stopped. The open / close drum is rotated by the open / close motor of the third and fourth drive mechanisms and the open / close rope is extended to open the grab bucket, and the open / close drum is rotated to the opposite side to open the open / close rope. The grab bucket is closed by entraining, and in the state where the grab bucket is closed, the support drum of the first and second drive mechanisms is rotated by the support drum to feed the support rope; Simultaneously rotating the open / close drum by the open / close motors of the third and fourth drive mechanisms and feeding the open / close rope to lower the grab bucket, and conversely winding the support rope; The grab bucket is raised by simultaneously performing the operation of winding the grab bucket and the grab bucket The support drum and the open / close drum corresponding thereto are rotated by the support motor of the first drive mechanism and the open / close motor of the third drive mechanism in a state where the support drum of the first drive mechanism is closed. The operation of feeding out the support rope and the opening / closing rope and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism rotate the corresponding support drum and the opening / closing drum to rotate them. The support rope and the opening / closing rope corresponding to each other at the same time, or the support motor corresponding to the first drive mechanism and the opening / closing motor corresponding to the third drive mechanism Rotating the drum and the open / close drum to rotate the support rope and the open / close rope corresponding thereto The support rope corresponding to them and the support rope corresponding to these by rotating the winding operation, and the support motor of the second drive mechanism and the opening / closing motor of the fourth drive mechanism, and A rope trolley type unloader control method for traversing the grab bucket with the trolley by simultaneously performing an operation of drawing out the opening and closing rope,
When each of the motors of the first to fourth drive mechanisms performs speed control and current control individually, and when the grab bucket is traversed together with the trolley, the currents of the corresponding support motor and opening / closing motor are A control method for a rope trolley type unloader, wherein a deviation of a current value at the time of control is obtained, and tuning control is performed based on the deviation so that the speeds of the support motor and the opening / closing motor are synchronized.

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