JP2511217B2 - Operating device for continuous unloader - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a continuous unloader operating apparatus for vertically winding and inserting an excavating portion of a continuous unloader into and out of a hold of a ship.

[0002]

2. Description of the Related Art A conventional continuous unloader equipped with a bucket chain type excavation vertical elevator is constructed as shown in FIG. That is, the hoisting boom 02 is supported by the turning frame 02 on the traveling gantry 01 of the crane, and the turning excavator 04 is pivotally supported by the parallel ring at the tip of the hoisting boom 03. And the ship 05 of this excavation part 04
The unloader driver visually inserts and removes the cargo into and from the warehouse 06.

[0003]

As described above, when the unloader driver puts the excavation section 04 in and out of the warehouse 05,
In general, the swing of the traveling undulating boom 03 of the unloader is stopped and the oscillating boom 03 is hoistingly operated, and is put into or taken out of the warehouse 06 in an arc locus as indicated by an arrow 07. At this time, when the excavation part 04 is likely to come into contact with the edge 08 of the opening, the vertical movement of the hoisting boom 03 is stopped, and the excavation part 04 is moved to the center of the opening 08 by moving the unloader or turning the hoisting boom 03. The operation is performed in the manner that the up-and-down boom 03 is up and down again.

The above-mentioned work is repeated for each hold 06 when the excavation section 04 suspends the bulltozer and moves it into and out of the hold, in addition to the start and end of loading and unloading. The visual operation of putting the excavation section in and out of the hold is difficult and dangerous, and since it has to be performed safely over a sufficient period of time, the work is prolonged and a contact accident or the like is still unavoidable.

The present invention has been made in view of the above circumstances, and it is possible to reduce the danger and difficulty of the operation of putting the excavating portion of the unloader into and out of the hold of the ship, and to operate the continuous unloader that can be quickly operated. The purpose is to provide a device.

[0006]

The present invention relates to a continuous unloader in which a hoisting boom is supported on a traveling gantry by a revolving frame, and an excavation portion is pivotally supported at the tip of the hoisting boom. Device, a boom hoisting device for hoisting the hoisting boom, a boom turning device for turning the hoisting boom, an excavation unit turning device for turning the excavation unit, and a travel distance detector for detecting a travel distance of the travel gantry. And a hoisting angle detector that detects the hoisting angle of the hoisting boom, a turning angle detector that detects the turning angle of the hoisting boom, and each of the above detections when the excavation section is inserted into and taken out from the hold through the hold mouth. The boom rotation is performed at a speed that is synchronized with the horizontal movement of the excavation section in a direction that cancels the horizontal movement of the excavation section caused by the ups and downs of the boom. Is characterized in that the travel of the unloader according to the turning and traveling apparatus according to apparatus and a control device for automatic interlocking control.

[0007]

When the loading and unloading of a ship docked, the unloader's hoisting boom is raised to an arbitrary height, and the unloader is run with the boom rotated in an arbitrary angle range. Align and stop above the center position. This alignment operation is easy and easy for the unloader driver. The vertical hoisting operation of the excavation section is started from this alignment stopped state. In the hoisting operation, the calculation unit of the control device calculates the traverse, travel target position and travel turning speed at which the boom tip should be held in a fixed position, and if operation is possible, the boom is automatically lowered and the boom is turned. The correction and unloader travel correction are synchronized and operated, and the excavation unit descends vertically and enters the hold. When removing the excavated part from the inside of the hold, the excavated part is aligned with the center position of the hold, and the excavated part is vertically raised by automatic operation. At this time, the descending and ascending speeds can be freely adjusted by the driver's operation. By moving the unloader for a certain distance, the raised excavation unit can be moved to the center of the adjacent warehouse opening, and vertically descended into this hold in the same manner as above to be automatically inserted.

[0008]

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

FIG. 1 is an overall side view showing a structural example of a continuous unloader according to an embodiment of the present invention, and FIG. 2 is a plan view showing a main part of FIG. In FIG. 1 and FIG. 2, 1 is a continuous unloader for vertically hoisting the excavated portion, 2 is a traveling gantry of the unloader 1, 3 is a swing frame on the traveling gantry 2, and 4 is an undulating support on the swing frame 3. Boom,
Reference numeral 5 is an excavation column section (hereinafter simply referred to as an excavation section) in which a parallel link mechanism is vertically supported at the tip of the frame 4, 6 is a hold of the ship 7 docked, 8 is a hold mouth, and 10 is in the unloader cab 11. A control device provided, 12 is a traveling device of the traveling gantry 2, 13 is a traveling distance detector of the traveling gantry 2, 14 is a boom hoisting device, 15 is a hoisting angle detector, 16 is a boom turning device, and 17 is a boom turning angle detection. 18 is an excavator swinging device, 19 is an excavator swivel angle detector, R is the radius of the hoisting boom 4, and ΔR is the horizontal offset length from the swing center of the excavator 5 to the support pin at the tip of the hoisting boom 4. Well, θL
, -ΘL is a hoisting angle above or below the horizontal line of the hoisting boom 4, and θB is a turning angle based on a horizontal line perpendicular to the quay of the turning frame 3. Next, the operation of the above embodiment will be described.

In the present invention, the hoisting boom 4 is moved to the lowered state 4A.
From the horizontal state to the horizontal state 4B and the rising state 4C,
In conjunction with this, the undulating boom 4 is automatically driven and controlled to rotate from a state of 4a to a state of 4b and a state of 4c at an amount and speed adjusted in the order of forward traveling, boom leftward turning and backward traveling, and boom rightward turning. As a result, the excavation unit 5 is shown in FIGS.
Along the vertical line near the center of Kuraguchi 8
The excavation part is inserted into and taken out from the hold 6 by vertically hoisting and moving the range from 7 ° to 37 ° in elevation. FIG. 3 and FIG. 4 are diagrams showing a plane and a side surface of the undulating boom 4 in order to explain a control operation for vertically moving the excavation unit 5 vertically.

In the figure, 20 is the center of rotation of the hoisting boom 4, and 21
Is the center of undulation, 22 is the center of swing of the excavation section 5, L is the boom reference radius from the center of undulation 21 to the center 22 of the tip excavation section 5, and L'is the boom turning radius based on the reference turning radius L and is the following equations.

[0012]

[Equation 1] L ′ = L · cos θL or L ′ = L · cos −θL.

3 and 4, when the traveling gantry 2 is stopped, that is, when the boom turning center 20 and the hoisting center 21 do not move, the hoisting boom 4 moves upward from the horizontal as shown in FIG. When the start-up rotation is performed and the hoisting and ascending speed is VH, the excavation center 22 approaches the undulating center 21 by the speed v, and the moving speed v is v = VH · ta.
n θL. In FIG. 3, the excavation center 22 approaches the turning center 20 by a speed v. Now, the turning speed VB of the hoisting boom 4 and the unloader traveling speed VT required to offset this moving speed v are VB = v / tan θB = VH and tan θL / tan θB (m / min) = VH, respectively.・ Tan θL / 2π ・ tan θB (rpm) VT = v / sin θB = VH ・ tan θL / sin θB (m / min) At this time, the traverse position X and the traveling position Y at which the excavation center 22 should be held vertically are as follows: X = (R · cos θL + ΔR) · cos θB Y = Yo + (R · cos θL + ΔR) · sin θB [ However, Yo is the traveling position before the undulating operation].

Furthermore, in this case, when the hoisting boom 4 is hoisted horizontally from above (elevation angle 37 ° → 0 °) or from below to horizontal (dip angle −17 ° → 0 °), the excavation section is used. The horizontal movement direction v of the center 22 is the opposite direction to the figure, and the turning and traveling directions to be offset are also opposite directions to the figure.

According to the present invention, the hoisting speed VH of the hoisting boom 4 and the turning speed VB for canceling the horizontal movement of the excavating section 5 are described.
In addition, the unloader traverse speed VT is automatically synchronized with the synchronized speed.

FIG. 5 is a system configuration diagram for performing the above-described operation control. The levitation angle detector 15, the boom turning angle detector 17, the traveling distance detector 13, the control device 10 having the input device 10a, and the traveling device 12 are shown. The boom hoisting device 14, the boom turning device 16, and the excavation unit turning device 18. The control unit 10 is composed of an arithmetic unit 101 and a control unit 102, and the arithmetic unit 101 performs arithmetic processing on the basis of the detection signals θL ′, θB, Y1 ′ of the detectors 15, 17, 13 and the input device 10a. , The control unit 10
Output to 2. The control unit 102 controls the traveling device 12, the boom hoisting device 14, the boom turning device 16, and the excavating unit turning device 18 according to the calculation result of the calculation unit 101.

FIG. 6 is a flow chart showing the operation of the vertical hoisting operation of the excavation section performed under the system configuration of FIG. Hereinafter, the vertical hoisting operation operation of the excavation unit will be described with reference to this flowchart.

In the vertical hoisting of the excavation portion, first, the boom hoisting angle θL is set to a required operating angle (-17 ° → 0 °) (0 ° → 37 °) from the hoisting angle -17 ° to the elevation angle 37 °, and the hoisting and hoisting speed. VH is set within a range of, for example, 10 m / min at the maximum (step A1). Then, the hoisting operation speed and the like are initialized by the driver's operation (step A2). The control device 10 controls the boom tip, that is, the center of the excavation part, based on the set values and the current values detected by the detectors 15, 17, and 13 of the undulation angle, the turning angle, and the traveling distance, which are input to the calculation unit 101. 22 control target positions X in the traverse direction and the traveling direction
1, Y1 and required turn, traveling speeds VB, VT are calculated (steps A3, A4). After that, it is checked whether or not the operation is possible (step A5), and if the operation is impossible, the winding is stopped (step A6). If the operation is possible, the control unit 102 controls the traveling device 12, the boom hoisting device 14, and the boom. A drive command is given to the turning device 16 and the excavation unit turning device 18 to perform automatic tuning interlocking operation (step A7).
).

Next, the control unit 10 calculates the current positions X1 ', Y1' of the excavation center 22 based on the detection data from the detectors 13, 15, 17 at regular time intervals (steps A8, A9). , The allowable values σ y and σ x are compared and calculated (step A10), and the control delay exceeding the allowable value is calculated as a delay amount (step A11), and the operation of executing correction control for each of traveling, turning, and undulation control is repeated. That is, after the delay amount is calculated in step A11, the feed separation is performed (step A1
2) If the undulation is delayed, undulation speed correction (step A1
3) In case of turning delay, turn speed correction (step A1
4) If the travel is delayed, the travel speed is corrected (step A15).
And then return to step A5. At this time, the excavation unit can maintain a constant orientation by automatically turning the boom at the same angle in the opposite direction.

If it is determined in step A10 that the control delay is within the allowable value, it is checked whether or not the hoisting speed setting has been changed (step A16). Return to. If the setting of the hoisting speed is not changed, it is judged whether or not the hoisting operation is further continued. If the hoisting operation is continued, the process returns to step A5, and if not, the hoisting control operation is ended.

Positioning operation of the excavated part to the center of the hold when starting unloading or pulling in a bulldozer, and positioning operation of the excavated part to the center of the hold when taking out the excavated part from the hold are separately performed. It is possible to perform the operation manually or automatically without any particular difficulty, and the above-described automatic vertical hoisting operation is performed from the state where the excavation part is aligned and stopped at the center position of the kuraguchi. The excavation section that has been hoisted vertically from inside the cargo hold 6 to the outside of the cargo hold by the automatic vertical hoisting operation has the boom hoisting angle and the turning angle fixed, and the traveling gantry 2 is moved to allow the cargo mouth of the adjacent cargo hold 6 to move. 8 It is possible to move to the central position, and it is possible to immediately start the vertical hoisting operation of the excavation section without performing a separate alignment operation.

According to the above-mentioned method, collision and contact between the hull and the excavation part are surely prevented when the excavation part is put in and out of the hold, so that the excavation part can be put in and out easily and quickly. In addition, there is no need for a watchman to prevent collision. In addition, the hatch changing operation and the loading / unloading operation of the bulldozer are simplified, the risk is reduced, and the cargo handling efficiency is improved.

[0023]

As described above in detail, according to the present invention, when the continuous excavation portion axially supported by the tip of the hoisting boom of the unloader is inserted into and taken out from the hold through the hold mouth, the excavation portion caused by the hoisting operation of the hoisting boom. In the direction to offset the horizontal movement of
Since the swinging of the undulating boom and the traveling of the unloader are automatically linked at a speed that is synchronized with the horizontal movement of the excavation section, the excavation section, which is aligned with the center position of the warehouse opening and stopped, passes vertically and is automatically operated. You can put it in and out with
It is possible to reliably avoid contact and collision between the excavation unit and the hull or the bulldozer that is suspended from and supported by the excavation unit and the hull, and the excavation unit can be safely and swiftly put in and out of the hold.

[0024] Further, since the operation at the time of moving to another warehouse and the loading / unloading of the bulldozer is simplified and the risk is reduced, it is possible to omit the arrangement of an observer to prevent the danger. This has the effect of significantly increasing the efficiency of cargo handling operation.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of a continuous unloader according to an embodiment of the present invention.

FIG. 2 is a plan view showing a main part of FIG.

FIG. 3 is a plan view showing diagrammatically the boom section operation of the unloader in FIG.

FIG. 4 is a side view of FIG.

FIG. 5 is a block diagram showing a configuration of a driving device.

FIG. 6 is a flowchart showing a hoisting operation.

FIG. 7 is a side view showing a conventional continuous unloader.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Continuous unloader, 2 ... Running gantry, 3 ... Revolving frame, 4 ... Elevating boom, 5 ... Excavation part, 6 ... Hold, 8 ...
Kuraguchi, 10 ... Control device, 101 ... Computing part, 102 ... Control part, 11 ... Cab, 12 ... Traveling device, 13 ... Travel distance detector, 14 ... Boom hoisting device, 15 ... Hoisting angle detector, 1
6 ... Boom turning device, 17 ... Boom turning angle detector, 18
... Excavation part turning device, 19 ... Excavation part turning angle detector, 20 ...
Boom turning center, 21 ... Boom up / down center, 22 ... Excavation center.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomohiro Yokoyama 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Works (56) Reference JP-A-57-189935 (JP, A) 63-162723 (JP, U)

Claims (1)

(57) [Claims] 1. A continuous unloader in which a hoisting boom is supported on a traveling gantry by a revolving frame, and an excavation portion is pivotally supported at the tip of the hoisting boom, and the traveling device of the traveling gantry and the hoisting boom are hoisted. A boom hoisting device for turning, and a boom turning device for turning the hoisting boom,
An excavation unit revolving device that revolves the excavation unit, a traveling distance detector that detects the traveling distance of the traveling gantry, a hoisting angle detector that detects the hoisting angle of the hoisting boom, and a turning angle of the hoisting boom. When turning the swing angle detector and the excavation unit into and out of the hold through the hold mouth, arithmetic processing is performed based on the detection signals of the detectors to offset the horizontal movement of the excavation unit caused by the hoisting motion of the hoisting boom. And a control device for automatically interlocking the swing of the boom swing device and the traveling of the unloader by the traveling device at a speed that is synchronized with the horizontal movement of the excavating section in the direction.