JP5937501B2 - Bridge-type unloader and control method thereof - Google Patents

Bridge-type unloader and control method thereof Download PDF

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JP5937501B2
JP5937501B2 JP2012272569A JP2012272569A JP5937501B2 JP 5937501 B2 JP5937501 B2 JP 5937501B2 JP 2012272569 A JP2012272569 A JP 2012272569A JP 2012272569 A JP2012272569 A JP 2012272569A JP 5937501 B2 JP5937501 B2 JP 5937501B2
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drum
opening
closing
support
sheave
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JP2014118230A (en
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文次 玉井
文次 玉井
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住友重機械搬送システム株式会社
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Description

  The present invention relates to a bridge-type unloader and a control method thereof. For example, a bridge-type unloader is used to land loose objects such as ore and coal loaded on a bulk carrier. The present invention relates to a bridge-type unloader that operates by driving four drums, and a control method thereof.
Japanese Patent Application Laid-Open No. H10-228707 discloses a bridge-type unloader that operates by driving four drums.
As shown in FIG. 1, this type of bridge-type unloader 1 includes a girder 10 that extends horizontally from the land side (right side in FIG. 1) to the sea side (left side in FIG. 1), and the girder 10. It has a traversing trolley 20 and a grab bucket 30 that is suspended from the trolley 20 to move up and down and open and close. The four drums include a first support drum 40, a second support drum 50, a first opening / closing drum 60, and a second opening / closing drum 70. In FIG. 1, the support structure for the girder 10 and the drums 40, 50, 60, 70 is omitted.
A first support wire rope 41 is wound around the first support drum 40. The first support wire rope 41 fed out from the first support drum 40 is guided to the grab bucket 30 through the sheave 11 provided at one end (sea side) of the girder 10 and the sheave 21 provided in the trolley 20. It is.
A second support wire rope 51 is wound around the second support drum 50. The second support wire rope 51 fed out from the second support drum 50 is attached to the grab bucket 30 via the sheave 12 provided on the other end (land side) of the girder 10 and the sheave 22 provided on the trolley 20. Led.
A first opening / closing wire rope 61 is wound around the first opening / closing drum 60. The first open / close wire rope 61 fed out from the first open / close drum 60 is guided to the grab bucket 30 via the sheave 13 provided at one end (sea side) of the girder 10 and the sheave 23 provided in the trolley 20. It is.
A second opening / closing wire rope 71 is wound around the second opening / closing drum 70. The second open / close wire rope 71 fed out from the second open / close drum 70 is attached to the grab bucket 30 via the sheave 14 provided on the other end (land side) of the girder 10 and the sheave 24 provided on the trolley 20. Led.
  Electric motors 43, 53, 63, and 73 are connected to the drums 40, 50, 60, and 70 through speed reducers 42, 52, 62, and 72, respectively. The drums 40, 50, 60, and 70 rotate forward and backward by driving the electric motors 43, 53, 63, and 73 so that the wire ropes 41, 51, 61, and 71 can be wound and fed.
  As shown in FIG. 3, the grab bucket 30 includes an upper sheave block 31, a floating sheave block 32, and a pair of scoops 33 and 33. The pair of scoops 33 and 33 are rotatably connected to a support arm 34 and a floating sheave block 32 that are provided to hang down from the upper sheave block 31, respectively. The distal ends of the first support wire rope 41 and the second support wire rope 51 are fixed to the upper sheave block 31, respectively. The first opening / closing wire rope 61 and the second opening / closing wire rope 71 are wound around sheaves built in the upper sheave block 31 and the floating sheave block 32, respectively. The first opening / closing wire rope 61 and the second opening / closing wire rope 71 are connected to each other by rope joints 61j, 71j.
  In the bridge-type unloader 1, (1) raising and lowering the grab bucket 30, (2) traversing the trolley 20, and (3) opening and closing the scoops 33 and 33 are performed as follows.
(1) Raising and lowering of the grab bucket 30 When the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are all rotated in the wire rope winding direction, the grab bucket 30 rises. .
When the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are all rotated in the wire rope feeding direction, the grab bucket 30 is lowered.
(2) Traversing the trolley 20 When the first support drum 40 and the first opening / closing drum 60 are rotated in the wire rope winding direction, and the second support drum 50 and the second opening / closing drum 70 are rotated in the wire rope feeding direction. The trolley 20 ramps up toward the sea side.
When the first support drum 40 and the first opening / closing drum 60 are rotated in the wire rope feeding direction and the second support drum 50 and the second opening / closing drum 70 are rotated in the wire rope winding direction, the trolley 20 is moved to the land side. Rampant towards
(3) Opening and closing of the scoops 33 and 33 When the first opening and closing drum 60 and the second opening and closing drum 70 are rotated in the wire rope winding direction, the distance between the upper sheave block 31 and the floating sheave block 32 is reduced. 33 are closed.
When the first opening / closing drum 60 and the second opening / closing drum 70 are rotated in the wire rope feeding direction, the distance between the upper sheave block 31 and the floating sheave block 32 is increased, and the scoops 33, 33 are opened.
By the way, there are two known configurations of the grab bucket 30: no cotter sheave and with cotter sheave.
As shown in FIG. 4, in a grab bucket 30 without a cotter sheave, a plurality (four in the illustrated example) of upper sheaves 35 are built in the upper sheave block 31. The floating sheave block 32 includes a plurality of (four in the illustrated example) floating sheaves 36. The first opening / closing wire rope 61 and the second opening / closing wire rope 71 are alternately wound around the upper sheave 35 and the floating sheave 36, respectively, and then their tips are secured to the casing 37 of the floating sheave block 32.
  As shown in FIG. 5, in the grab bucket 30 with a cotter sheave, a plurality (four in the illustrated example) of upper sheaves 35 are built in the upper sheave block 31. A plurality (six in the illustrated example) of floating sheaves 36 are built in the floating sheave block 32. Of the plurality of floating sheaves 36, the floating sheaves 36 provided at both ends of the rotating shaft 38 are cotter sheaves 36c. The two cotter sheaves 36c are fixed to the rotary shaft 38 and are configured to rotate in the same direction. The other floating sheave 36 is freely rotatable with respect to the rotation shaft 38. The first open / close wire rope 61 and the second open / close wire rope 71 are alternately wound around the upper sheave 35 and the floating sheave 36, respectively, and then the tips thereof are secured to the cotter sheave 36c.
  Because of the above configuration, the cotter sheave 36c rotates when the tension of the first opening / closing wire rope 61 and the tension of the second opening / closing wire rope 71 are different, and does not rotate when they are the same. Further, due to the structure of the cotter sheave 36c, the rotation angle is limited to a predetermined limit angle (for example, ± 90 °). When the cotter sheave 36c is rotated more than the limit angle, the first opening / closing wire rope 61 and the second opening / closing wire rope 71 ride on the lashed portion or are wound in the opposite direction, causing strand breakage and kinking. Replacement is required. Therefore, the rotation angle of the cotter sheave 36c must always be within the limit angle.
WO98 / 06657 Publication
The conventional bridge-type unloader 1 controls the drums 40, 50, 60, and 70 as follows when the grab bucket 30 is raised and lowered in a load state in which a load such as ore is contained in the grab bucket 30.
(A) The rotational speed of each drum 40, 50, 60, 70 is set to a predetermined rotational speed.
(B) The torques of the first support drum 40 and the second support drum 50 are the same.
(C) The first opening / closing drum 60 and the second opening / closing drum 70 have the same torque.
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
The conventional bridge-type unloader 1 controls the drums 40, 50, 60, 70 as follows when the trolley 20 is traversed in a load state where ore or the like is loaded in the grab bucket 30. .
(A) The rotational speed of each drum 40, 50, 60, 70 is set to a predetermined rotational speed.
(B) The ratio of torque between the first support drum 40 and the first opening / closing drum 60 is set to a predetermined ratio.
(C) The torque ratio between the second support drum 50 and the second opening / closing drum 70 is set to a predetermined ratio.
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
  Even if each drum 40, 50, 60, 70 is controlled as described above, the difference in response performance of the inverter that supplies electric power to the electric motors 43, 53, 63, 73, and each drum 40, 50, 60, 70 There may be variations in the winding amount or feeding amount of the wire ropes 41, 51, 61, 71 of the drums 40, 50, 60, 70 due to deviations in the brake release timing. As a result, a difference occurs in tension between the first opening / closing wire rope 61 and the second opening / closing wire rope 71.
  In the grab bucket 30 without the cotter sheave, since the tips of the first opening / closing wire rope 61 and the second opening / closing wire rope 71 are secured to the casing 37, the first opening / closing wire rope 61 and the second opening / closing wire rope 71 There is no problem even if the tension is slightly different.
However, in the grab bucket 30 with the cotter sheave, if the tensions of the first opening / closing wire rope 61 and the second opening / closing wire rope 71 are different, the cotter sheave 36c may rotate more than the limit angle.
For example, when the winding amount of the first opening / closing drum 60 is larger than the target winding amount, the feeding length of the first opening / closing wire rope 61 (from the first opening / closing drum 60 to the tip of the first opening / closing wire rope 61). Since the length) is shorter than the target length, the tension of the first opening / closing wire rope 61 is higher than the tension of the second opening / closing wire rope 71. Therefore, the cotter sheave 36c rotates until the tension of the first opening / closing wire rope 61 and the second opening / closing wire rope 71 becomes the same.
Further, when the winding amount of the first support drum 40 is larger than the target winding amount, as shown in FIG. 6, the feeding length of the first support wire rope 41 (from the first support drum 40 to the first support drum). Since the length to the tip of the wire rope 41 is shorter than the target length, the trolley 20 traverses to the sea side (arrow a). Further, the grab bucket 30 is raised to the second support wire rope 51 by the amount that the trolley 20 has traversed and raised (arrow b). Then, the distance between the first opening / closing drum 60 and the grab bucket 30 becomes shorter than the original, and the feeding length of the first opening / closing wire rope 61 becomes relatively long. Then, the tension of the first opening / closing wire rope 61 becomes weaker than the tension of the second opening / closing wire rope 71. Therefore, the cotter sheave 36c rotates until the tension of the first opening / closing wire rope 61 and the second opening / closing wire rope 71 becomes the same.
When the cotter sheave 36c repeats the rotation as described above, the rotation is accumulated to rotate more than the limit angle, and there is a problem that the strands are cut or kinked.
  In order to prevent the above problems, a grab bucket 30 without a cotter sheave has been used in a conventional bridge-type unloader 1 that operates by driving four drums. However, it is desired that a grab bucket 30 with a cotter sheave can also be used. In particular, most of the grab buckets used in Japan have cotter sheaves, so the demand is strong.
  In view of the above circumstances, an object of the present invention is to provide a bridge-type unloader and a control method that can suppress over-rotation of a cotter sheave even when a grab bucket with a cotter sheave is used.
A bridge-type unloader according to a first aspect of the present invention includes a girder provided horizontally, a trolley traversing the girder, a grab bucket suspended from the trolley, a first support drum, and the first support drum. The first support wire rope led out from one end of the girder to the grab bucket via the sheave provided on the trolley, the second support drum, and the second support drum. From the other end, a second support wire rope led to the grab bucket through a sheave provided on the trolley, a first opening / closing drum, and the first opening / closing drum are fed out, and from one end of the girder to the trolley A first opening / closing wire rope guided to the grab bucket through a provided sheave, a second opening / closing drum, and the second opening / closing drum, A second open / close wire rope guided from the end to the grab bucket via a sheave provided in the trolley, the first support drum, the second support drum, the first open / close drum, and the second A control device that controls the open / close drum, and a detection unit that detects a winding amount and a feed amount of each of the first support drum, the second support drum, the first open / close drum, and the second open / close drum. The grab bucket comprises: an upper sheave block; a floating sheave block having two cotter sheaves; and a scoop coupled to the upper sheave block and the floating sheave block; and the second support wire rope is fixed to the upper sheave block, the first off Waiyaro Is wound on the upper sheave block and the floating sheave block, the tip are fastened to one of the cotter sheave, said second opening and closing wire rope wound on the upper sheave block and the floating sheave block When the grab bucket is moved up and down or the trolley is traversed in a loaded state in which the grab bucket is loaded, the control device is configured so that the tip is tied to the other cotter sheave . The rotation speed of each of the first support drum, the second support drum, the first opening / closing drum, and the opening / closing drum is set to a predetermined rotation speed, and based on the detection value of the detection means, the second support drum or the The winding amount or feeding amount of the first support drum is set to the first support drum or the second support drum. To match the winding amount or extension amount, wherein based on the detection value of the detection means, the winding amount or extension amount of the first opening drum or the second opening and closing the drum, the first support drum and the second support The sum of the first opening / closing drum and the second opening / closing drum is made to coincide with the theoretical winding amount or feeding amount of the first opening / closing drum or the second opening / closing drum calculated from the winding amount or feeding amount of the drum. The torque is increased by a predetermined amount from the total torque of the first support drum and the second support drum.
A control method for a bridge-type unloader according to a second aspect of the invention is a control method for a bridge-type unloader, wherein the bridge-type unloader includes a girder provided horizontally, a trolley traversing along the girder, and a trolley suspended from the trolley. A lowered grab bucket, a first support drum, a first support wire rope fed from the first support drum and led to the grab bucket from one end of the girder through a sheave provided in the trolley A second support drum, a second support wire rope fed from the second support drum and led from the other end of the girder to the grab bucket via a sheave provided on the trolley, and a first opening / closing drum And a first open / close wire rope drawn from the first open / close drum and led to the grab bucket from one end of the girder through a sheave provided on the trolley A second opening drum, fed from the second opening drum, a second opening and closing wire rope guided on the grab bucket from the other end of the girder via a sheave provided on the trolley, the first support drum, the second support drum, the first opening drum, and the second opening drum, comprising: a detection means for detecting the respective winding amount and feed amount, and the grab bucket, the upper sheave block, A floating sheave block having two cotter sheaves, and a scoop coupled to the upper sheave block and the floating sheave block, wherein the first support wire rope and the second support wire rope are fixed to the upper sheave block. and, wherein the first opening and closing wire rope is the upper sheave block and the flow Wound in I ring sheave block, the tip are fastened to one of the cotter sheave, said second opening and closing wire rope is wound on the upper sheave block and the floating sheave block, the tip and the other the cotter has been fastened to the sheave, the elevator the grab bucket to grab bucket in a load state where the load is on or in case of transverse the trolley, the first support drum, the second support drum, the first The rotation speed of each of the opening / closing drum and the opening / closing drum is set to a predetermined rotation speed, and the winding amount or feeding amount of the second support drum or the first support drum is determined based on the detection value of the detection means. , to match the winding amount or extension amount of the first support drum or the second support drum, a detection value of said detection means In the winding amount or extension amount of the first opening drum or the second opening and closing the drum, the first theoretical calculated from the winding amount or extension amount of the first support drum and the second support drum The total torque of the first opening / closing drum and the second opening / closing drum is made to be equal to the winding amount or feeding amount of the opening / closing drum or the second opening / closing drum, and the total torque of the first support drum and the second support drum is It is characterized in that it is increased by a predetermined amount.
According to the first aspect of the invention, the winding amount or the feeding amount of each drum is detected and controlled based on the detected value, so that the feeding length of the first opening / closing wire rope or the second opening / closing wire rope is short or long. The tension of the first opening / closing wire rope and the second opening / closing wire rope is not different. Therefore, even if a grab bucket with a cotter sheave is used, overrotation of the cotter sheave can be suppressed.
According to the second invention, since the winding amount or the feeding amount of each drum is detected and controlled based on the detected value, the feeding length of the first opening / closing wire rope or the second opening / closing wire rope is short or long. The tension of the first opening / closing wire rope and the second opening / closing wire rope is not different. Therefore, even if a grab bucket with a cotter sheave is used, overrotation of the cotter sheave can be suppressed.
It is a perspective view of the bridge type unloader concerning one embodiment of the present invention. It is a block diagram of the bridge type unloader. It is a perspective view of a grab bucket. It is explanatory drawing of the upper sheave and floating sheave of the grab bucket without a cotter sheave. It is explanatory drawing of the upper sheave and floating sheave of the grab bucket with a cotter sheave. It is explanatory drawing in the case where the winding amount of the 1st support drum 40 is larger than the target winding amount in the grab bucket with a cotter sheave.
Next, an embodiment of the present invention will be described with reference to the drawings.
Since the mechanical configuration of the bridge-type unloader 1 according to the embodiment of the present invention is the same as that of the conventional bridge-type unloader, the description thereof is omitted (see FIGS. 1 and 3 to 5). The bridge-type unloader 1 according to this embodiment is characterized by its control device.
  As shown in FIG. 2, the bridge-type unloader 1 according to this embodiment includes a control device 80. The control device 80 is connected to the electric motors 43, 53, 63, and 73, and controls the driving of the electric motors 43, 53, 63, and 73, thereby rotating the drums 40, 50, 60, and 70, The torque, the winding amount and the feeding amount can be controlled.
  The drums 40, 50, 60, 70 are provided with detection means 44, 54, 64, 74 for detecting the winding amount and the feeding amount, respectively, and the detection results are input to the control device 80. . As the detection means 44, 54, 64, 74, an absolute coder, a synchro transmitter, or the like is used.
  The control device 80 is connected to the operation means 90. The operation means 90 is an operation lever or the like provided in a driver's cab or the like. The control device 80 switches between raising and lowering the grab bucket 30, traversing the trolley 20, and opening and closing the scoops 33 and 33 in accordance with the switching operation of the operating means 90. Further, the control device 80 controls the raising / lowering speed of the grab bucket 30, the traversing speed of the trolley 20, and the opening / closing speeds of the scoops 33, 33 according to the operation amount of the operation means 90 (for example, the tilting amount of the operation lever).
The control device 80 performs the following control when the grab bucket 30 is lifted or lowered or the trolley 20 is traversed in a load state in which the grab bucket 30 is loaded with ore or the like. This will be described in order below.
Whether or not the grab bucket 30 is loaded, that is, whether or not it is in a loaded state, is determined by detecting the tension of the wire ropes 41, 51, 61, 71 with a load cell or the like, and each detected tension is a predetermined value. Judgment is made based on whether or not.
(1) Raising the grab bucket 30 In order to raise the grab bucket 30, the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are all rotated in the wire rope winding direction. Thus, the feeding length of the wire ropes 41, 51, 61, 71 (the length from the drums 40, 50, 60, 70 to the tips of the wire ropes 41, 51, 61, 71) is shortened. At this time, the control device 80 performs the following control.
(A) The rotation speeds of the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are set to predetermined rotation speeds.
(B) The winding amount of the second support drum 50 is matched with the winding amount of the first support drum 40.
(C) The winding amount of the first opening / closing drum 60 is made to coincide with the theoretical winding amount of the first opening / closing drum 60 calculated from the winding amounts of the first support drum 40 and the second support drum 50.
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
In the control (a), the control device 80 determines a “predetermined rotational speed” based on the operation amount input from the operation means 90.
In the controls (b) and (c), the winding amounts of the drums 40, 50, 60, and 70 are input from the detection means 44, 54, 64, and 74, respectively.
  In the control (c), the “theoretical winding amount of the first opening / closing drum 60” is calculated as follows. That is, the transverse movement amount of the trolley 20 and the vertical movement amount of the grab bucket 30 are obtained from the winding amounts of the first support drum 40 and the second support drum 50 input from the detection means 44 and 54. Then, the amount of change in the distance between the first opening / closing drum 60 and the grab bucket 30 is determined from the amount of horizontal movement of the trolley 20 and the amount of elevation movement of the grab bucket 30. This change amount is “theoretical winding amount of the first opening / closing drum 60”.
  When the total torque of the first opening / closing drum 60 and the second opening / closing drum 70 becomes smaller than the total torque of the first support drum 40 and the second support drum 50 due to vibrations or control errors of the wire ropes 41, 51, 61, 71. The scoops 33 and 33 may open and drop the load. By performing the control in (d) above, a force is always applied in the direction in which the scoops 33 and 33 are closed, so that the load can be prevented from dropping.
In (b), the winding amount of the first support drum 40 may be controlled to match the winding amount of the second support drum 50.
In (c), the winding amount of the second opening / closing drum 70 is set to the theoretical winding amount of the second opening / closing drum 70 calculated from the winding amounts of the first support drum 40 and the second support drum 50. You may control so that it may correspond.
(2) Lowering of Grab Bucket 30 To lower the grab bucket 30, the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are all rotated in the wire rope feeding direction. Thus, the feeding length of the wire ropes 41, 51, 61, 71 is increased. At this time, the control device 80 performs the following control.
(A) The rotation speeds of the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are set to predetermined rotation speeds.
(B) The feeding amount of the second support drum 50 is matched with the feeding amount of the first support drum 40.
(C) The feeding amount of the first opening / closing drum 60 is made to coincide with the theoretical feeding amount of the first opening / closing drum 60 calculated from the feeding amounts of the first support drum 40 and the second support drum 50.
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
In (b), the feed amount of the first support drum 40 may be controlled so as to coincide with the feed amount of the second support drum 50.
In (c), the feed amount of the second opening / closing drum 70 is made to coincide with the theoretical feed amount of the second opening / closing drum 70 calculated from the feed amounts of the first support drum 40 and the second support drum 50. You may control to.
(3) Traversing the trolley 20 to the sea side In order to traverse the trolley 20 to the sea side, the first support drum 40 and the first opening / closing drum 60 are rotated in the wire rope winding direction, and the second support drum 50, Then, the second opening / closing drum 70 is rotated in the wire rope feeding direction. At this time, the control device 80 performs the following control.
(A) The rotation speeds of the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are set to predetermined rotation speeds.
(B) The feeding amount of the second support drum 50 is matched with the winding amount of the first support drum 40.
(C) The winding amount of the first opening / closing drum 60 matches the theoretical winding amount of the first opening / closing drum 60 calculated from the winding amount of the first support drum 40 and the feeding amount of the second support drum 50. Let
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
In (b), the winding amount of the first support drum 40 may be controlled so as to coincide with the feed amount of the second support drum 50.
Further, in (c), the feeding amount of the second opening / closing drum 70 is calculated based on the theoretical feeding amount of the second opening / closing drum 70 calculated from the winding amount of the first supporting drum 40 and the feeding amount of the second supporting drum 50. It may be controlled so as to match.
(4) Traversing the trolley 20 to the land To traverse the trolley 20 to the land, the first support drum 40 and the first opening / closing drum 60 are rotated in the wire rope feeding direction, and the second support drum 50 and the second The open / close drum 70 is rotated in the wire rope winding direction. At this time, the control device 80 performs the following control.
(A) The rotation speeds of the first support drum 40, the second support drum 50, the first opening / closing drum 60, and the second opening / closing drum 70 are set to predetermined rotation speeds.
(B) The winding amount of the second support drum 50 is made to coincide with the feed amount of the first support drum 40.
(C) The feeding amount of the first opening / closing drum 60 is made to coincide with the theoretical feeding amount of the first opening / closing drum 60 calculated from the feeding amount of the first support drum 40 and the winding amount of the second support drum 50.
(D) The total torque of the first opening / closing drum 60 and the second opening / closing drum 70 is made larger than the total torque of the first support drum 40 and the second support drum 50 by a predetermined amount.
In (b), the feed amount of the first support drum 40 may be controlled to coincide with the winding amount of the second support drum 50.
Further, in (c), the winding amount of the second opening / closing drum 70 is calculated based on the theoretical winding amount of the second opening / closing drum 70 calculated from the feeding amount of the first support drum 40 and the winding amount of the second support drum 50. You may control so that it may correspond with the amount of taking.
  As described above, each of the drums 40, 50, 60, and 70 is detected based on the detected amount of winding or feeding, and is controlled based on the detected value. Therefore, the first opening and closing wire rope 61 and the second opening and closing wire rope 71 are controlled. The feeding length is neither short nor long, and the tension of the first opening / closing wire rope 61 and the second opening / closing wire rope 71 is not different. Therefore, even if the grab bucket 30 with a cotter sheave is used, overrotation of the cotter sheave 36c can be suppressed.
  When the present invention is applied to the bridge-type unloader 1 using the grab bucket 30 with the cotter sheave, the effect of being able to suppress over-rotation of the cotter sheave 36c is obtained, but the bridge using the grab bucket 30 without the cotter sheave is used. The present invention can also be applied to the shape unloader 1. That is, with the bridge-type unloader 1 to which the present invention is applied, both the grab bucket 30 with cotter sheave and the grab bucket 30 without cotter sheave can be used.
DESCRIPTION OF SYMBOLS 1 Bridge type unloader 10 Girder 20 Trolley 30 Grab bucket 31 Upper sheave block 32 Floating sheave block 33 Scoop 34 Support arm 35 Upper sheave 36 Floating sheave 36c Cotter sheave 40 First support drum 41 First support wire rope 50 Second support drum 51 Second support wire rope 60 First open / close drum 61 First open / close wire rope 70 Second open / close drum 71 Second open / close wire rope 80 Controller 90 Operating means

Claims (2)

  1. A girder installed horizontally,
    A trolley rampant along the girder;
    A grab bucket suspended from the trolley;
    A first support drum;
    A first support wire rope fed from the first support drum and led to the grab bucket from one end of the girder through a sheave provided on the trolley;
    A second support drum;
    A second support wire rope fed out from the second support drum and led to the grab bucket from the other end of the girder through a sheave provided in the trolley;
    A first opening and closing drum;
    A first open / close wire rope drawn out from the first open / close drum and led to the grab bucket from one end of the girder through a sheave provided on the trolley;
    A second opening and closing drum;
    A second open / close wire rope drawn out from the second open / close drum and guided to the grab bucket from the other end of the girder through a sheave provided on the trolley;
    A control device for controlling the first support drum, the second support drum, the first opening / closing drum, and the second opening / closing drum;
    Detecting means for detecting a winding amount and a feeding amount of each of the first support drum, the second support drum, the first opening / closing drum, and the second opening / closing drum ,
    The grab bucket
    An upper sheave block;
    A floating sheave block with two cotter sheaves ;
    A scoop connected to the upper sheave block and the floating sheave block, and the first support wire rope and the second support wire rope are fixed to the upper sheave block;
    Said first opening and closing wire rope is wound on the upper sheave block and the floating sheave block, the tip are fastened to one of the cotter sheave,
    The second opening and closing wire rope is wound around the upper sheave block and the floating sheave block, and the tip is secured to the other cotter sheave,
    The control device, when loading and lowering the grab bucket in a loaded state in which the grab bucket is loaded, or when traversing the trolley,
    Respective rotation speeds of the first support drum, the second support drum, the first opening / closing drum, and the opening / closing drum are set to predetermined rotation speeds,
    Based on the detection value of the detection means, the winding amount or feeding amount of the second support drum or the first supporting drum matches the winding amount or feeding amount of the first support drum or the second support drum. Let
    Based on the detection value of the detection means, the winding amount or feeding amount of the first opening / closing drum or the second opening / closing drum is calculated from the winding amount or feeding amount of the first support drum and the second support drum. The theoretical opening amount or the feeding amount of the first opening / closing drum or the second opening / closing drum,
    A bridge-type unloader characterized in that a total torque of the first opening / closing drum and the second opening / closing drum is made a predetermined amount larger than a total torque of the first supporting drum and the second supporting drum.
  2. A control method for a bridge-type unloader,
    The bridge unloader is
    A girder installed horizontally,
    A trolley rampant along the girder;
    A grab bucket suspended from the trolley;
    A first support drum;
    A first support wire rope fed from the first support drum and led to the grab bucket from one end of the girder through a sheave provided on the trolley;
    A second support drum;
    A second support wire rope fed out from the second support drum and led to the grab bucket from the other end of the girder through a sheave provided in the trolley;
    A first opening and closing drum;
    A first open / close wire rope drawn out from the first open / close drum and led to the grab bucket from one end of the girder through a sheave provided on the trolley;
    A second opening and closing drum;
    A second open / close wire rope drawn out from the second open / close drum and guided to the grab bucket from the other end of the girder through a sheave provided on the trolley;
    Detecting means for detecting a winding amount and a feeding amount of each of the first support drum, the second support drum, the first opening / closing drum, and the second opening / closing drum ,
    The grab bucket
    An upper sheave block;
    A floating sheave block with two cotter sheaves ;
    A scoop connected to the upper sheave block and the floating sheave block, and the first support wire rope and the second support wire rope are fixed to the upper sheave block;
    Said first opening and closing wire rope is wound on the upper sheave block and the floating sheave block, the tip are fastened to one of the cotter sheave,
    The second opening and closing wire rope is wound around the upper sheave block and the floating sheave block, and the tip is secured to the other cotter sheave,
    When the grab bucket is raised or lowered in the loaded state where the grab bucket is loaded, or when the trolley is traversed,
    Respective rotation speeds of the first support drum, the second support drum, the first opening / closing drum, and the opening / closing drum are set to predetermined rotation speeds,
    Based on the detection value of the detection means, the winding amount or feeding amount of the second support drum or the first supporting drum matches the winding amount or feeding amount of the first support drum or the second support drum. Let
    Based on the detection value of the detection means, the winding amount or feeding amount of the first opening / closing drum or the second opening / closing drum is calculated from the winding amount or feeding amount of the first support drum and the second support drum. The theoretical opening amount or the feeding amount of the first opening / closing drum or the second opening / closing drum,
    A control method for a bridge-type unloader, wherein a total torque of the first opening / closing drum and the second opening / closing drum is made a predetermined amount larger than a total torque of the first supporting drum and the second supporting drum.
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