JP3491739B2 - Unloader attitude control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control device for an unloader, and more particularly to a mechanical continuous unloader attitude control device for unloading difficult-to-flow bulk materials such as coal and limestone from a hold onto land.

[0002]

2. Description of the Related Art Generally, a mechanically continuous unloader is
It is a device that scrapes the layered loose material in the hold with a feeder, and unloads the scraped loose material to the land with a vertical boom, a finned conveyor installed inside the horizontal boom, or a screw conveyor. A bucket wheel or a rake-shaped shredding device was used as an accessory to the unloader as a feeder for scraping the loose material in the hold. Such a bucket wheel has a problem in that the size and weight of the device are larger than the supply capacity. The rake-shaped shredding device has an advantage that it is relatively lightweight and small in size, but has a problem that it is difficult to efficiently supply the shredded layered loose material to the vertical conveyor. Therefore, the applicant is
Japanese Utility Model Publication No. 2-35697 proposes an improvement of the powder crushing and supplying device for efficiently supplying the crushed layered loose material to the vertical conveyor. This powder shredding and feeding device is generally a method in which the entire machine equipped with an unloader is run to move the feeder to load and unload bulk material. While changing
Scraps are scraped off while moving within the hold. For example, as an example thereof, the unloader 1A shown in FIG. The swing frame 13 is attached, the horizontal boom 23 swingably attached to the swing frame 13, and the vertical boom 31 provided at the tip of the horizontal boom 23 are provided. It is also practiced to load the bulk material 201 while swinging 31 to move the feeder 200 in an arc.

A control device for performing the scraping operation is generally a simple control circuit which is simply turned on and off, and the operation for unloading and the operation for avoiding contact with the hatch 3a and the ship bottom 203 is performed by the hatch 3a. The operation is performed visually by the operator while looking at the feeder 200 by the side. As an example of the prior art of the control device for this unloader, Japanese Patent Laid-Open No. 3-2661 is known.
No. 4 publication is proposed. According to the publication, by using an unloader with a vertical screw conveyor, the bulk material taken in from the intake port at the lower end of the screw conveyor is transferred from the upper chute to the boom conveyor, and further transferred to the ground conveyor via the chute. Be done. While performing such work, the traveling platform travels on the rails on the ground at a constant speed. The unloading amount in this unloader is determined by the plunge depth of the screw conveyor, but the unloading amount changes because the surface of the bulk material in the hold is not necessarily flat. If the screw conveyor is pushed too deep into the bulk, the conveyor may be overloaded and the unloading operation may have to be interrupted. For this reason, according to the publication, when the power supplied to the vertical screw conveyor driving motor increases, it is considered that the load has increased, and the traveling speed is decreased to absorb the overload and the supplied power decreases. Then, it is described that the load is considered to have become small and the traveling speed is increased to bring the load to an appropriate value.

[0004]

By the way, in Japanese Patent Laid-Open No. 3-26614 as described above, the amount of scraping by the feeder varies, so that the electric power supplied to the motor for driving the vertical screw conveyor is detected. Although the traveling speed is controlled, the traveling device needs a large driving force in order to shift the traveling speed of heavy weight of the entire mechanical device including the traveling body, the revolving structure, the boom, the arm, etc. Becomes large. In addition, the speed control requires a control of the traveling speed of a traveling device having a large driving force, and the device becomes complicated. Also, since the entire heavy machine is controlled, the response is delayed and the scraping amount is kept constant. However, there is a problem in that the cargo handling efficiency does not improve so much. In addition, the vertical boom 31 is swung with respect to the horizontal boom 23 to move the feeder 200 in an arc to load and unload the loose pieces 201. In this case, as shown in FIG. Since the amount scraped by the machine 200 varies, the cargo handling efficiency fluctuates greatly, which makes the cargo handling equipment unstable, resulting in a large scale of the cargo handling equipment in the subsequent stage and a large initial cost of the equipment. Further, in the operation when the bottom is rough, the feeder 200 frequently contacts the ship bottom 203, which may damage the unloader 1A, the ship bottom 203, and the feeder 200, which is unsafe.
In order to avoid this, there is a problem that the cargo handling near the bottom of the ship (Za) and the lateral part (Zb) cannot be performed even to the corners, and a considerable amount of unloaded coal remains. Japanese Utility Model Publication No. 2-35697 proposed by the present applicant also has a problem that a similar problem occurs when swinging a vertical boom.

The present invention has been made in view of the above problems, and an object thereof is to improve the scraping efficiency because the supply device for scraping the bulk can be brought close to the bottom of the ship and the lateral wall of the ship. (EN) Provided is an attitude control device for an unloader, which can improve the cargo handling efficiency and reduce the fluctuation of the cargo handling efficiency, and improve the stability and safety when the bottom is exposed.

[0006]

[Means for Solving the Problems] To achieve the above object,
The attitude control device for an unloader according to the present invention is, firstly,
It is attached to the swinging body that is attached to the running body that runs along the ship on the ground so that it can swing freely, the horizontal boom that is attached to the swinging body and can be raised and lowered by the horizontal boom cylinder, and the tip of the horizontal boom. The posture of the unloader that controls the posture of the unloader that has a vertical boom that can be swung by the vertical boom cylinder and a supply device that is swingably attached to the tip of the vertical boom and that scrapes the loose material in the hold. In the control device, a horizontal boom inclination detecting means for detecting the inclination of the horizontal boom, a vertical boom inclination detecting means for detecting the inclination of the vertical boom, and one of the entrances and exits is a horizontal head.
Connected to the head side of the horizontal cylinder via a pipe.
And the other inlet / outlet is connected to the horizontal
Horizontal bi-directional variable connected to the bottom side of the cylinder
Displacement type pump / motor and head for vertical one outlet
Connected to the head side of the vertical cylinder via a pipe.
And the other inlet / outlet via the vertical bottom pipe
Vertical bidirectional variable connected to the bottom side of the cylinder
In front of the hydraulic drive device, a hydraulic drive device having a displacement pump / motor, and output signals from the horizontal boom tilt detection means and the vertical boom tilt detection means are received.
Horizontal bidirectional variable displacement pump / motor and vertical
For controlling the horizontal boom cylinder and the vertical boom cylinder by operating the horizontal boom cylinder and the vertical boom cylinder by operating the horizontal boom cylinder and the vertical boom cylinder. While keeping constant
In addition, the controller is configured to move horizontally.

The tilt detecting means may be any as long as it can detect the tilt of the horizontal boom or the vertical boom. For example, the tilt sensor or angle sensor such as a clinometer or gyro, or the stroke of the horizontal boom cylinder or the vertical boom cylinder can be used. It may be composed of a stroke sensor for detecting and a calculator for calculating the tilt angles of the horizontal boom and the vertical boom based on the output signal of the stroke sensor.

Secondly, the vertical boom is provided in the feeding device.
The cylinder for the supply device that swings the
The drive device has one inlet and outlet via the supply head line.
Connected to the head side of the supply device cylinder, the other
The inlet and outlet are connected to the supply device through the supply bottom pipe.
Supply bidirectional variable capacitance type connected to the bottom side
Has a pump motor, wherein the supply device has a tilt detection means for supply device for detecting the inclination angle of the supply device, the controller receives a ramp signal from the inclination detecting unit for the supply device, wherein Bidirectional variable displacement pump for supply
The motor is controlled to supply pressure oil to the supply device cylinder to maintain the supply device vertical to the ground. It should be noted that the inclination detecting means for the supply device can also be configured in the same manner as the above inclination detecting means.

Thirdly, the hydraulic drive device is constituted by a closed circuit, and is arranged independently of each of the horizontal boom cylinder, the vertical boom cylinder and the supply device cylinder. Variable displacement pump motors for supplying oil, hydraulic pumps for supplying discharge oil to the head side of the horizontal boom cylinder, the vertical boom cylinder, and the supply device cylinder, respectively. Check valve disposed between the head side and the hydraulic pump, a bottom pipe line connecting each variable displacement pump / motor and the bottom side of each cylinder, and each variable displacement pump -It is arranged between the motor and the head pipe line that connects the head side of each cylinder, and the excess oil on the bottom side of each cylinder is removed. A switching valve for returning back to the tank, and configured to have a city.

Fourthly, the hydraulic drive device is a variable displacement pump which is constituted by an open circuit and supplies pressure oil to the horizontal boom cylinder, the vertical boom cylinder and the supply device cylinder. An electromagnetic directional control valve for switching the discharge oil from the variable displacement pump to either the bottom side of each cylinder or the head side having a capacity smaller than the bottom side by a cylinder rod, and the variable displacement pump And the bottom side electromagnetic flow control valve disposed between the cylinder and the bottom of each cylinder, and between the variable displacement pump and the head of each cylinder, and the bottom rod side The head side solenoid type flow control valve that flows a flow rate smaller than the volume of the A pilot-operated check valve that is arranged in parallel and that receives the pressure oil of the variable displacement pump and returns the flow rate from the bottom side or head side of each cylinder to the tank. There is.

[0011]

According to the above construction, the horizontal boom and the vertical boom receive signals from the horizontal boom tilt detecting means and the vertical boom tilt detecting means by the controller, and the hydraulic boom is driven by a command from the controller. The horizontal boom cylinder and the vertical boom cylinder are contracted or extended through the device, and simultaneously actuated to move the supply device horizontally and stably while keeping the height of the supply device constant. Further, the supply device receives and calculates according to a signal from the inclination sensor for the supply device, and contracts or extends the cylinder for the supply device in response to a command from the controller, so that the blades of the cutter arranged on the circumference are reduced. Bulk objects are accumulated on the circumference while maintaining vertical to the bottom of the ship, and by moving the rotor parallel to the bottom of the ship, the bulk objects near the bottom of the ship are safely accumulated. Since the controller for controlling the horizontal boom and the vertical boom and the controller for the supply device are separately provided, the control speed is increased,
While keeping the height constant, the work speed of moving horizontally can be increased and the work accuracy improves.

Since the hydraulic drive system is composed of closed circuits and uses a variable displacement pump / motor in each circuit, the weight of the horizontal boom, the vertical boom, or the supply device is scraped off the loose objects. It can be used as an actuating force, and an electric motor with a small driving force can drive a variable displacement pump motor.

Alternatively, since the hydraulic drive device is constituted by an open circuit and is controlled so as to flow a flow rate that matches the bottom side volume and the head side volume of each cylinder, the height of the supply device is increased. While keeping constant, move horizontally with high precision. In addition, since the pilot operated check valve that opens by receiving the pressure oil of the variable displacement pump is used, the meter-in control can be reliably performed for each cylinder and the counter balance function can be obtained.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an attitude control device for an unloader according to the present invention will be described in detail below with reference to the drawings. First, FIG. 1 is an overall schematic view of an embodiment of an unloader 1, and FIG. 2 is an overall side view schematic. In FIG.
The unloader 1 mainly includes an unloader body 10 and
The horizontal boom section 20, the vertical boom section 30, and the supply device 4
0, a hydraulic drive device 80 (shown in FIGS. 6 and 9), and an attitude control device 130 (shown in FIG. 7). The unloader 1 moves from the hatch 3a of the ship 3 to the vertical boom section 30.
And the supply device 40 is inserted into the hold 3b, and the vertical boom portion 30 and the supply device 40 are placed in the lateral direction (direction A) of the ship 3.
While moving to, the unloader main body 10 is moved in the front-rear direction (X direction) of the ship 3 to carry out the transported objects 7 (hereinafter referred to as the transported objects 7) such as bulk items.

The unloader main body 10 comprises a traveling frame 1
1 and a revolving frame 13 that is rotatably attached to the traveling frame 11. And the traveling frame 11 is
Wheels 15 running on rails 9 installed on the ground 8 are rotatably attached to the lower end portion, and are configured to be able to move to a predetermined position by self-propelling. In addition, the swivel frame 13
Is attached to the traveling frame 11 by a motor (not shown) so as to be rotatable. The horizontal boom section 20 includes a horizontal bracket 21, a horizontal boom 23, a horizontal boom cylinder 25 (hereinafter, referred to as horizontal cylinder 25), and a horizontal boom connecting pin 27 (hereinafter, referred to as horizontal pin 27). . The horizontal bracket 21 is fixed to the revolving frame 13 and holds the horizontal boom 23 so that the horizontal boom 23 can be raised and lowered via the horizontal pin 27. The horizontal boom 23 has an intermediate portion held up and down by the horizontal bracket 21 by a horizontal pin 27, a horizontal boom portion 20 to be described later is attached to one end, and the other end is used for adjustment. The balancer weight 29 is attached.

In the horizontal cylinder 25, a horizontal boom bottom portion 25B (hereinafter referred to as horizontal bottom portion 25B) is projected to the revolving frame 13 from a horizontal boom head portion 25H (hereinafter referred to as horizontal head portion 25H). Horizontal boom cylinder rod 25a (hereinafter, horizontal rod 25
(referred to as a) is swingably attached to the horizontal boom 23, and receives the pressure oil from the hydraulic drive device 80 described later to swingably operate the horizontal boom 23 with respect to the swing frame 13.

The vertical boom section 30 includes a vertical boom 31 and
Vertical boom cylinder 33 (hereinafter, vertical cylinder 33
And a vertical boom connecting pin 35 (hereinafter referred to as a vertical pin 35). The vertical boom 31 is swingably attached to the tip of the horizontal boom 23 via a vertical pin 35. In the vertical cylinder 33, the vertical boom bottom portion 33B (hereinafter referred to as the vertical bottom portion 33B) is attached to the horizontal boom 23 and the vertical boom head portion 33.
A vertical boom cylinder rod 33a (hereinafter, referred to as vertical rod 33a) protruding from H (hereinafter, referred to as vertical head portion 33H) is swingably attached to the vertical boom 31, and is attached from a hydraulic drive device 80 described later. Upon receiving the pressure oil, the vertical boom 31 is swingably operated with respect to the horizontal boom 23 by the vertical pin 35.

FIG. 3 is an enlarged view of the feeder 40 and the feeder 50 of the feeder 40, and FIG. 4 is a feeder 50.
Is a partial cross-sectional view (cross-sectional view taken along the line AA of FIG. 3), and FIG. 5 is a front cross-sectional view.

The supply device 40 comprises a supply body 41, a fin conveyer 43, and a fin conveyer first roller 45A.
(Hereinafter, referred to as first roller 45A) and second roller 45B for fin conveyer (hereinafter, referred to as second roller 45B)
A feeder cylinder 47, a feeder pin 49,
And a feeder 50.

The supply main body 41 is swingably attached to the tip of the vertical boom 31 by a supply device pin 49, and swings by the operating force of a supply machine cylinder 47. As another example, an actuator such as a hydraulic motor may swing via a chain. A pair of first roller 45A and second roller 45B is rotatably attached to the upper portion of the supply body 41. A third roller 45C for the fin conveyer is rotatably attached to the lower center of the supply body 41. At this time, the pair of first roller 45A and second roller 4
5B is arranged so that when the supply body 41 swings with respect to the vertical boom 31, the fin conveyer 43A, which is the lower side of the fin conveyer 43, is smoothly guided to the third roller 45C arranged in the lower center. It is set up.

The fin conveyors 43 are housed in the vertical boom 31 and the horizontal boom 23, respectively, are rotated by a conveyor drive source (not shown), and the transported objects 7 such as bulk materials scraped by the feeder 50 are grounded. I am sending it to.
In particular, unlike the conventional case, the finned conveyor 43 is
When the supply body 41 swings with respect to the vertical boom 31 so as to be vertical to the ship bottom 5, the lower fin conveyer 43A bends along with the supply body 41 to make the transported object 7 vertical. Conveyor with fins 43 arranged in the boom 31
Have been sent to.

A pair of first roller 45A and second roller 45
As shown in the figure, B is a pair of fins provided on the lower end of the finned conveyor 43, the pair of which is rotatably arranged in the left-right direction (moving direction) of the supply device pin 49 at the tip of the vertical boom 31. It is arranged so that 43A is smoothly guided to the third roller 45C arranged in the lower center part. Also,
The third roller 45C is disposed at the lower center and is provided in the supply main body 41.
It is bent along with, and receives the transported object 7 such as a loose object scraped by the feeder 50 described later, and passes through the fin conveyor 43A below and the fin conveyor 43 arranged in the vertical boom 31. I am sending it to the ground.

In the feeder cylinder 47, the feeder bottom portion 47B is attached to the vertical boom 31, and the feeder head portion 47H.
Cylinder rods 47a for the feeder (hereinafter, referred to as rod 47a for the feeder) protruding from each are swingably attached to the supply main body 41, receive pressure oil from a hydraulic drive device 80 described later, and supply the feeder 50. Is swingably operated with respect to the vertical boom 31.

In FIGS. 3, 4 and 5, the feeder 50 comprises a feeder main body 51 and a scraping portion 70. The feeder main body 51 includes a rotary shaft 53, a rotor 55, a scooping blade 57, and a screw type transport member 59.
(Hereinafter referred to as screw member 59) and guide plate 61
, A rotor drive motor 63, and an endless chain 65. The rotary shaft 53 is the bottom 5 of the ship.
It is arranged so as to be parallel to. That is, the rotating shaft 53 is arranged in parallel with the lower central portion of the third roller 45C, and is arranged orthogonal to the swinging direction of the vertical boom 31.

A pair of rotors 55 are disposed on the left and right of the rotary shaft 53 with an endless chain 65, which will be described later, disposed in the center of the rotor 55. Further, the rotor 55 is provided with a plurality of scraping blades 57 in the circumferential direction. In addition, the rotor 55
A screw member 59 is provided at both ends of the object to feed the scraped object 7 to the center, that is, toward the scraping blade 57. Then, the guide plate 61 is connected to the rotor 55.
And the conveyor with fins 43A are arranged so that the transported object 7 flipped up by the scooping blades 57 efficiently enters the conveyor with fins 43A as the rotor 55 rotates. The rotor drive motor 63 is rotatably arranged on the supply body 41, and its rotation is transmitted to the rotary shaft 53 via an endless chain 65. Further, the endless chain 65 is hung on the rotor drive motor 63 and the rotary shaft 53, and the rotation of the rotor drive motor 63 is controlled by the rotary shaft 53.
Have been communicated to.

The scraping section 70 comprises a blade 71, a rotating ring 73, a transmission shaft 75, and a blade drive motor 77. The blade 71 has a hollow cylindrical outer shape, and the blades 71a spaced apart by a predetermined distance in the hollow cylindrical portion are arranged in multiple blades in the same shape as a sirocco fan, and each blade 71a is a vertical boom. It is arranged around the rotor 55 or the rotor 55 and the screw type transport member 59 in the same direction as 31, that is, perpendicular to the ship bottom 5. This blade 7
When 1 rotates, it is circulated between the blades 71a to scrape and feed the transported object 7 toward the rotor 55 or the rotor 55 and the screw type transport member 59. Further, each wing 71a is fixedly supported by a rotating ring 73 located above them.

The rotary ring 73 has an inner side 73a fixed to the supply main body 41, and a gear 73b on the outer side. The gear 73b is connected to the transmission shaft 75. This transmission shaft 75
Is arranged between the gear 73b and the blade drive motor 77, and rotates the blade drive motor 77 by the gear 73b.
Is transmitted to the blade 71 via. The blade drive motor 77 is rotatably arranged on the supply body 41, and the rotation thereof is transmitted to the blade 71 via the transmission shaft 75.

The transported objects 7 stored in a pile on the bottom 5 of the hold 3b are broken by the blades 71a of the scraping section 70 and gathered toward the center. The to-be-carried object 7 is scraped directly by the scraping blades 57 of the rotor 55, or fed by the rotor 55 by the screw member 59. The transported objects 7 collected on the scraping blades 57 of the rotor 55 are given a centrifugal force by the rotation of the rotor 55, and efficiently enter the finned conveyor 43A directly or through the assistance of the guide plate 61.
Therefore, the transported object 7 is quickly carried out from the ship bottom 7 to a predetermined place by the fin conveyor 43.

FIG. 6 is an overall schematic view of the first embodiment of the hydraulic drive system 80 of the unloader supply system. In FIG. 6, a hydraulic drive device 80 includes a horizontal boom hydraulic drive device 90 (hereinafter referred to as horizontal hydraulic device 90) and a vertical boom hydraulic drive device 100 (hereinafter referred to as vertical hydraulic device 10).
0) and the hydraulic drive 120 for the supply device
(Hereinafter referred to as the supply hydraulic device 120). Further, in the present embodiment, the hydraulic drive device 80 includes a first electric motor 81 that drives the horizontal hydraulic device 90 and a second electric motor 83 (a dedicated electric motor 81 that drives the vertical hydraulic device 100 and the supply hydraulic device 120). (A third electric motor may be provided), and the tank 87.

The first electric motor 81 includes a horizontal hydraulic device 9
Variable displacement pump / motor 9 for horizontal boom driving 0
1 (hereinafter, referred to as a horizontal variable pump 91) is connected. The second electric motor 83 has a vertical boom variable displacement pump motor 101 (hereinafter, referred to as a vertical variable pump 101) that drives the vertical hydraulic device 100.
However, a variable displacement pump / motor 121 for a supply device that drives the supply hydraulic device 120 (hereinafter referred to as a variable pump 121 for a supply device) is also connected.

The horizontal hydraulic device 90 includes the first electric motor 8
1, a horizontal variable pump 91, and a horizontal cylinder 25
And a horizontal 3-port switching valve 93 and a first pressure regulating valve 95A
The first fixed pump 97, the check valve 99, and the second pressure regulating valve 95B. The horizontal variable pump 91 is
An electromagnetic horizontal variable device 91A for varying the discharge volume (cc / rev) of the pump or the motor is attached, and receives a command from the attitude control device 130 described later, and receives a predetermined discharge volume (cc / rev). In the horizontal variable pump 91, one inlet / outlet is the horizontal cylinder 2
The horizontal bottom portion 25B of 5 is a horizontal bottom pipeline 25b.
Further, the other inlet / outlet connects the horizontal head portion 25H of the horizontal cylinder 25 to the horizontal head conduit 25h.

The horizontal 3-port switching valve 93 is arranged between the horizontal bottom pipe 25b and the horizontal head pipe 25h, and is connected to the horizontal bottom pipe 25b and the horizontal head pipe 25h, respectively. It has a port and a port connected to the tank 87. The horizontal 3-port switching valve 93 is switched by receiving pilot oil pressures of the horizontal bottom pipeline 25b and the horizontal head pipeline 25h at both ends. The first pressure regulating valve 95A is disposed between the horizontal 3-port switching valve 93 and the tank 87, and
The return pressure to 7 is regulated and limited.

The first fixed pump 97 is the first electric motor 8
The discharge oil is supplied to the horizontal head portion 25H side via the check valve 99 by supplying the insufficient amount of oil for the horizontal rod 25a of the horizontal cylinder 25. Hereinafter, the shortage or surplus oil amount for the rod means the oil amount generated because the bottom side volume and the head side volume differ by the rod part volume with respect to the movement of the cylinder in the cylinder movement direction. It is called shortage or surplus accordingly. Similarly, in the following, this three-port switching valve is a return switching valve that returns excess oil for the cylinder rod to the tank 87.

On the other hand, the check valve 99 is provided for the horizontal head portion 25.
It is arranged between H and the first fixed pump 97 so as not to act on the first fixed pump 97 of the horizontal head portion 25H. In addition, the second pressure regulating valve 95B is the first fixed pump 97.
It is arranged on the discharge side of and is returned to the tank 87 when discharge oil is unnecessary.

The vertical hydraulic system 100 includes a second electric motor 83, a vertical variable pump 101, and a vertical cylinder 3.
3, the vertical 3-port switching valve 103, and the third pressure regulating valve 10
5A, a second fixed pump 107, a check valve 109, and a fourth pressure regulating valve 105B. The vertical variable pump 101 has a discharge volume (cc / re) of the pump and the motor.
The electromagnetic vertical variable device 101A that makes v) variable is additionally provided, and receives a command from the attitude control device 130, which will be described later, to set a predetermined discharge volume (cc / rev) that has received the command. In the vertical variable pump 101, one inlet / outlet is the vertical bottom portion 33B of the vertical cylinder 33 in the vertical bottom pipe line 33b, and the other inlet / outlet is the vertical head portion 33H of the vertical cylinder 33. Pipeline 33h
Connected to.

The vertical 3-port switching valve 103 is disposed between the vertical bottom pipe line 33b and the vertical head pipe line 33h, and is connected to the vertical bottom pipe line 33b and the vertical head pipe line 33h, respectively. It has a port and a port connected to the tank 87. This vertical 3-port switching valve 103
At each end of each vertical bottom conduit 33
It is switched by receiving the pilot hydraulic pressures of b and the vertical head conduit 33h.

The third pressure regulating valve 105A is arranged between the vertical 3-port switching valve 103 and the tank 87, and
The return pressure to is regulated and limited. Further, the second fixed pump 107 is driven by the second electric motor 83, and the discharge oil thereof is passed through the check valve 109 and the vertical rod 33.
An insufficient amount of oil for a is supplied to the vertical head portion 33H. The check valve 109 is disposed between the second fixed pump 107 and the vertical bottom portion 33B so that the hydraulic pressure of the vertical head portion 33H does not act on the fixed pump 97. Further, the fourth pressure regulating valve 105B is arranged on the discharge side of the second fixed pump 107, and returns the tank 87 to the tank 87 when the discharged oil is unnecessary.

The supply hydraulic system 120 includes a second electric motor 83, a supply variable pump 121, a supply machine cylinder 47, a supply three-port switching valve 123, and a fifth pressure regulating valve 1.
25A, a third fixed pump 127, a check valve 129,
It comprises a sixth pressure regulating valve 125B. The variable pump 121 for supply has a discharge volume (cc / r) of the pump and the motor.
ev) is variable, and an electromagnetic type supply variable device 121A is attached, and receives a command from a posture control device 130, which will be described later, to set a predetermined discharge volume (cc / rev) that has received the command. In the variable supply pump 121, one inlet / outlet is the feeder bottom portion 47B of the feeder cylinder 47 to the feeder bottom pipe line 47b, and the other inlet / outlet is the feeder head portion of the feeder cylinder 47. 47H is connected to the feeder head conduit 47h.

The supply three-port switching valve 123 is arranged between the supply bottom pipe line 47b and the supply head pipe line 47h, and is connected to the supply bottom pipe line 47b and the supply head pipe line 47h, respectively. It has a port and a port connected to the tank 87. This supply 3 port switching valve 123
Is connected to each of the two end portions with the respective supply bottom pipes 47.
It is switched by receiving the pilot hydraulic pressures of b and the supply head conduit 47h.

A fifth pressure regulating valve 125A is arranged between the supply three-port switching valve 123 and the tank 87, and regulates and limits the return pressure to the tank 87. Then, the third fixed pump 127 is driven by the second electric motor 83, and the discharge oil thereof is supplied via the check valve 129 to the feeder head unit 4.
We are supplying to 7H. The check valve 129 is disposed between the feeder head conduit 47h and the fixed pump 97, and the hydraulic pressure of the feeder head portion 47H is the third fixed pump 1.
I try not to act on 27.

FIG. 7 is an overall schematic view of the attitude control device 130 of the unloader supply device. In FIG. 7, the attitude control device 130 of the unloader supply device includes a horizontal boom tilt sensor 131 (hereinafter referred to as a horizontal sensor 131) that is a horizontal boom tilt detection means, and a vertical boom tilt sensor that is a vertical boom tilt detection means. An inclination sensor 133 (hereinafter referred to as a vertical sensor 133), a supply apparatus inclination sensor 135 (hereinafter referred to as a supply sensor 135) that is a supply apparatus inclination detection unit, an A / D converter 137, and a controller 139. , D / A converter 141 and operation panel 143
And a hydraulic drive device 80.

The horizontal sensor 131 is attached to the horizontal boom 23, and is attached to the horizontal bracket 21, that is, the revolving frame 13.
The horizontal tilt angle θa of the horizontal boom 23 with respect to is detected. The vertical sensor 133 is attached to the vertical boom 31, and the vertical angle of the vertical boom 31, that is, the swing frame 13 is used.
The vertical angle tilt angle θh of the horizontal boom 23 with respect to is detected. Further, the supply sensor 135 is provided in the supply main body 41.
The vertical angle θ of the supply device 40 with respect to the bottom 5 of the ship.
e, that is, the vertical angle θe with respect to the rail 9 (or the traveling frame 11) is detected.

The above inclination sensors, for example, can detect changes in the liquid level as changes in electrostatic capacity using four capacitor plates, and can inexpensively detect two axes of pitch and roll simultaneously, such as a clinometer. Therefore, it is better to use a small tilt sensor.

A / D converter 137 and D / A converter 141
Are all ordinary converters that convert between analog and digital signals. Then, the controller 139 controls the horizontal sensor 131, the vertical sensor 133,
And analog signal from the supply sensor 135 is A / D
The horizontal boom 23 receives the digital signal via the converter 137 so that the supply device 40 moves horizontally with a constant height Ha with respect to the ship bottom 5 and the supply device 40 moves vertically with respect to the ship bottom 5. , The vertical boom 31, and the movement speed of the supply device 40 are calculated, and the calculated command value is output to the hydraulic drive device 80. Hydraulic drive 80
Receives the command value obtained by the controller 139 as an analog signal through the D / A converter 141, and is suitable for the horizontal boom cylinder 25, the vertical boom cylinder 33, and the feeder cylinder 47 at the optimum movement speed. Operates to deliver a supply of pressure oil.

In the first embodiment, as shown in FIG. 6, for example, two controllers 139 are used, and one first controller 139A receives signals from the horizontal sensor 131 and the vertical sensor 133. Feeding device 40
So as to move horizontally at a constant height Ha with respect to the ship bottom 5, the optimum movement speeds of the horizontal boom 23 and the vertical boom 31 are calculated, and the calculated command value is used as the horizontal hydraulic device 90 and A command is output to the hydraulic drive unit 80 of the vertical hydraulic unit 100. In addition, the other one second controller 139B is provided with the supply device 40 from the supply sensor 135.
So as to move vertically with respect to the ship bottom 5.
And calculates a command value obtained by the calculation to the hydraulic drive unit 80 of the supply hydraulic unit 120.

The operation panel 143 determines the position of the feeder 50 with respect to the ship bottom 5 and determines the moving direction of the feeder 50. For this reason, the operation panel 143 has a raising operation button 1 for moving the feeder 50 in the vertical direction.
43 Up and a lowering operation button 143Dn, a rightward operation button 143R and a leftward operation button 143L that move in the left-right direction are provided. In addition, the operation panel 143
May have a dedicated operation button that continuously moves in the left-right direction, or may be wirelessly operated.

Next, the operation of scraping and carrying out the transported objects 7 stored in a pile on the ship bottom 5 such as the hold 3b with the feeder 50 in the above structure will be described with reference to FIGS. 6 and 8. To do. At this time, the feeder 50 is assumed to move horizontally with a constant height Ha with respect to the ship bottom 5 under the control of the horizontal hydraulic device 90 and the vertical hydraulic device 100. It is assumed that it moves vertically with respect to the ship bottom 5 under the control of the hydraulic device 120.

In FIG. 2, when working in the A1 direction, the feeder 50 is the innermost Yo of the ship bottom 5, that is, the traveling frame 11.
Is the operation for scraping the transported object 7 from the position farthest from the center to the central portion Yc of the ship bottom 5, and when working in the A2 direction, the feeder 50 is the frontmost Yn from the central portion Yc of the ship bottom 5,
That is, it is an operation for scraping out the transported object 7 from the traveling frame 11 to the closest position. Further, during the work in the A3 direction and the work in the A4 direction, the A1 direction and the A2 direction are opposite to each other, and the feeder 50 removes the transported object 7 from the frontmost Yn of the ship bottom 5 to the central portion Yc of the ship bottom 5. It is an operation when scratching out, and when working in the A4 direction, the central portion Yc of the ship bottom 5
It is an operation when scraping out the transported object 7 from the innermost part to the innermost part.

In FIG. 8, the feeder 50 has a central portion Yc.
In order to move horizontally (when working in the direction A1 in FIG. 2), the vertical boom 31 swings to the right (counterclockwise side as indicated by arrow Qr) in the figure, and the horizontal boom 23
Swings upward (clockwise as indicated by arrow Qu) in the figure. For this purpose, the vertical cylinder 33 needs to be contracted and the horizontal cylinder 25 needs to be expanded. Since the weight of the vertical boom 31 and the feeder 50 acts on the vertical cylinder 33, the vertical cylinder 33 has a vertical axis. Since pressure oil (vertical bottom pressure Svb) is generated in the operation bottom portion 33B, and the weight of the horizontal boom 23, the vertical boom 31, and the feeder 50 acts on the horizontal cylinder 25, the horizontal cylinder 25 is used for horizontal operation. Pressure oil (horizontal bottom pressure Shb) is generated in the bottom portion 25B.

Vertical bottom pressure S of the vertical bottom portion 33B
vb is the feeder 50 while the vertical cylinder 33 shrinks.
Scrape off the transported object 7, but its vertical bottom pressure Svb
Only by itself, the transported object 7 cannot be scraped off continuously by the feeder 50. In order to continuously scrape the transported object 7 with the feeder 50, the vertical variable pump 101 is driven by receiving the rotational torque from the second electric motor 83 and operates as a hydraulic pump. At this time, the vertical bottom pressure Svb Acts on the vertical variable pump 101 via the vertical bottom pipe line 33b, the differential pressure acting on the vertical variable pump 101 is reduced, the rotational torque to be applied is small, and the electric power is small. That is, the vertical variable pump 101
From the vertical head pressure Pvh supplied from the vertical head unit 33H to the vertical head unit 33H, the vertical boom 3 for scraping the transported object 7 is scraped.
1 and the vertical bottom pressure Svb when the weight of the feeder 50 acts, the rotational torque applied to the vertical variable pump 101 can be small and sufficient, and the electric power can be small.

At this time, the vertical variable pump 101
The vertical head pressure Pvh supplied from the vertical head portion 33H to the vertical head portion 33H is equal to the vertical bottom pressure Sv of the vertical bottom portion 33B.
Since it is larger than b, it acts on the vertical 3-port switching valve 103 as pilot pressure from the vertical head conduit 33h,
The vertical 3-port switching valve 103 is switched to the a position. Therefore, from the vertical bottom portion 33B to the vertical variable pump 1
The excess oil corresponding to the vertical rod 33a that has come to the vertical head pipe line 33h via 01 returns to the tank 87 via the a position of the vertical 3-port switching valve 103 and the third pressure regulating valve 105A. The oil discharged from the second fixed pump 107 is returned to the tank 87 via the fourth pressure regulating valve 105B.

Horizontal bottom pressure S of the horizontal bottom portion 25B
hb acts on the horizontal variable pump 91 via the horizontal bottom pipe line 25b, but the horizontal cylinder 25 extends so that the horizontal variable pump 91 operates as a hydraulic pump.
At this time, the horizontal bottom pressure Shb is a small pressure because the balancer weight 29 for adjustment is attached to the other end of the horizontal boom 23.

The horizontal variable pump 91 is rotated by receiving the rotational torque from the first electric motor 81, and the horizontal bottom portion 25B is supplied with pressure oil having a horizontal bottom pressure Phb larger than the horizontal bottom pressure Shb generated by the weight. And the horizontal cylinder 25 extends. Therefore, by using the balancer weight 29 for adjustment, the rotational torque of the first electric motor 81 used to raise the horizontal boom 23 can be reduced.

Further, the horizontal bottom pressure Shb of the horizontal bottom portion 25B acts on the horizontal 3 port switching valve 93 as a pilot pressure from the horizontal bottom pipe line 25b, and the horizontal 3
The port switching valve 93 is switched to the F position. At this time, the oil coming from the horizontal head portion 25H to the horizontal bottom portion 25B via the horizontal variable pump 91 is insufficient by the horizontal rod 25a. Therefore, the horizontal 3 port switching valve 9
The oil that has come to the first pressure regulating valve 95A after passing through position 3 to 3 is at a low pressure, is blocked by the first pressure regulating valve 95A, and does not return to the tank 87. With respect to the oil shortage of the horizontal rod 25a, the oil discharged from the first fixed pump 97 is supplied to the horizontal head portion 25H at a low pressure via the check valve 99, and then the horizontal variable pump 91 is passed to the horizontal bottom. The second pressure regulating valve 95B is supplied to the portion 25B and is surplus.
(Or, the one where the pressure regulation of the first pressure regulation valve 95A is lower) is returned to the tank 87.

In the above, when the transported object 7 stored in a pile is a soft object such as sand, the vertical boom 31
At the vertical bottom pressure Sv of the vertical bottom portion 33B.
b may be smaller than the vertical head pressure Pvh supplied to the vertical head portion 33H. At this time, the vertical variable pump 101 operates as a motor, and the oil amount of the vertical bottom portion 33B is supplied to the vertical head portion 33H via the vertical variable pump 101. At this time, the same operation as the horizontal bottom portion 25B described above is performed, and the vertical bottom pressure Svb acts on the vertical three-port switching valve 103,
The horizontal 3-port switching valve 93 is switched to the C position. At this time, from the vertical bottom portion 33B to the vertical variable pump 10
The oil coming to the vertical head portion 33H via 1 is excessive by the amount corresponding to the vertical rod 33a. This oil returns to the tank 87 via the F position of the vertical 3-port switching valve 103 and the third pressure regulating valve 105A. The oil discharged from the second fixed pump 107 is returned to the tank 87 via the fourth pressure regulating valve 105B.

During the above-described work in the A1 direction, in the feeder 40, the weight of the feeder 50 is held by the tensile force acting on the feeder cylinder 47 from the position where the cylinder is mounted. Pressure acts on the feeder head unit 47H of 47. Therefore, as shown in the figure, in the present embodiment, the feeder 50 is normally located at the central portion Y.
As it moves to c, the feeder cylinder 47 contracts and swings counterclockwise. Although the supply device 50 scrapes the transported object 7 while the supply cylinder 47 shrinks, the supply device 50 can continuously scrape the transported object 7 only by the pressure of the supply device head 47H. Can not. Therefore, the feeder head portion 47H of the feeder cylinder 47
The pressure oil is supplied to the supply cylinder 47 and the supply machine cylinder 47 contracts (in the direction of the Qf arrow in FIG. 3). At this time, the supply machine head pressure Pvha supplied from the supply variable pump 121 to the supply machine head portion 47H acts on the supply 3 port switching valve 123 as a pilot pressure from the supply machine head portion 47H, and the supply 3 port switching valve 123 is operated. The port switching valve 123 is switched to the reposition. For this reason, the rod portion of the cylinder rod 47a for the feeder, which has come from the bottom portion 47B for the feeder through the variable pump 121 for feeding to the head portion 47H for the feeder, is redundant. This surplus oil is repositioned to the supply 3 port switching valve 123,
And it returns to the tank 87 through 125 A of 5th pressure regulation valves. Further, since the head portion 47H for the feeder has a high pressure, the check valve 12
9 is closed, and the oil discharged from the third fixed pump 127 is returned to the tank 87 via the sixth pressure regulating valve 125B.

In the above description, when the transported object 7 stored in a piled state is a soft object such as sand, the pressure acts on the feeder head portion 47H of the feeder cylinder 47, and therefore this action is caused. It may be possible to scrape off with force.
At this time, the supply variable pump 121 operates as a motor, and the oil amount of the supply machine bottom portion 47B is supplied to the supply machine head portion 47H via the supply variable pump 121. At this time, the feeder head portion 47H acts on the vertical 3-port switching valve 103 to switch the supply 3-port switching valve 123 to the repositioned position. At this time, the oil coming from the feeder bottom portion 47B to the feeder head portion 47H via the feeding variable pump 121 is supplied to the feeder cylinder rod 4
There is a surplus for the rod of 7a. This oil returns to the tank 87 via the supply 3-port switching valve 123, the repositioned position, and the fifth pressure regulating valve 125A, as described above. Further, since the head portion 47H for the feeder has a high pressure, the check valve 12
9 is closed, and the oil discharged from the third fixed pump 127 is returned to the tank 87 via the sixth pressure regulating valve 125B.

6 and 8, the operation in the A2 direction will be described. In order for the feeder 50 to move horizontally from the central portion Yc toward the frontmost Yn, the vertical boom 31 swings to the right side (counterclockwise side) in the figure, and the horizontal boom 23 lowers in the figure. Swing (counterclockwise). For this purpose, it is necessary to reduce the vertical cylinder 33 and the horizontal cylinder 25.
The vertical cylinder 33 is the same as the vertical cylinder 33 except that the pressure for pushing up the weight of the vertical boom 31 and the feeder 50 is applied during the work in the A1 direction, and therefore the description thereof will be omitted.

Further, in the horizontal cylinder 25, the weights of the horizontal boom 23, the vertical boom 31, and the feeder 50 act on the horizontal cylinder 25 in the same manner as described above. A bottom pressure Shb) is produced.

When working in the A2 direction, the horizontal bottom portion 2
The horizontal bottom pressure Shb of 5B is the horizontal bottom line 25.
Although acting on the horizontal variable pump 91 via b, the horizontal cylinder 25 is reduced in size, and thus the horizontal variable pump 91 is operated as a hydraulic motor. At this time, the horizontal bottom pressure Sh
The pressure b is small because the balancer weight 29 for adjustment is attached to the other end of the horizontal boom 23.

Since the horizontal variable pump 91 receives the horizontal bottom pressure Shb generated by the weight and operates as a hydraulic motor, the horizontal cylinder 25 shrinks while applying the rotational torque to the first electric motor 81 to rotate it. .. Therefore, by using the balancer weight 29 for adjustment, the first electric motor 81 used for lowering the horizontal boom 23 is used.
The braking rotation torque of can be reduced.

Further, the horizontal bottom pressure Shb of the horizontal bottom portion 25B acts as a pilot pressure from the horizontal bottom pipe line 25b on the horizontal 3 port switching valve 93, and the horizontal 3
The port switching valve 93 is switched to the F position. At this time, the oil coming from the horizontal bottom portion 25B through the horizontal variable pump 91 to the horizontal head portion 25H is excessive by the horizontal rod 25a. Therefore, the horizontal 3 port switching valve 9
The oil that has come to the first pressure adjusting valve 95A after passing through position 3 to 3 is returned to the tank 87 via the first pressure adjusting valve 95A that has a low pressure. Therefore, the oil discharged from the first fixed pump 97 returns to the tank 87 via the second pressure regulating valve 95B (or the one where the pressure regulation of the first pressure regulating valve 95A is lower). In the above-described work in the A2 direction, the supply device 40 is the same as in the work in the A1 direction, and therefore description thereof will be omitted.

6 and 2, the operation in the A3 direction will be described. In order for the feeder 50 to move horizontally from the frontmost Yn toward the central portion Yc, the vertical boom 31 swings to the left side (clockwise side) in the drawing, and
The horizontal boom 23 swings upward (clockwise) in the figure. For this purpose, it is necessary to extend the vertical cylinder 33 as well as the horizontal cylinder 25.

With respect to the vertical cylinder 33, since the weight of the vertical boom 31 and the feeder 50 acts, pressure oil (vertical head pressure Svh) is generated in the vertical head portion 33H of the vertical cylinder 33, and the horizontal cylinder 33 In the cylinder 25, since the weights of the horizontal boom 23, the vertical boom 31, and the feeder 50 act in the same manner as when working in the A1 direction,
Pressure oil (horizontal bottom pressure Shb) is generated in the horizontal bottom portion 25B of the horizontal cylinder 25.

Vertical head pressure S of the vertical head portion 33H
vh is the feeder 50 while the vertical cylinder 33 extends.
Scrape the object to be transported 7, but the vertical head pressure Shb
Only by itself, the transported object 7 cannot be scraped off continuously by the feeder 50. In order to continuously scrape the transported object 7 with the feeder 50, the vertical variable pump 101 is driven by receiving the rotational torque from the first electric motor 81 and operates as a hydraulic pump. At this time, the vertical head pressure Svh Acts on the vertical variable pump 101 via the vertical head conduit 33h, the differential pressure acting on the vertical variable pump 101 is reduced, the rotational torque to be applied is small, and the electric power is small. That is, the vertical variable pump 101
The vertical bottom pressure Pvb supplied from the vertical bottom portion 33 </ b> B to the vertical bottom portion 33 </ b> B is the vertical boom 31 for scraping the transported object 7.
Further, since the vertical head pressure Svh is applied when the weight of the feeder 50 acts, the rotational torque applied to the vertical variable pump 101 can be small and the electric power can be small.

At this time, the vertical variable pump 101
The vertical bottom pressure Pvb supplied from the vertical bottom part 33B to the vertical bottom part 33B is equal to the vertical head pressure Sv of the vertical head part 33H.
Since it is larger than h, it acts on the vertical 3-port switching valve 103 as pilot pressure from the vertical bottom pipe line 33b,
The vertical 3-port switching valve 103 is switched to the C position. Therefore, from the vertical bottom portion 33B to the vertical variable pump 1
The oil that is insufficient by the amount of the vertical rod 33a that has come to the vertical head pipe line 33h via 01 is the vertical 3-port switching valve 103.
The oil coming from the C position to the third pressure regulating valve 105A has a low pressure and is shut off by the third pressure regulating valve 105A.
Do not return to 7. As for the oil lacking by the amount of the rod of this cylinder, the oil discharged from the second fixed pump 107 is supplied to the vertical head portion 33H at a low pressure through the check valve 109, and the vertical variable pump 101 is used for the vertical oil. Bottom part 33
In addition to being supplied to B, when it is surplus, it returns to the tank 87 via the fourth pressure regulating valve 105B (or the one where the pressure regulation of the third pressure regulating valve 105A is lower). When working in the A3 direction,
The horizontal cylinder 25 is the same as the one during the work in the A1 direction, and a description thereof will be omitted.

In the above-described work in the A3 direction, in the feeder 40, the weight of the feeder 50 is held by the compression force acting on the feeder cylinder 47 from the position where the cylinder is mounted. Pressure acts on the feeder bottom portion 47B of 47. Therefore, as shown in the figure, in the present embodiment, the feeder 50 is normally located at the central portion Y.
As it moves to c, the feeder cylinder 47 extends and swings clockwise. Therefore, the pressure oil is supplied to the feeder bottom portion 47B of the feeder cylinder 47 to extend the feeder cylinder 47. At this time, the feeder head pressure Pvhb supplied from the feed variable pump 121 to the feeder bottom portion 47B is equal to the feeder bottom portion 47B.
3 port switching valve 123 for supplying pilot pressure from b
And switches the supply 3-port switching valve 123 to the G position. Therefore, excess oil corresponding to the rod of the cylinder rod 47a for the feeder, which has come from the head portion 47h for the feeder through the variable pump 121 for feeding to the bottom portion 47b for the feeder, is excessive in oil of the three-port switching valve 123 for feeding. Position, the third position of the supply 3-port switching valve 123, and the fifth pressure regulating valve 1
It returns to the tank 87 through 25A. Further, the oil discharged from the third fixed pump 127 passes through the fourth pressure regulating valve 105B and then to the tank 87.
Have returned to.

Referring to FIG. 6, the operation in the A4 direction of FIG. 2 will be described. The feeder 50 is the innermost Y from the central portion Yc
In order to move horizontally toward o, the vertical boom 31 swings to the left side (clockwise side) in the figure, and the horizontal boom 23 swings to the lower side (counterclockwise side) in the figure. For this purpose, the vertical cylinder 33 extends and
It is also necessary to reduce the horizontal cylinder 25.

The vertical cylinder 33 is the same as the vertical cylinder 33 except that the pressure for pushing up the weight of the vertical boom 31 and the feeder 50 is applied during the work in the A3 direction, and therefore the description thereof is omitted. When working in the A4 direction, the horizontal cylinder 2
The description of No. 5 is omitted because it is the same as the operation in the A2 direction. At the time of work in the above A4 direction, the feeding device
Since it is the same as when working in the A3 direction, the description thereof will be omitted.

Further, when switching from the work in the A2 direction to the work in the A3 direction, or the work in the A4 direction to the work in the A1 direction, and the feeder 50 is pressed against the object 7 to be scraped. When taking, it is necessary to apply pressure to the horizontal head portion 25H of the horizontal cylinder 25, so the horizontal variable pump 91 is operated as a hydraulic pump. The discharge pressure of the horizontal variable pump 91 acts on the horizontal 3-port switching valve 93 as a pilot pressure from the horizontal head conduit 25h, and switches the horizontal 3-port switching valve 93 to the two position. At this time, the oil coming from the horizontal bottom portion 25B through the horizontal variable pump 91 to the horizontal head portion 25H is excessive by the horizontal rod 25a. The surplus oil passes through the two positions of the horizontal 3-port switching valve 93,
The oil that has come to the first pressure regulating valve 95A is returned to the tank 87 via the first pressure regulating valve 95A that is at a low pressure. Therefore, the first
The oil discharged from the fixed pump 97 is the second pressure regulating valve 95B.
(Or, the one where the pressure regulation of the first pressure regulation valve 95A is lower) is returned to the tank 87.

In the above-described first embodiment, the horizontal hydraulic device 90 and the vertical hydraulic device 100 are used to supply the feeder 5.
The control for 0 to move horizontally with respect to the ship bottom 5 at a constant height Ha is performed as follows. The operator operates the operation buttons in the up and down direction and the left and right direction of the operation panel 143 from the operator's cab or the hatch of the crane to set the feeder 50 at a height Ha with respect to the ship bottom 5 and at a desired predetermined position in the left and right direction as illustrated. Moving.

When working in the A1 direction, the feeder 50 is moved to a predetermined position at the innermost Yo. The feeder 50 is the innermost Y
When the vehicle comes to the predetermined position of o, the first controller 139A determines that the height Ha of the feeder 50 with respect to the ship bottom 5 and the depth direction thereof from the signals of both the inclination amount of the horizontal sensor 131 and the inclination amount of the vertical sensor 133. Calculate the position to obtain it. Next, the operator operates the operation panel 143 to move the feeder 50 horizontally in the A1 direction while keeping the height Ha constant.
The command is output to the first controller 139A. The first controller 139A swings the vertical boom 31 to the right side (counterclockwise side) in the drawing so that the feeder 50 moves in the A1 direction at a predetermined speed, and the horizontal boom 23 moves to the upper side (clockwise in the drawing). The vertical boom 3
Discharge volume (cc) of the vertical variable pump 101 swinging 1
/ Rev) and the discharge volume (cc / rev) of the horizontal variable pump 91 that raises the horizontal boom 23 are calculated and obtained. The obtained result is that the tilt angle of the vertical variable pump 101 as the hydraulic pump is changed to the electromagnetic vertical variable device 101A, and the tilt of the horizontal variable pump 91 is changed to the hydraulic horizontal variable device 91A as the hydraulic pump. The turning angle is output. As a result, the vertical variable pump 101 and the horizontal variable pump 91 discharge a predetermined amount of oil to reduce the vertical cylinder 33 and extend the horizontal cylinder 25, thereby increasing the height of the feeder 50 by Ha. Is constant and moves at a predetermined speed.

Next, the control of the feeder 50 will be described. In the present embodiment, since the work in the A1 direction to the work in the A4 direction is the same, the description will be given here. The supply sensor 135 is attached to the supply body 41 and detects the vertical angle θe of the supply machine 50 with respect to the ship bottom 5, that is, the vertical angle θe with respect to the rail 9 (or the traveling frame 11). When the feeder 50 is not perpendicular to the rail 9 (or the traveling frame 11), the vertical angle θe is corrected.

First, as an example, the second controller 13
9B, for example, when working in the A1 direction, the horizontal sensor 13
For the inclination amount of 1 and the inclination amount of the vertical sensor 133, the supply device 50 makes the vertical angle θe with respect to the ship bottom 5, that is,
The length (stroke) of the feeder cylinder 47 is obtained, and the change in the length of the feeder cylinder 47 with respect to the moving speed of the feeder 50 in the horizontal direction is obtained and stored. When the feeder 50 moves in the horizontal direction in the work in the A1 direction, the inclination amount of the horizontal sensor 131 and the vertical sensor 13
The change in the stored length of the supply cylinder 47 is calculated from the inclination amount of 3. Next, the pump volume (cc / r) of the supply variable pump 121 according to the change of the supply machine cylinder 47 is stored from the table (not shown) stored in the above.
ev) is obtained, and the value is calculated by the electromagnetic type supply variable device 121A.
Is output to the feeder head unit 47H of the feeder cylinder 47, and the feeder cylinder 47 is reduced. The operation of this hydraulic circuit operates according to the description of the supply device 40 described in the above paragraph [0025] shown in FIG.

On the contrary, the same applies to the work in the A4 direction.
The second controller 139B stores the movement of the feeder 50 in the horizontal direction from the tilt amount of the horizontal sensor 131 and the tilt amount of the vertical sensor 133, and the cylinder 4 for the feeder.
Find the change in length of 7. Next, from the table (not shown) stored in the above, or from the figure, the pump volume (c
c / rev), and the calculated value is used as the electromagnetic supply variable device 1
21A, and the required discharge amount is supplied to the cylinder 47 for the feeder.
To the feeder bottom portion 47B, and the feeder cylinder 4
Extend 7. The operation of this hydraulic circuit operates according to the description of the supply device 40 described in the above paragraph [0025] shown in FIG.

As another embodiment, in the second controller 139B, the supply sensor 135 attached to the supply main body 41 is the same as the supply device 50 in both the work in the A1 direction and the work in the A4 direction. The vertical angle θe of the ship with respect to the bottom 5, that is, the rail 9 (or the traveling frame 1
The vertical angle θe with respect to 1) is detected. The length (stroke) of the feeder cylinder 47 is determined and set in advance with respect to the detected vertical angle θe. Next, from the table stored in the above or the figure, the cylinder 4 for the feeder
In order to correct 7, the pump volume (cc / rev) of the supply variable pump 121 according to the length of the supply cylinder 47 is obtained, and the value is output to the electromagnetic supply variable device 121A to obtain the required discharge amount. To the feeder head portion 47H of the feeder cylinder 47 to reduce the feeder cylinder 47 or to send the required discharge amount to the feeder bottom portion 47B of the feeder cylinder 47. Cylinder 47
To stretch. Thereby, depending on the movement of the feeder 50,
The feeder 50 moves while maintaining a vertical angle θe with respect to the ship bottom 5.

During the work in the A2 direction, the control for keeping the height Ha of the feeder 50 with respect to the ship bottom 5 constant is continued from the work in the A1 direction. At this time, the horizontal sensor 131
It is detected from the signals of both the inclination amount of 1 and the inclination amount of the vertical sensor 133 that the feeder 50 has come to the substantially central portion Yc, and a command is output to the first controller 139A. First
The controller 139A is configured so that the supply device 50 is operated at a predetermined speed.
The vertical boom 31 swings to the right side (counterclockwise side) in the figure so as to move in two directions, and the horizontal boom 23
Oscillates downward (counterclockwise) in the figure, so the discharge volume (cc / rev) of the vertical variable pump 101 that continuously oscillates the vertical boom 31 and the horizontal variable pump that lowers the horizontal boom 23. The discharge volume (cc / rev) of 91 is calculated and obtained. The obtained result is that the tilt angle of the vertical variable pump 101 for the electromagnetic vertical variable device 101A as a hydraulic pump and the tilt angle of the horizontal variable pump 91 for the electromagnetic horizontal variable device 91A as a hydraulic motor. The turning angle is output. As a result, the vertical variable pump 101
Discharges a predetermined amount of oil to reduce the vertical cylinder 33,
Also, the horizontal variable pump 91 reduces the horizontal cylinder 25 while returning a predetermined amount of oil, and the feeder 50 is moved to the height Ha.
Is constant and moves at a predetermined speed.

During the work in the A2 direction to the work in the A3 direction, the fact that the feeder 50 has come to the predetermined position of the frontmost Yn is determined by the inclination amount of the horizontal sensor 131 and the vertical sensor 13.
Detecting from both signals of the tilt amount of 3, the first controller 139A causes the vertical variable pump 10 to hold the vertical boom 31 and the horizontal boom 23 in the same positions.
1 and the discharge amount of the horizontal variable pump 91 are set to zero. Therefore, the neutral position command is output to the electromagnetic vertical variable device 101A of the vertical variable pump 101 and the electromagnetic horizontal variable device 91A of the horizontal variable pump 91 to make the discharge amount zero. Next, when the movement of the vertical boom 31 and the horizontal boom 23 is stopped, the operator causes the unloader 1 to travel on the rail 9 and returns to the next position, that is, a predetermined position for work in the A3 direction.

When working in the A3 direction, the operator operates the operation panel 143 in the up and down direction and operates the left and right operation buttons to return the feeder 50 from the predetermined position of the frontmost Yn to the central portion Yc. I do. The first controller 139A uses the horizontal sensor 1 as in the case of working in the A1 direction.
The vertical boom 31 is swung to the left side (clockwise side) in the drawing so that the feeder 50 moves in the A3 direction at a predetermined speed based on both signals of the inclination amount of the vertical axis 31 and the inclination amount of the vertical sensor 133. At the same time, since the horizontal boom 23 swings upward (clockwise side) in the figure, the discharge volume (cc / re) of the vertical variable pump 101 that swings the vertical boom 31.
v) and the horizontal variable pump 9 for raising the horizontal boom 23.
The discharge volume of 1 (cc / rev) is calculated and obtained. The obtained results are that the tilting angle as a hydraulic pump is applied to the electromagnetic vertical variable device 101A of the vertical variable pump 101, and the electromagnetic horizontal variable device 91 of the horizontal variable pump 91 is used.
The tilt angle of the hydraulic pump is output to A. As a result, the vertical variable pump 101 and the horizontal variable pump 91 discharge a predetermined amount of oil to extend the vertical cylinder 33 and extend the horizontal cylinder 25, thereby increasing the height of the feeder 50 by Ha. Is constant and moves at a predetermined speed.

During the work in the A4 direction, the control for keeping the height Ha of the feeder 50 to the ship bottom 5 constant is continued from the work in the A3 direction. Since this work is similar to the work in the A2 direction with respect to the work in the A1 direction, detailed description will be omitted. When the work in the A4 direction is completed, the work is performed in the same manner as when switching from the work in the A2 direction to the work in the A3 direction.

By repeating the above-mentioned work from the A1 direction to the work of A4, it is possible to scrape the transported object 7 substantially parallel to the ship bottom 5 to a predetermined small thickness.
In the above-described embodiment, the case where the clinometer is used as the inclination detecting means has been described. However, the inclination detecting means includes the angle sensor, the stroke amount of the horizontal cylinder 25, the vertical cylinder 33, and the feeder cylinder 47. And a controller 139, which detects the output of each stroke sensor.
39, and the controller 139 may determine the tilt angles of the horizontal boom 23, the vertical boom 31, and the feeder 50.

FIG. 9 is a hydraulic circuit diagram of a second embodiment of the hydraulic drive system 80A of the attitude control system 130A of the unloader supply system. The same parts as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted. Further, in the first embodiment, two controllers are used, but in the second embodiment, an explanation will be given of an embodiment using one controller 139, but it goes without saying that two controllers may be used. That is. Further, in the present embodiment, only a part of the connection between the controller 139 and the electromagnetic circuit is shown and the others are omitted.

In FIG. 9, a hydraulic drive system 80A includes a horizontal boom hydraulic drive system 160 (hereinafter referred to as a horizontal hydraulic system 160) and a vertical boom hydraulic drive system 170.
(Hereinafter, referred to as a vertical hydraulic device 170), and a supply device hydraulic drive device 180 (hereinafter, the supply hydraulic device 16).
It is called 0). Also, the hydraulic drive device 80
In the present embodiment, A has a variable displacement hydraulic pump 153 (hereinafter referred to as variable hydraulic pump 153) driven by the fourth electric motor 151, an electromagnetic pressure regulating valve 155, and a tank 87.

The horizontal hydraulic device 160 includes a horizontal electromagnetic directional control valve 161, a horizontal bottom flow control valve portion 163, and
Horizontal head flow control valve unit 165 and horizontal cylinder 2
It consists of 5.

Upon receipt of a command from the attitude control device 130A, which will be described later, the attitude control device 130A switches to switch the pressure oil from the variable hydraulic pump 153 to the horizontal head portion 25H or the horizontal bottom portion 25B.
Is being fed to and discharged from.

The horizontal bottom flow control valve portion 163 includes a horizontal bottom flow control valve 163a and a horizontal bottom pilot operated check valve 163b (hereinafter, horizontal bottom check valve 163).
b)), and the horizontal bottom flow control valve 163.
a is switched in response to a command from the attitude control device 130A described later, and causes a predetermined flow rate to flow to the horizontal bottom portion 25B from the variable hydraulic pump 153.

The horizontal bottom check valve 163b has a function of a counter balance valve which opens when the pressure in the horizontal head conduit 25h rises and returns the oil in the horizontal bottom portion 25B to the tank 87. Cage and therefore horizontal boom 23
I try not to drop it by the weight of.

The horizontal head flow control valve portion 165 includes a horizontal head flow control valve 165a and a horizontal head pilot operated check valve 165b (hereinafter referred to as horizontal head check valve 165).
b)) and the horizontal head flow control valve 165
a is switched in response to a command from the attitude control device 130A, which will be described later, and causes a predetermined flow rate to flow to the horizontal head portion 25H from the variable hydraulic pump 153.

The horizontal head check valve 165b has a function of a counter balance valve which opens when the pressure in the horizontal bottom pipe line 25b rises and returns the oil in the horizontal head portion 25H to the tank 87. Cage and therefore horizontal boom 23
When the is pushed up from below, it is prevented from swinging further upward.

The vertical hydraulic device 170 includes a vertical electromagnetic directional control valve 171, a vertical bottom flow control valve portion 173, and
Vertical head flow control valve unit 175 and vertical cylinder 3
It consists of 3.

Upon receiving a command from the attitude control device 130A, which will be described later, switching is performed and pressure oil from the variable hydraulic pump 173 is switched to the vertical head portion 33H or the vertical bottom portion 33B.
Is being fed to and discharged from. The vertical bottom flow control valve portion 173 is
Vertical bottom flow control valve 173a and vertical bottom pilot operated check valve 173b (hereinafter referred to as vertical bottom check valve 1
73b) and a vertical bottom flow control valve 1
73a receives a command from the attitude control device 130A, which will be described later, and switches to flow a predetermined flow rate to the vertical bottom portion 33B from the variable hydraulic pump 153.

The vertical bottom check valve 173b has a function of a counter balance valve that opens when the pressure in the vertical head conduit 33h rises and returns the oil in the vertical bottom portion 33B to the tank 87. Cage and therefore vertical boom 33
I try not to drop it by the weight of.

The vertical head flow control valve portion 175 includes a vertical head flow control valve 175a and a vertical head pilot operated check valve 175b (hereinafter referred to as vertical head check valve 175).
b)), and a flow control valve 175 for the vertical head.
a is switched in response to a command from the attitude control device 130A, which will be described later, and causes a predetermined flow rate to flow to the vertical head portion 33H from the variable hydraulic pump 153.

The vertical head check valve 175b has a function of a counter balance valve which opens when the pressure in the vertical bottom pipe line 33b rises and returns the oil in the vertical head portion 33H to the tank 87. Cage and therefore vertical boom 33
I try not to drop it by the weight of.

The supply hydraulic device 180 includes a supply electromagnetic directional control valve 181, a supply bottom flow control valve portion 183, and
The supply head flow rate control valve portion 185 and the supply machine cylinder 47 are included.

The supply electromagnetic directional control valve 181 is connected to the variable hydraulic pump 153 by a parallel circuit, and switches in response to a command from the attitude control device 130A described later to supply pressure oil from the variable hydraulic pump 153 to the supply head. It is supplied to or discharged from the portion 47H or the supply bottom portion 47B.

The supply bottom flow control valve portion 183 includes a supply bottom flow control valve 183a and a supply bottom pilot operated check valve 183b (hereinafter, supply bottom check valve 183).
flow control valve 183 for the supply bottom.
a is switched in response to a command from the attitude control device 130A, which will be described later, and causes a predetermined flow rate to flow to the supply bottom portion 47B from the variable hydraulic pump 153.

The supply bottom check valve 183b has a function of a counter balance valve which opens when the pressure in the supply head conduit 47h rises and returns the oil in the supply bottom portion 47B to the tank 87. Therefore, the weight of the feeder 50 is prevented from dropping.

The supply head flow control valve section 185 includes a supply head flow control valve 185a and a supply head pilot operated check valve 185b (hereinafter, supply head check valve 185).
flow control valve 185 for the supply head.
a is switched in response to a command from the attitude control device 130A described later, and causes a predetermined flow rate to flow to the supply head portion 47H from the variable hydraulic pump 153.

The supply head check valve 185b has a function of a counter balance valve which opens when the pressure in the supply bottom pipe line 47b rises and returns the oil in the supply head portion 47H to the tank 87. Therefore, the weight of the feeder 50 is prevented from dropping.

In the above-described second embodiment, in the horizontal hydraulic device 160 and the vertical hydraulic device 170, the control for the feeder 50 to move horizontally at a constant height Ha with respect to the ship bottom 5 is as follows. Is done.

The operator operates the operation buttons in the up and down direction and the left and right direction of the operation panel 143 from the operator's cab or the hatch of the crane to make the feeder 50 have a height Ha with respect to the ship bottom 5 and a desired predetermined direction in the left and right direction shown in the drawing. Move to position.

At the time of work in the A1 direction, the feeder 50 is moved to a predetermined position in the innermost Yo. The feeder 50 is the innermost Y
When a predetermined position of 0 is reached, the inclination amount of the horizontal sensor 131, the vertical sensor 133, and the supply sensor 13
The controller 139 calculates and obtains the height Ha of the feeder 50 with respect to the ship bottom 5 and the position in the back direction from all signals of the inclination amount of No. 5.

Next, the operator determines the height H of the feeder 50.
Control panel 1 for moving horizontally in the A1 direction while keeping a constant
43 is operated to output a command to the controller 139.
The controller 139 is configured so that the feeder 50 is A1 at a predetermined speed.
In order to move the vertical boom 31 to the right side (counterclockwise side) in the drawing so as to move in the direction, the vertical electromagnetic direction switching valve 171 and the vertical bottom flow control valve unit are reduced so as to reduce the vertical cylinder 33. A command is output to 173 and the flow control valve part 175 for vertical heads.

The vertical electromagnetic directional control valve 171 receives a command and switches the pressure oil from the variable hydraulic pump 153 to the vertical position so that a predetermined flow rate is supplied to the vertical head section 33H. The meter-in is controlled so that it flows. At the same time, the vertical head flow rate control valve portion 175 moves from the vertical bottom portion 33B to the vertical cylinder 33.
The meter-out control is performed so that a predetermined flow rate, which is increased by the volume of the vertical rod 33a, flows into the tank 87.

Alternatively, as another method, the vertical head flow control valve portion 175 is closed so that the flow rate does not flow, and the vertical bottom check valve 173b is opened when receiving the pressure oil from the variable hydraulic pump 153, The variable hydraulic pump 153 is supplied with a predetermined flow rate from the vertical bottom portion 33B, which is increased by the volume of the vertical rod 33a of the vertical cylinder 33, to the tank 87.
You may make it have the function of the counter balance valve which closes when the pressure of 1 is lost.

Further, the controller 139 swings the vertical boom 31 and, at the same time, causes the horizontal boom 23 to swing upward (clockwise side) in the figure, and the horizontal electromagnetic directional control valve 161 and the horizontal bottom valve. Flow control valve unit 16
3 and a command to the horizontal head flow control valve unit 165.

The horizontal electromagnetic directional control valve 161 receives the command, and switches the pressure oil from the variable hydraulic pump 153 to the so position so as to flow a predetermined flow rate to the horizontal bottom portion 25B. In response to the command, the horizontal bottom flow control valve section 163 is meter-in controlled so that a predetermined flow rate of the pressure oil from the variable hydraulic pump 153 flows to the horizontal bottom section 25B. At this time,
The horizontal head flow control valve 165a has a horizontal head portion 25H to the horizontal rod 2 of the horizontal cylinder 25 for a predetermined flow rate supplied by the horizontal bottom flow control valve portion 163.
Meter-out control is performed so that a predetermined flow rate or less, which is smaller by the volume of 5a, flows to the tank 87.

Alternatively, as another method, the horizontal head flow control valve 165a is closed so that the flow rate does not flow, and the vertical head check valve 173b is opened when receiving the pressure oil from the variable hydraulic pump 153, and the horizontal head check valve 173b is opened. With respect to the predetermined flow rate supplied by the horizontal bottom flow rate control valve section 163 from the operating head section 25H, a predetermined flow rate or more, which is smaller than the volume of the cylinder rod 33a of the horizontal cylinder 25 from the horizontal head section 25H, is flowed to the tank 87, It may have a function of a counter balance valve that closes when the pressure of the variable hydraulic pump 153 is exhausted. As a result, even if the horizontal cylinder 25 receives a large upward force, it does not float up.

Further, the controller 1 is arranged so that the feeder 50 moves at a vertical angle θe with respect to the ship bottom 5, that is, with a vertical angle θe with respect to the rail 9 (or the traveling frame 11).
The reference numeral 39 outputs a command to the supply hydraulic device 180 that controls the supply cylinder 47.

For example, in the work in the A1 direction, the controller 139 determines that the feeder 50 has a vertical angle θe with respect to the bottom 5 with respect to the tilt amount of the horizontal sensor 131 and the tilt amount of the vertical sensor 133, that is, for the feeder. The length (stroke) of the cylinder 47 is obtained, and the change in the length of the feeder cylinder 47 with respect to the horizontal moving speed of the feeder 50 is obtained and stored. Controller 139
Is, for example, in the work in the A1 direction, the feeder cylinder 4
In order to reduce the size of No. 7, a command for switching the supply electromagnetic directional control valve 181 to the position is output so that the pressure oil from the variable hydraulic pump 153 flows to the supply head portion 47H. At the same time, a command is output to the supply head flow control valve 185a so that the flow rate corresponding to the change in the length of the supply machine cylinder 47 is supplied to the supply head portion 47H, and meter-in control is performed.

At the same time, the controller 139 causes the supply bottom flow control valve section 183 to supply the supply bottom section 47B.
To output a command to the tank 87 to flow a predetermined flow rate or more, which is larger by the volume of the cylinder rod of the feeder cylinder 47, to the tank 87 to perform meter-out control.

Alternatively, as another method, similarly to the control of the vertical cylinder 33, the supply bottom flow control valve portion 183 is closed so that the flow rate does not flow, and the supply bottom check valve 183b is controlled by the variable hydraulic pump 153. The function of a counter balance valve that opens when receiving pressure oil from the tank You may have it.

When working in the A4 direction, the supply bottom flow control valve section 183 outputs the command to the meter-in control and the supply head flow control valve 185a to change to the meter-out control. Omit it.

During the work in the A2 direction to the work in the A3 direction, the fact that the feeder 50 has come to the predetermined position on the frontmost Yn is determined by the inclination amount of the horizontal sensor 131 and the vertical sensor 13.
The controller 13 detects from both signals of the inclination amount of 3
9 sets the discharge amount of the variable hydraulic pump 153 to zero so as to hold the vertical boom 31 and the horizontal boom 23 in the same positions. Therefore, the command for the neutral position is output to the electromagnetic variable device 153A of the variable hydraulic pump 153 to make the discharge amount zero. Next, when the movement of the vertical boom 31 and the horizontal boom 23 is stopped, the operator causes the unloader 1 to travel on the rail 9 and returns to the next position, that is, a predetermined position for work in the A3 direction.

When working in the A3 direction, the operator operates the operation panel 143 in the up and down direction and operates the left and right operation buttons to return the feeder 50 from the predetermined position of the frontmost Yn to the central portion Yc. I do. Controller 13
9 indicates the direction of the A1 direction so that the feeder 50 moves in the A3 direction at a predetermined speed based on the signals of both the inclination amount of the horizontal sensor 131 and the inclination amount of the vertical sensor 133 as in the case of the work in the A1 direction. Similarly, the horizontal boom 23 swings to the upper side (clockwise side) in the drawing, and thus detailed description thereof will be omitted.
In addition, the vertical boom 31 is opposite to the work in the A1 direction,
A command is output to the vertical electromagnetic directional control valve 171, the vertical bottom flow control valve portion 173, and the vertical head flow control valve portion 175 so as to extend the vertical cylinder 33. Therefore, the vertical cylinder 33 performs meter-in control so as to flow a predetermined flow rate to the vertical bottom portion 33B,
The vertical head flow control valve portion 175 is used for the vertical head portion 33.
The meter-out control is performed so that a predetermined flow rate, which is smaller than H by the volume of the cylinder rod of the vertical cylinder 33, flows to the tank 87 and a predetermined flow rate flows to the tank 87. Alternatively, other methods are similar to those described above, and thus detailed description thereof will be omitted.

During the work in the A4 direction, the control for keeping the height Ha of the feeder 50 with respect to the ship bottom 5 constant is continued from the work in the A3 direction. Since this work is similar to the work in the A2 direction with respect to the work in the A1 direction, detailed description will be omitted. When the work in the A4 direction is completed, the work is performed in the same manner as when switching from the work in the A2 direction to the work in the A3 direction.

The discharge amount of the variable hydraulic pump 153 is
The controller 139 calculates and obtains a command value so as to discharge a required flow rate to the horizontal cylinder 25, the vertical cylinder 33, and the feeder cylinder 47, and the command value thereof is controlled by the electromagnetic variable device 153A of the variable hydraulic pump 153. Is output to. As another method, when the pressure sensor 190 is attached to the discharge side of the variable hydraulic pump 153 and the pressure becomes equal to or lower than a predetermined pressure, the controller 139 causes the variable hydraulic pump 153 to operate.
The electromagnetic variable device 153A may be instructed to discharge an increased amount.

[0119]

As described above, according to the present invention,
The horizontal and vertical booms move horizontally while keeping the height of the supply device constant while being actuated at the same time as the horizontal boom cylinder and the vertical boom cylinder are contracted or extended in response to a command from the controller. Therefore, cargo handling in the vicinity of the ship bottom (Za) and the lateral portion (Zb) can be carried out even to the corners, and the bulk material can be efficiently carried out of the ship. Since the controller for controlling the horizontal boom and the vertical boom and the controller for the supply device are provided separately, the control speed can be increased, the work speed can be increased, and the bulk can be taken out quickly. (Za) and the lateral part (Zb) can be handled even in the corners to improve work efficiency. Further, since the control accuracy is improved, the feeder does not come into contact with the bottom of the ship, damage to the bottom of the unloader and the supplier can be prevented, and safety is improved.

Since the amount scraped by the feeder does not fluctuate and the fluctuation of the cargo handling efficiency becomes small, the cargo handling equipment in the subsequent stage becomes small in scale, and the initial cost of the equipment can be reduced. Since the hydraulic drive is composed of closed circuits and uses variable displacement pumps and motors in each circuit, the weight of the horizontal boom, vertical boom, or feeder is used as an actuating force to scrape loose objects. It can be used and the variable displacement pump motor can be driven by an electric motor with a small driving force, so that energy can be saved.

Alternatively, since the hydraulic drive device is constituted by an open circuit and is controlled so as to flow a flow rate that matches the bottom side volume and the head side volume of each cylinder, the height is accurately fixed. Since it is moved horizontally while keeping it at, the cargo handling in the vicinity of the ship bottom (Za) and the lateral portion (Zb) can be performed even to the corners, as described above. In addition, since a pilot operated check valve that opens by receiving the pressure oil of the variable displacement pump is used, each cylinder can be reliably metered in and a counter balance function can be obtained for safe work. .

[Brief description of drawings]

FIG. 1 is an overall schematic diagram of an embodiment of an unloader of the present invention.

FIG. 2 is a schematic side view of an embodiment of an unloader of the present invention.

FIG. 3 is an enlarged view of the supply device of the embodiment of the unloader of the present invention and the supply device of the supply device.

FIG. 4 is a partial cross-sectional view (A-A cross-sectional view of FIG. 3) of the feeder of the embodiment of the unloader of the present invention.

FIG. 5 is a partial front sectional view of the feeder of the embodiment of the unloader of the present invention.

FIG. 6 is an overall schematic view of the first embodiment of the hydraulic drive system of the supply system of the unloader of the present invention.

FIG. 7 is an overall schematic view of the attitude control device of the supply device of the unloader of the present invention.

FIG. 8 is an explanatory diagram for explaining the operation of the first embodiment of the hydraulic drive system of the supply system of the unloader of the present invention.

FIG. 9 is an overall schematic view of a second embodiment of the hydraulic drive system of the supply system of the unloader of the present invention.

FIG. 10 is an explanatory diagram of a conventional unloader control method.

[Explanation of symbols]

1 unloader 5 Ship bottom 7 Transported items 10 Unloader body 11 traveling frame 13 swivel frame 20 Horizontal boom section 23 Horizontal boom 25 Horizontal boom cylinder 25 30 Vertical boom section 31 vertical boom 33 Vertical boom cylinder 40 feeder 41 supply body 43 Conveyor with fins 45A 1st roller for fin conveyor 45B Second roller for fin conveyor 45C third roller 47 Cylinder for feeder 50 feeder 51 Main unit of feeder 70 Scraping part 80, 80A hydraulic drive 81 First electric motor 83 Second electric motor 90, 160 Hydraulic drive for horizontal boom 91 Variable displacement pump / motor for horizontal boom 91A Electromagnetic horizontal variable device 93 Horizontal 3-port switching valve 97 First fixed pump 100, 170 Hydraulic drive for vertical boom 101 Variable displacement pump / motor for vertical boom 101A Electromagnetic vertical variable device 103 Vertical 3-port switching valve 107 Second fixed pump 120, 180 Hydraulic drive device for supply device 121 Variable Displacement Pump / Motor for Feeder 121A Electromagnetic supply variable device 123 3-port switching valve for supply 127 Third fixed pump 130 Attitude control device 131 Horizontal boom tilt sensor 133 Vertical boom tilt sensor 135 Tilt sensor for feeder 139 controller 139A First controller 139B Second controller 153 Variable displacement hydraulic pump 153A Electromagnetic variable device 161 Horizontal electromagnetic directional control valve 163 Flow control valve for horizontal bottom 163a Flow control valve for horizontal bottom 163b Pilot operated check valve for horizontal bottom 165 Flow control valve for horizontal head 165a Flow control valve for horizontal head 165b Pilot operated check valve for horizontal head 171 Vertical electromagnetic directional control valve 173 Flow control valve for vertical bottom 173a Vertical bottom flow control valve 173b Pilot operated check valve for vertical bottom 175 Flow control valve for vertical head 175a Flow control valve for vertical head 175b Pilot operated check valve for vertical head 181 Electromagnetic directional control valve 183 Supply Bottom Flow Control Valve 183a Flow control valve for supply bottom 183b Pilot operated check valve for supply bottom 185 Supply Head Flow Control Valve 185a Flow control valve for supply head 185b Pilot operated check valve for supply head 190 Pressure sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-62-264130 (JP, A) JP-A-55-59232 (JP, A) JP-A-55-123824 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) B65G 67/60 B65G 65/16

Claims (2)

(57) [Claims] 1. A revolving structure that is rotatably attached to a traveling structure that travels along a ship on the ground, and a horizontal boom that is attached to the revolving structure and can be raised and lowered by a horizontal boom cylinder.
It has a vertical boom attached to the tip of the horizontal boom and swingable by a vertical boom cylinder, and a supply device attached to the tip of the vertical boom so as to be able to swing and scraping loose material in the hold. In an attitude control device for an unloader for controlling the attitude of an unloader, a horizontal boom inclination detecting means for detecting an inclination of the horizontal boom, a vertical boom inclination detecting means for detecting an inclination of the vertical boom, and one entrance is horizontal. The horizontal system is
It is connected to the head side of the Linda and the other inlet / outlet is a horizontal
Connected to the bottom side of the horizontal cylinder via the Tom line
Horizontal bidirectional variable displacement pump / motor
One of the inlets and outlets is connected to the vertical cylinder through the vertical head conduit.
Connector on the head side, and the other entrance
Connected to the bottom side of the vertical cylinder via
Vertical bidirectional variable displacement pump / motor
Wherein the hydraulic drive system, and the horizontal for bidirectional variable displacement pump motor of the hydraulic drive system receives an output signal from said horizontal boom inclination detecting means and said vertical boom inclination detecting unit that
Controls the bidirectional variable displacement pump / motor for vertical ,
By supplying pressurized oil to said horizontal boom cylinder and the vertical boom cylinder actuates the said horizontal boom and said vertical boom, while maintaining the height of the supply device constant, and a controller for moving horizontally, the An attitude control device for an unloader characterized by having . 2. The attitude control device for an unloader according to claim 1, wherein the vertical boom swings the supply device.
The hydraulic cylinder is attached , and one of the inlet and outlet of the hydraulic drive is a supply head conduit.
Connected to the head side of the feeder cylinder via
And the other inlet / outlet is the above-mentioned supply via the bottom pipe for supply.
Bidirectional type for supply connected to the bottom side of the device cylinder
A variable displacement pump / motor is provided , the supply device has a supply device inclination detection means for detecting an inclination angle of the supply device, and the controller receives an inclination signal from the supply device inclination detection means. The bidirectional variable capacity type power supply
An attitude control device for an unloader , comprising: controlling a pump motor to supply pressure oil to the supply device cylinder to maintain the supply device vertical to the ground.