JP2741289B2 - Automatic operation of ship handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of automatically operating a cargo handling machine for unloading cargoes such as ore, coal or grain from a hold.

[0002]

2. Description of the Related Art As a conventional automatic operation method of a cargo handling machine, for example, a continuous unloader, a work locus of a bucket conveyor is stored by manual operation (teaching mode), and at the time of automatic operation, the stored work locus of the stored bucket conveyor is reproduced. There is known an operation method of automatically unloading (playback mode) (Japanese Unexamined Patent Publication No. 60-1067).
No. 24).

In this method, a manual operation is first performed, and the tip moving distance of a bucket conveyor scraping section is sampled at fixed time intervals (for example, every 1 second), and when the scraping section moves a fixed distance (for example, 200 mm). The current traveling position of the crane, the boom turning angle, the length of the conveyor conveyer scraping portion expansion and contraction length, the moving time, the boom undulation angle, and the conveyor conveyer scraping portion tilting angle are stored in the locus calculation device, and the process returns to the scraping start point. Perform manual operation until Then, at the time of the automatic operation, the work locus stored at the time of the manual operation is linearly interpolated by a minute distance to reproduce the work locus at the tip of the bucket conveyor scraping portion, and the cargo is automatically scraped.

[0004]

In such a conventional automatic operation method of the continuous unloader, the driver's driving technique can be reflected in the automatic operation.
Safety is improved, and the work locus at the tip of the bucket conveyor scraping part can be set near the wall surface of the cargo hold.Therefore, there is the advantage that the unloading of cargo is reduced and cargo handling efficiency is improved, but linear interpolation control during automatic operation is There was a disadvantage that it became complicated. SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic operation method for a cargo handling machine capable of eliminating the above-mentioned conventional disadvantages and performing automatic operation by simple control.

[0005]

According to the present invention, there is provided an automatic unloader for a continuous unloader which stores a work locus of a loading machine by manual operation and automatically discharges the work locus while reproducing the work locus of the cargo machine during automatic operation. In the driving method, the first
The unloading of the layer is performed by manual operation, and the coordinate, time, moving direction, and operation change information at the time of changing the operation start position and operation of the cargo handling machine at that time are stored, and each layer of the second and lower layers is stored. the unloading of the cargo, that it has to perform automatic operation based on the coordinates and time and the moving direction and the operation change information when changing the work start position and the operation of the cargo handling equipment stored during the manual operation Features.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a schematic side view showing an example of a continuous unloader to which the present invention is applied, FIG. 2 is a block diagram showing an outline of a control circuit of the continuous unloader shown in FIG. 1, and FIG. FIG. 4 is an explanatory view showing the principle of the above.

FIG. 1 shows a continuous unloader to which the present invention is applied.
As shown in (1), a rail 13 is laid on a quay 12 to which a hull 11 can approach, and a moving device 14 that moves on the rail 13 is provided. A boom 15 is provided on the moving device 14 so that an angle with respect to a horizontal plane (hereinafter, referred to as undulation) can be freely changed. The boom 15 is also installed so as to be rotatable around a straight line (not shown) that stands vertically on the moving device 14 (hereinafter referred to as boom turning).

At the tip of the boom 15, a casing 16 suspended vertically in the hull 11 is provided, in which a vertical conveyor 17 is provided. At the lower end of the vertical conveyor 17, ore loaded in the hold 18
A scraping unit 19 is provided for scraping a load (bulk load) such as coal, oil coke, or grain and sending it to the vertical conveyor 17. In addition, the vertical transport unit including the casing 16, the vertical conveyor 17 and the scraping unit 19 inside the casing 16 is a vertical center axis (not shown) of the casing 16.
(Below referred to as BE turn),
Further, the angle of the scraping section 19 with respect to the horizontal plane (hereinafter referred to as a swing angle) can be adjusted.

The operation of such a continuous unloader is controlled by a control circuit as shown in FIG. The manual operation is controlled by an up / down controller 21 including a manual operation lever, a traverse controller 2
2, which is performed by the traveling controller 23, the BE turning controller 24, and the swing controller 25. The control signals generated by these controllers are sent to and stored in the automatic operation controller 26.

The control signal generated by the up / down controller 21 is also sent to the up / down controller 27 via the automatic operation controller 26, and the up / down controller 27 drives the up / down actuator 28. The up / down actuator 28 sets the up / down angle of the boom 15 shown in FIG. 1 to a desired angle. The set undulation angle is detected by the undulation angle detector 29,
The detection output signal is supplied to the automatic operation controller 26.

The control signal generated by the traverse controller 22 is also sent to the boom swing control device 30 via the automatic operation controller 26, and the boom swing control device 30 drives the boom swing actuator 31. The boom swing actuator 31 sets the boom swing angle of the boom 15 shown in FIG. 1 to a desired angle. The set boom swing angle is detected by the boom swing angle detector 32, and the detection output signal is supplied to the automatic operation controller 26.

The control signal generated by the traveling controller 23 is also sent to the traveling controller 33 via the automatic driving controller 26, and the traveling controller 33 drives the traveling actuator 34. The travel actuator 34 moves the moving device 14 shown in FIG. 1 to a desired position. Moving device 14
Is detected by the traveling position detector 35, and a detection output signal thereof is supplied to the automatic operation controller 26.

The control signal generated by the BE turning controller 24 is also sent to a BE turning control device 36 via an automatic operation controller 26, and the BE turning control device 36
The turning actuator 37 is driven. The BE swivel actuator 37 sets the BE swivel angle of the casing 16 constituting the vertical transport unit shown in FIG. 1 to a desired angle. The set BE turning angle is detected by a BE turning angle detector 38, and a detection output signal is supplied to the automatic operation controller 26.

The control signal generated by the swing controller 25 is also sent to a swing controller 39 via an automatic operation controller 26, and the swing controller 39 drives a swing actuator 40. The swing actuator 40 sets the swing angle of the scraping section 19 shown in FIG. 1 to a desired angle. The set swing angle is detected by the swing angle detector 41, and the detection output signal is supplied to the automatic operation controller 26.

Next, an operation method of the present invention using such a continuous unloader will be described with reference to FIG. In the operation method of the present invention, the first layer of the cargo is manually scraped and unloaded along the path ABCDA, and the result is set as a teaching mode in the automatic operation controller 2.
6 is stored. That is, during teaching, AB
-The operator operates to move to -CD,
At this time, the operator raises and lowers, traverses, runs, BE turns,
When the operation of the operation lever such as the swing is changed, for example, when the traveling lever is changed from one notch to two notches, or the traversing lever is changed from one notch to two notches, an operation signal, each detector 29, 32, 35, 38 , 41, the change information at this time (operation change information such as time, coordinates, moving direction, and angle of the scraper 19) is stored in the automatic operation controller 26 as data for one step.

Although the path shown in FIG. 3 is rectangular for the sake of simplicity of explanation, in practice, it is common practice to carry out scraping and unloading along a work locus as shown in FIG.
Then, a locus that always returns to the work start position is taken. In any case, according to the present invention, when there is any change (change) in the operation of the operator, it is only necessary to store the time, coordinates, and information on the change operation.

Next, in the scraping and unloading of the second layer, the teaching path (A-B-C-D-
A) is lowered vertically as it is, and this is set as a path (A'-B'-C'-D'-A ') for the playback mode. That is, at the time of playback, each operation signal data is used as a command signal by using the stored data in the automatic driving controller 26, and each of the actuators 28, 31, 34,
37 and 40. During the operation of each actuator,
The position and angle data stored in the automatic operation controller 26 are compared with the current position and angle, and when they match, the moving direction, speed, and other work content are changed to perform one-step playback. The same operation as the second-layer scraping and unloading is repeated for the third and subsequent layers.

[0018]

According to the operation method of the present invention described above, the first layer of the cargo is scraped and unloaded in the manual teaching mode, and the coordinates, the moving direction, and the angle are changed only when the operation of the operator is changed. Other change information is stored as path information, and in the second and subsequent layers, the taught path is directly used as a path for the playback mode, so that control in the playback mode is facilitated.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing an example of a continuous unloader to which a method for automatically operating a continuous unloader according to the present invention is applied.

FIG. 2 is a block diagram showing an outline of a control circuit of the continuous unloader shown in FIG.

FIG. 3 is an explanatory diagram showing the principle of the automatic operation method of the continuous unloader of the present invention.

FIG. 4 is a diagram showing an example of a work locus of a continuous unloader.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Hull 12 Wharf 13 Rail 14 Moving device 15 Boom 16 Casing 17 Vertical conveyor 18 Hold 19 Scavenging part

Claims (1)

(57) [Claims] 1. An automatic operation method for a cargo handling machine, in which a work locus of a cargo handling machine is stored by manual operation and automatically unloaded while reproducing the work locus of the cargo handling machine during automatic operation, the first layer of unloading is provided. Is performed by manual operation, and the coordinate, time, movement direction, and operation change information when the work start position and operation of the cargo handling machine are changed at that time are stored, and the unloading of the cargo of each layer from the second layer onward is performed. has a coordinate and time and the moving direction when changing the work start position and the operation of the cargo handling equipment stored during the manual operation
An automatic operation method for a marine cargo handling machine, wherein automatic operation is performed based on operation change information.