JP5859400B2 - Continuous unloader and control method of continuous unloader - Google Patents

Description

  The present invention relates to a bucket elevator type continuous unloader and a method for controlling the continuous unloader.

  Conventionally, the unloader of the following patent document 1 is known as a technique in such a field. The unloader includes a main body that can travel on a quay, and a boom that is turnable with respect to the main body and has a bucket elevator at the tip. In this type of unloader, the boom is held by a plurality of brakes to withstand excavation force and wind pressure when loading a bucket.

JP 2001-253547 A

  By the way, the body of the unloader is designed so that it can withstand the collision force when the excavating part such as the bucket collides with the load due to the traveling of the main body part while the pivoting of the boom is stopped, and this collision force causes the brake to slide. Since it is determined by the braking force in the state, it is a very large design load. In addition, the braking force for stopping the turning of the boom is determined so that the boom can be stopped when the wind pressure is applied at the maximum wind speed (approximately 35 m / s) during a gust of wind. Yes. As described above, when the design load is very large, the strength of the unloader main body must be increased. Therefore, there is a problem that the entire unloader body is increased in weight.

  In view of this problem, an object of the present invention is to provide a continuous unloader and a continuous unloader control method that can reduce the weight of the airframe and reduce the cost of manufacturing the airframe.

The continuous unloader of the present invention is a bucket elevator type continuous unloader including a bucket elevator that continuously conveys an object, and is provided on a top surface of a quay, and provided so as to be rotatable with respect to the main body portion. A boom provided with a bucket elevator, a plurality of brakes for applying a braking force to the turning of the boom, a first mode in which only some of the plurality of brakes are operated, and a plurality of brakes A control unit that controls the operation of a plurality of brakes by switching to the second mode in which all the brakes are operated, and an anemometer that measures the surrounding wind speed, and the control unit is measured by the anemometer The first mode and the second mode are switched based on the wind speed .

  According to the configuration including such a control unit, it is possible to switch between the first mode in which only some brakes are operated and the second mode in which all brakes are operated. Therefore, since it is possible to switch to the first mode, the braking force is reduced, and the design load is reduced. Therefore, the weight of the airframe can be reduced, and the manufacturing cost can be reduced.

Further, based on the measurement wind speed, for either operate only a part of the brake, or whether to operate all of the brake is determined, the design considering the wind with realizing the weight reduction of the body It becomes possible.

  Further, the control unit may be switched from the first mode to the second mode when the wind speed measured by the anemometer is equal to or higher than a predetermined value in the state of controlling in the first mode. Furthermore, the control unit switches from the second mode to the first mode when a predetermined time has passed while the control is being performed in the second mode and the wind speed measured by the anemometer becomes less than a predetermined value. It may be. In this case, all the brakes operate only when the wind speed is high, and when the wind speed is low, the number of brakes that operate is reduced. Therefore, only the necessary brakes can be operated.

  Moreover, you may make it provide the operation part which can operate switching with the 1st mode and 2nd mode by a control part. In this case, since the operator of the continuous unloader can perform the switching operation between the first mode and the second mode, a brake operation that meets the needs of the operator can be realized.

  The continuous unloader control method of the present invention is a bucket elevator type continuous unloader control method including a bucket elevator that continuously conveys an object, and the continuous unloader includes a main body portion that can be installed on the upper surface of a quay. A measuring step for measuring a wind speed around the boom, the boom provided so as to be turnable with respect to the main body, and a plurality of brakes for applying a braking force to the turning of the boom; Based on the wind speed measured in the step, the first mode for operating only some of the plurality of brakes and the second mode for operating all the brakes of the plurality of brakes are switched to And a control step for controlling the operation of the brake.

  According to the control method including such a control step, it is possible to switch between the first mode in which only some brakes are operated and the second mode in which all brakes are operated. Therefore, since it is possible to switch to the first mode, the braking force is reduced, and the design load is reduced. Therefore, the weight of the airframe can be reduced, and the manufacturing cost can be reduced.

  Further, in the control step, when the wind speed measured in the measurement step is equal to or higher than a predetermined value in the state of controlling in the first mode, the first mode may be switched to the second mode. Furthermore, when the predetermined time has passed in the state of control in the second mode and the wind speed measured in the measurement step becomes less than the predetermined value, the second mode may be switched to the first mode. . In this case, the same effect as the above-described continuous unloader can be obtained.

  According to the present invention, it is possible to provide a continuous unloader and a continuous unloader control method that can reduce the weight of the aircraft and reduce the cost of manufacturing the aircraft.

It is a figure which shows the continuous unloader which concerns on embodiment of this invention. It is a partially broken perspective view of the bucket elevator upper part of the continuous unloader of FIG. It is a top view which shows the brake of the continuous unloader of FIG. It is a side view which shows the brake of the continuous unloader of FIG. It is a block diagram which shows the structure regarding the brake operation of the continuous unloader of FIG. It is a flowchart which shows the control processing of the brake in the continuous unloader of FIG. It is a block diagram which shows the structure regarding the modification of brake operation | movement.

(First embodiment)
Hereinafter, a first embodiment of a continuous unloader and a control method thereof according to the present invention will be described in detail with reference to the drawings.

  A bucket elevator type continuous unloader (CSU) 1 for vessels shown in FIGS. 1 and 2 is a device that continuously unloads bulk loads M (for example, coke and ore) from a ship's hold 103. The continuous unloader 1 includes a girder 2 that can travel along the quay 101 by two rails 3 a laid in parallel to the quay 101. The girder 2 is a main body that can be installed on the upper surface of the quay 101. A swivel frame 5 is supported on the girder 2 so as to be horizontally swivelable, and a bucket elevator 9 is supported at the tip of a boom 7 projecting laterally from the swivel frame 5. The bucket elevator 9 is configured to maintain a vertical position by the balancing lever 12 and the counterweight 13 regardless of the boom angle of the boom 7.

  The continuous unloader 1 includes a cylinder 15 for adjusting the undulation angle of the boom 7. When the cylinder 15 is extended, the boom 7 is upward and the bucket elevator 9 is raised, and when the cylinder 15 is contracted, the boom 7 is downward and the bucket elevator 9 is lowered.

  The bucket elevator 9 is configured to continuously excavate and scrape the bulk load M in the hold 103 by the side surface excavation type scraper 11 provided at the lower portion thereof, and to transport the scraped bulk load M upward. It is.

  The bucket elevator 9 includes an elevator main body 23 that constitutes the elevator shaft 21, and a chain bucket 29 that rotates around the elevator main body 23. The chain bucket 29 includes a pair of roller chains (endless chain) 25 connected in an endless manner, and a plurality of buckets 27 supported at both ends by the pair of chains 25. Specifically, the two chains 25 are juxtaposed in a direction perpendicular to the paper surface of FIG. 1, and each bucket 27 is suspended between the two chains 25 as shown in FIG. In this manner, the chain 25 is attached to the chain 25 via a predetermined fixture.

  Further, the bucket elevator 9 includes drive rollers 31 a to 31 c around which the chain 25 is bridged, and a turning roller 33 that guides the chain 25. The driving roller 31 a is provided at the uppermost part 9 a of the bucket elevator 9, the driving roller 31 b is provided at the front part of the scraping part 11, and the driving roller 31 c is provided at the rear part of the scraping part 11. The turning roller 33 is a driven roller located slightly below the driving roller 31a, and guides the chain 25 and changes the traveling direction of the chain 25. Further, a cylinder 35 is interposed between the driving roller 31b and the driving roller 31c. By extending and contracting the cylinder 35, the distance between the axes of the both driving rollers 31b and 31c is changed, so that the chain bucket 29 The moving orbit can be changed. Corresponding to the presence of two chains 25, there are also two drive rollers 31a to 31c and two turning rollers 33, and they are arranged in parallel in a direction perpendicular to the paper surface of FIG.

  When the driving rollers 31 a to 31 c drive the chain 25, the chain 25 rotates in a direction indicated by an arrow W (forward direction) with respect to the elevator body 23 in a predetermined locus, and the chain bucket 29 is the uppermost part of the bucket elevator 9. It circulates between 9a and the scraping part 11 while moving around.

  As shown in FIG. 2, the bucket 27 of the chain bucket 29 ascends with its opening 27a facing upward. And in the uppermost part 9a of the bucket elevator 9, when passing the drive roller 31a, the chain 25 changes direction from upward to downward, and the opening 27a of the bucket 27 turns downward. A discharge chute 36 is formed below the opening 27a of the bucket 27 that faces downward as described above. The lower end of the discharge chute 36 is connected to a rotary feeder 37 disposed on the outer periphery of the bucket elevator 9.

  The rotary feeder 37 conveys the loose load M carried out from the discharge chute 36 to the boom 7 side. As shown in FIG. 1, a boom conveyor 39 is arranged on the boom 7, and the boom conveyor 39 supplies the bulk load M transferred from the rotary feeder 37 to the hopper 41. Below the hopper 41, an in-machine belt feeder 43 and an in-machine conveyor 45 are arranged.

  The landing of the loose load (object) M using the continuous unloader 1 is performed as follows. The scraping part 11 at the lower end of the bucket elevator 9 is inserted into the hold 103, and the chain 25 is rotated in the direction of the arrow W in the figure. If it does so, the bucket 27 located in the scraping part 11 will excavate and scrape the bulk load M, such as a coke and an ore, continuously. Then, the loose load M scraped and loaded in these buckets 27 is conveyed vertically upward to the uppermost portion 9 a of the bucket elevator 9 as the chain 25 rises.

  After that, the bucket 27 passes through the position of the drive roller 31 a and the bucket 27 rotates so that the loose load M falls from the bucket 27. The bulk M dropped from the bucket 27 falls into the discharge chute 36 and is carried out to the rotary feeder 37 side, and is further transferred to the boom conveyor 39 and conveyed to the hopper 41. Further, the loose load M is carried out to the ground side equipment 49 via the belt feeder 43 and the in-machine conveyor 45. The above operations are repeatedly performed using the plurality of buckets 27, whereby the loose load M in the hold 103 is continuously landed.

  Next, the brake mechanism 70 for applying a braking force to the turning of the boom 7 in the horizontal direction will be described.

  As shown in FIGS. 3 and 4, the brake mechanism 70 includes a frame 71 formed in a substantially circular shape at the lower portion of the turning frame 5, and a brake 75 that applies a braking force to the turning of the boom 7. The revolving frame 5 is supported so as to be horizontally rotatable with respect to the frame 71, and the frame 71 is provided on the upper part of the girder 2. Further, six brakes 75 are provided on the frame 71 so as to surround the revolving frame 5, and these brakes 75 apply a braking force to the revolving frame 5. The brake 75 holds the turning frame 5 and stops the turning of the boom 7 in order to withstand the excavation force and wind pressure when excavating the loose load M. The brake 75 includes an electric motor 76 formed in a substantially cylindrical shape, and a speed reducer 77 provided at the lower portion of the electric motor 76. In addition, as the brake 75, not only the thing provided with such an electric motor 76 and the reduction gear 77 but a various thing is employable.

  By the way, the fuselage of the continuous unloader 1 is designed to withstand the collision force when the scraping portion 11 collides with the loose load M due to traveling of the girder 2 or the like while the boom 7 is stopped turning. Is determined by the braking force (collision load) in a state in which the brake 75 slides (a state in which the brake 75 is rotated by being applied with a load greater than the proof stress). That is, the braking force is a factor that determines the strength of the body of the continuous unloader 1.

  Further, the driving force for turning the boom 7 is determined based on the turning resistance due to its own weight, the excavation resistance due to the bucket 27, and the wind pressure at the maximum wind speed (16 m / s) during operation. On the other hand, the braking force for stopping the turning of the boom 7 is the wind force at the time of the simultaneous action of the excavation resistance when carrying out normal cargo handling with the bucket 27 and the wind pressure at the maximum wind speed during work, and the wind speed at the maximum wind speed (35 m / s) during gusts. It is determined so that the boom 7 can be stopped in both cases of pressure application. Since the wind pressure at the maximum wind speed during gusts is often considerably larger than the sum of the excavation resistance and the maximum wind speed during work, the braking force is substantially based on the wind pressure at the maximum wind speed during gusts. Has been determined. Here, the conventional continuous unloader has a problem that the brake force is large and the design load is very large because all brakes are always operated, and the entire body of the continuous unloader is heavy.

Therefore, in the continuous unloader 1 of the present embodiment, the six brakes are switched by switching between the first mode in which four of the six brakes 75 are operated and the second mode in which all six brakes 75 are operated. The above-described problems are solved by providing the control unit 80 for controlling the operations of the 75 units. The controller 80 is, for example, a controller provided in an electrical chamber inside the girder 2. Below, the structure regarding control of the brake 75 by the control part 80 is demonstrated, referring FIG. In the following description, the six brakes 75 are located at the upper left, the brake 75a located at the upper left, the brake 75b located immediately above, the brake 75c located at the upper right, the brake 75d located at the lower left, and the lower position. The description will be made on the assumption that the brake 75e and the brake 75f located at the lower right.

  The control unit 80 is electrically connected to the six brakes 75 a to 75 f and the anemometer 90 that measures the wind speed around the continuous unloader 1. The anemometer 90 measures the wind speed around the continuous unloader 1 at regular intervals, for example, and outputs the measured value to the control unit 80 as an electrical signal. When receiving an electrical signal from the anemometer 90, the control unit 80 supplies power to at least one of the brakes 75a to 75f based on the measurement value of the anemometer 90, and the first mode and the second mode described above are supplied. Switch.

  The switching process between the first mode and the second mode by the control unit 80 is performed based on, for example, the flowchart shown in FIG. The process shown in FIG. 6 is executed every predetermined time (for example, 1 second). Hereinafter, the switching process between the first mode and the second mode will be described.

  First, the first mode is set to the first mode, and only the four brakes 75a, 75c, 75d, and 75f are operated. In step S1 (hereinafter referred to as “S1”, the same applies to other steps), the anemometer 90 detects the wind speed. The process of S1 corresponds to a measurement step for measuring the surrounding wind speed.

  Next, the control unit 80 determines whether or not the wind speed detected in S1 is equal to or greater than a preset value A that is a preset predetermined value (S2). Here, as the set value A, for example, the above-described maximum wind speed during operation (16 m / s) can be used. And, for example, when it is determined that a predetermined time (for example, 3 minutes) has passed since the last time the second mode was entered when the wind speed is less than the set value A, such as during normal cargo handling in which weather conditions are not expected. Shifts to S3. On the other hand, for example, when it is determined that the wind speed is equal to or higher than the set value A, such as when carrying out cargo handling in a weather situation where strong wind is expected, or a predetermined time has not elapsed since the previous second mode, The process proceeds to S4.

  In S3, the control unit 80 performs control in the first mode, supplies power only to the four brakes 75a, 75c, 75d, and 75f, and operates only some of the brakes 75a, 75c, 75d, and 75f. Then, a series of processing is finished. On the other hand, in S4, the control unit 80 performs control in the second mode, supplies power to all the six brakes 75a to 75f, and finishes a series of processes so as to operate all the brakes 75a to 75f. To do. The processes in S2 to S4 described above correspond to control steps for controlling the operations of a plurality of brakes.

  In the continuous unloader 1 according to the present embodiment, the control unit 80 causes the first mode to operate only the four brakes 75a, c, d, and f, and the second mode to operate all the six brakes 75a to 75f. Since it is possible to switch to the first mode, the braking force is reduced. Therefore, since the design load is reduced, for example, the thickness of the airframe can be reduced to reduce the weight of the airframe, and the cost of manufacturing and the like can be further reduced.

  In addition, an anemometer 90 that measures the surrounding wind speed is provided, and the control unit 80 switches between the first mode and the second mode according to the wind speed measured by the anemometer 90, so that the four brakes 75a, It is determined whether to operate only 75c, 75d, and 75f, or to operate all the brakes 75a to 75f, so that it is possible to reduce the weight of the aircraft and to design in consideration of wind power.

  In addition, the control unit 80 switches to the second mode when the wind speed becomes equal to or higher than the set value A, and when the predetermined time elapses while being controlled in the second mode, and the wind speed becomes less than the set value A. In addition, since the second mode is switched to the first mode, all brakes operate only when the wind speed is high, such as during bad weather, and the number of brakes that operate is reduced when the wind speed is low, such as during normal times. Thus, only necessary brakes can be operated.

  In addition, although 1st Embodiment demonstrated the example which switches between 1st mode and 2nd mode based on whether the detected wind speed became more than the setting value A, it was 2nd mode with 1st mode. The determination condition for switching to is not limited to this example. That is, for example, the switching may be performed based on whether the differential value of the wind speed has become a predetermined value or more, or the switching may be performed based on whether the average value of the wind speed has become a predetermined value or more. In short, switching may be performed based on whether or not a predetermined wind speed condition is satisfied.

(Second Embodiment)
Next, the second embodiment will be described with reference to FIG. FIG. 7 is a block diagram illustrating a configuration related to a modified example of the brake operation. The second embodiment is different from the first embodiment only in that a switch 190 is provided instead of the anemometer 90, and the other configuration is the same as that of the first embodiment.

  The switch 190 is an operation unit that can be switched between ON and OFF by an operator, such as a button or a mode switch, and is electrically connected to the control unit 80. When the operator performs the switching operation of the switch 190, the control unit 80 switches between the first mode and the second mode. Specifically, for example, the first mode is set when the switch 190 is turned OFF, and the second mode is set when the switch 190 is turned ON.

  Thus, in this embodiment, since the switch 190 that can be operated to switch between the first mode and the second mode is provided, the switching operation between the first mode and the second mode can be performed at the operator's discretion. Brake operation that meets the needs of That is, for example, when the operator feels that the weather is good and the wind is not strong, only the brakes 75a, c, d, and f are operated, and the operator feels that the weather has deteriorated and the wind has become stronger. In this case, it is possible to operate all the brakes 75a to 75f.

  As mentioned above, although embodiment of this invention was described, this invention is not restricted to the said embodiment, You may change in the range which does not change the summary described in each claim. For example, in the above-described embodiment, an example in which the switching process of the flowchart illustrated in FIG. 6 is performed every predetermined time has been described, but the switching process may be performed only when necessary instead of every predetermined time.

  In the above embodiment, the example in which the control unit 80 operates only the four brakes 75a, c, d, and f in the first mode has been described. However, the brake 75 that the control unit 80 operates in the first mode is described. The number and type are not limited to this example. That is, for example, in the first mode, the control unit 80 may operate only three or five brakes, or the control unit 80 may operate only the brakes 75a to 75c.

  DESCRIPTION OF SYMBOLS 1 ... Continuous unloader, 2 ... Girder (main part), 7 ... Boom, 9 ... Bucket elevator, 75, 75a-75f ... Brake, 80 ... Control part, 90 ... Anemometer, 101 ... Quay wall, 190 ... Switch (operation part) ), M ... Bulk load (contrast).

Claims (7)

A bucket elevator type continuous unloader having a bucket elevator for continuously conveying an object,
A main body that can be installed on the upper surface of the quay;
A boom provided so as to be pivotable with respect to the main body and provided with the bucket elevator;
A plurality of brakes for applying a braking force to the turning of the boom;
The operation of the plurality of brakes is controlled by switching between a first mode in which only some of the plurality of brakes are operated and a second mode in which all of the plurality of brakes are operated. A control unit;
An anemometer that measures the wind speed of the surroundings,
The said control part switches the said 1st mode and the said 2nd mode based on the wind speed measured with the said anemometer, The continuous unloader characterized by the above-mentioned . The control unit switches from the first mode to the second mode when the wind speed measured by the anemometer is equal to or higher than a predetermined value in a state where the control is performed in the first mode. The continuous unloader according to claim 1 . When the predetermined time has elapsed while the control unit is controlling in the second mode, and the wind speed measured by the anemometer becomes less than the predetermined value, the control unit starts from the second mode. The continuous unloader according to claim 2 , wherein the continuous unloader is switched to. The continuous unloader according to any one of claims 1 to 3 , further comprising an operation unit capable of operating switching between the first mode and the second mode by the control unit. A control method of a bucket elevator type continuous unloader including a bucket elevator that continuously conveys an object,
The continuous unloader is
A main body that can be installed on the upper surface of the quay;
A boom provided so as to be pivotable with respect to the main body and provided with the bucket elevator;
A plurality of brakes for applying a braking force to the boom turning,
A measurement step for measuring the ambient wind speed;
Based on the wind speed measured in the measurement step, a first mode in which only some of the plurality of brakes are operated, and a second mode in which all of the plurality of brakes are operated. And a control step of switching and controlling the operations of the plurality of brakes. In the control step, the first mode is switched to the second mode when the control is performed in the first mode and the wind speed measured in the measurement step exceeds a predetermined value. The method of controlling a continuous unloader according to claim 5 . In the control step, when a predetermined time elapses in the state of control in the second mode and the wind speed measured in the measurement step becomes less than the predetermined value, the second mode is changed to the first mode. The method of controlling a continuous unloader according to claim 6 , wherein

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