JP6441008B2 - Grab bucket unloader operation support device - Google Patents

Description

  The present invention relates to a driving support device for a grab bucket unloader.

  In general, a grab bucket unloader is provided on the quay to unload loose objects such as ore and coal loaded on a bulk carrier.

  FIG. 5 is a side view showing an example of a conventional grab bucket type unloader. The grab bucket type unloader has a sea limb 1 on the sea side and a land leg 2 on the land side, on a rail 3 on a quay. A traveling machine body 4, a boom 6 that can project from a girder 5 provided on the land side above the machine body 4 to the sea side and can be lifted around a pin 6 a, and along the longitudinal direction of the boom 6 and the girder 5 And a grab bucket 8 that is suspended from the trolley 7 so as to be lifted and lowered and opened and closed. Then, the grab bucket 8 opened from the trolley 7 located on the sea side of the boom 6 is suspended from the upper opening 9a of the bulk carrier 9 and placed on the bulk, and the grab bucket 8 is closed. The grab bucket 8 is moved up, and then the trolley 7 is moved to the land side to move the grab bucket 8 to the land side. The grab bucket 8 is provided in the machine body 4 with a hopper. By opening the door 10 when it reaches the top, the rose is put into the hopper 10. The bulk material thrown into the hopper 10 is supplied to the land conveyor 12 by an in-machine conveyor 11 provided in the machine body 4. In FIG. 5, reference numeral 13 denotes a mobile operation room in which an operator who operates the unloader is boarded, and reference numeral 14 denotes a machine room provided at the land side end of the upper part of the machine body 4.

  As the grab bucket unloader as described above, for example, as shown in FIG. 6, four winch drums are provided, and by driving the winch drum, the trolley 7 is traversed and the grab bucket 8 is moved up and down. There is a 4-drum unloader.

  The hoisting rope 16 fed out from the hoisting drum 15 as the winch drum is guided to the sheave 18 on the trolley 7 through the sheave 17 provided at the land side end of the girder 5 (see FIG. 5), and then downward. The lower end is directed and fixed to one side (land side) of the grab bucket 8. Further, the hoisting rope 16 ′ fed out from the hoisting drum 15 ′ as the winch drum is guided to the sheave 18 ′ on the trolley 7 through the sheave 17 ′ provided at the sea end of the boom 6 (see FIG. 5). After that, the lower end directed downward is fixed to the other side (sea side) of the grab bucket 8.

  The open / close rope 20 fed from the open / close drum 19 as the winch drum is guided to the sheave 22 on the trolley 7 through the sheave 21 provided at the land side end of the girder 5 (see FIG. 5) and then downward. A lower moving sheave 23 that is guided and attached to the connecting portion of the bucket body 8a, 8a of the grab bucket 8, and an upper fixed sheave 24 that is attached to the upper frame 8c that supports the bucket body 8a by pin connection via a tie rod 8b (see FIG. 5), and is fixed to a required portion of the grab bucket 8. On the other hand, the open / close rope 20 'fed out from the open / close drum 19' as the winch drum is guided to the sheave 22 'on the trolley 7 through the sheave 21' provided at the sea end of the boom 6 (see FIG. 5). After that, it is guided downward and is hung multiple times between the lower moving sheave 23 of the grab bucket 8 and the upper fixed sheave 24 (see FIG. 5), and is fixed to a required portion of the grab bucket 8.

  In the four-drum unloader shown in FIG. 6, when the hoisting drums 15 and 15 ′ are stopped and the open / close ropes 20 and 20 ′ are simultaneously fed out by the open / close drums 19 and 19 ′, the lower moving sheave of the grab bucket 8 is obtained. 23 and the upper fixed sheave 24 (see FIG. 5) are opened, the grab bucket 8 is opened, and when the open / close ropes 20 and 20 ′ are simultaneously wound by the open / close drums 19 and 19 ′, the lower moving sheave 23 and the upper fixed sheave 24 The interval (see FIG. 5) is narrowed and the grab bucket 8 is closed.

  Further, if the operation of feeding the hoisting ropes 16 and 16 'by the hoisting drums 15 and 15' and the operation of feeding the opening and closing ropes 20 and 20 'by the opening and closing drums 19 and 19' are simultaneously performed, the grab bucket 8 descends. Further, when the operation of winding the hoisting ropes 16 and 16 'by the hoisting drums 15 and 15' and the operation of winding the opening and closing ropes 20 and 20 'by the opening and closing drums 19 and 19' are performed simultaneously, the grab bucket 8 rises. To do.

  On the other hand, a winding operation of the hoisting drum 15 and the opening / closing drum 19 leading the hoisting rope 16 and the opening / closing rope 20 from the land-side sheaves 17, 21 to the land-side sheaves 18, 22 on the trolley 7, The winding drum 15 ′ and the opening and closing drum 19 ′ leading from the sheaves 17 ′ and 21 ′ to the sea sheaves 18 ′ and 22 ′ of the trolley 7 on the sea side are simultaneously fed out. Then, the trolley 7 and the grab bucket 8 traverse to the land side. On the contrary, when the operation of feeding the hoisting drum 15 and the opening / closing drum 19 and the operation of entraining the hoisting drum 15 ′ and the opening / closing drum 19 ′ are performed simultaneously, the trolley 7 and the grab bucket 8 traverse to the sea side. That is, the trolley 7 and the grab bucket 8 can be traversed by operating the hoisting drums 15 and 15 ′ and the opening and closing drums 19 and 19 ′.

  For example, Patent Document 1 shows a general technical level related to the grab bucket unloader as described above.

JP 2005-239411 A

  By the way, in the grab bucket unloader as described above, when the trolley 7 traverses from above the hopper 10 to the bulk carrier 9 side, before reaching the upper opening 9 a of the bulk carrier 9, Performing the unwinding operation is important for improving the efficiency of unloading.

  However, since the operator who boarded the mobile cab 13 manually performs the lowering operation of the grab bucket 8, in order to avoid the grab bucket 8 from colliding with the deck 9b, the trolley 7 is used as a bulk carrier. 9 had to decelerate and stop the lowering operation of the grab bucket 8 just before reaching the upper portion 9a of the upper opening 9a, leading to a decrease in unloading efficiency.

  In addition, the height of the bulk carrier 9 floating on the surface of the sea changes depending on the difference in tidal volume and the amount of cargo, which is also a factor that makes it difficult for the grab bucket 8 to roll down.

  The present invention has been made in view of the above-described conventional problems. A grab bucket unloader that can smoothly perform the unwinding operation of the grab bucket while avoiding a collision with the deck, and can improve the unloading efficiency. The present invention intends to provide a driving support device.

The present invention includes a land-side girder and a trolley traversing along a sea-side boom, a grab bucket suspended from the trolley by a rope, and driving the rope to traverse the trolley and raising / lowering the grab bucket A grab bucket type unloader operation support device that includes a winch drum that opens and closes and lifts the grab bucket by a rope driven by the winch drum and unloads a rose from a top opening of a bulk carrier to a landside hopper. And
A deck position detector for detecting a deck position other than the upper opening of the bulk carrier,
A bucket current position detector for detecting a current position of the grab bucket;
During the lowering operation of the grab bucket, the current position of the grab bucket detected by the bucket current position detector is above the deck position other than the upper opening detected by the deck position detector, and the grab bucket A control device that outputs a lowering stop signal to the inverter of the winch drum motor when the vertical distance between the current position and the deck position is equal to or less than a set interval ;
The deck position detector is attached to the bottom surface of the boom and rotates around an axis extending in a horizontal direction perpendicular to the longitudinal direction of the boom while irradiating a laser toward the top surface of the bulk carrier, thereby rotating the rotation angle. Is a scan sensor that measures the distance corresponding to
The distance corresponding to the rotation angle measured by the scan sensor is converted into two-dimensional coordinates, and the portion where the distance changes linearly in the two-dimensional coordinates is recognized as a deck position other than the upper opening. The present invention relates to a driving support device for a grab bucket unloader.

  Further, it is preferable that the distance corresponding to the rotation angle by the scan sensor is measured every set time and the deck position is updated.

In the driving support device for the grab bucket unloader, the bucket current position detector is a rotation sensor that measures the drum rotation speed of a winch drum that drives a rope for moving the trolley and moving the grab bucket up and down. Yes,
It is preferable that the current position of the grab bucket is recognized based on the drum rotation speed measured by the rotation sensor.

  According to the driving support device for a grab bucket unloader of the present invention, it is possible to smoothly carry out the lowering operation of the grab bucket while avoiding a collision with the deck, and it is possible to achieve an excellent effect that the unloading efficiency can be improved. .

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole schematic block diagram which shows the Example of the driving assistance apparatus of the grab bucket type unloader of this invention. It is a figure which shows the deck position detector in the Example of the driving assistance apparatus of the grab bucket type unloader of this invention, Comprising: (a) is a front view, (b) is a side view. It is a control block diagram which shows the Example of the driving assistance apparatus of the grab bucket type unloader of this invention. It is a flowchart which shows the flow of control in the Example of the driving assistance apparatus of the grab bucket type unloader of this invention. It is a whole schematic block diagram which shows an example of the conventional grab bucket type unloader. It is a perspective view which shows an example of the conventional 4 drum type unloader.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  1 to 4 show an embodiment of a driving support device for a grab bucket unloader according to the present invention. In the figure, the same reference numerals as those in FIGS. 5 and 6 denote the same components.

  In this embodiment, the deck position detector 25 detects the position of the deck 9b other than the upper opening 9a of the bulk carrier 9, and the bucket current position detector 26 detects the current position of the grab bucket 8. .

  As shown in FIGS. 2A and 2B, the deck position detector 25 is attached to the lower surface of the boom 6 and extends around a shaft 25S extending in the horizontal direction perpendicular to the longitudinal direction of the boom 6. This is a scan sensor that measures a distance corresponding to the rotation angle by irradiating a laser toward the upper surface of the bulk carrier 9 while rotating, and converts the distance corresponding to the rotation angle measured by the scan sensor into two-dimensional coordinates. A portion where the distance changes linearly in the two-dimensional coordinates is recognized as the position of the deck 9b other than the upper opening 9a.

  The bucket current position detector 26 traverses the trolley 7 and drives a rope (winding ropes 16 and 16 'and opening and closing ropes 20 and 20') for raising and lowering and opening and closing the grab bucket 8. The drum rotation speeds of the upper drums 15 and 15 ′ and the opening and closing drums 19 and 19 ′ are rotation sensors such as encoders, and the current position of the grab bucket 8 is recognized based on the drum rotation speed measured by the rotation sensor. It is configured as follows.

  Then, during the lowering operation of the grab bucket 8, the current position of the grab bucket 8 detected by the bucket current position detector 26 is above the position of the deck 9b other than the upper opening 9a detected by the deck position detector 25. And when the vertical position between the current position of the grab bucket 8 and the position of the deck 9b is equal to or less than a set distance, a lowering stop signal 28a is sent from the control device 30 to the inverter 28 of the motor 27 of the winch drum. It is designed to output.

  Further, when an operator operates a controller 31 provided in the mobile cab 13, the operation signal 31 a is input to the control device 30.

  Furthermore, the distance corresponding to the rotation angle by the deck position detector 25 which is the scan sensor is measured every set time (for example, about several minutes), and the position of the deck 9b is updated.

  Next, details of the control will be described with reference to the flowchart of FIG.

  First, during the lowering operation of the grab bucket 8, when the operator who has boarded the mobile operation room 13 manually operates the controller 31 (see step S1), the hoisting ropes 16, 16 are driven by the hoisting drums 15, 15 '. 'Is fed out, and the open / close ropes 20 and 20' are fed out by the open / close drums 19 and 19 ', the grab bucket 8 is lowered, and the winding operation is performed (see step S2).

  On the other hand, the deck position detector 25, which is a scan sensor attached to the lower surface of the boom 6, is rotated about an axis 25S extending in the horizontal direction perpendicular to the longitudinal direction of the boom 6 to the upper surface of the bulk carrier 9. The distance corresponding to the rotation angle is measured by irradiating the direct laser (see step S3).

  Subsequently, the distance corresponding to the rotation angle measured by the deck position detector 25 is converted into two-dimensional coordinates in the control device 30 (see step S4).

  A portion where the distance changes linearly in the two-dimensional coordinates is recognized as the position of the deck 9b other than the upper opening 9a (see step S5). Incidentally, since the surface of the deck 9b is flat as shown in FIG. 1, a portion where the distance changes linearly in the two-dimensional coordinates can be recognized as the position of the deck 9b other than the upper opening 9a.

  Here, the bucket current position detector 26, which is a rotation sensor such as an encoder, traverses the trolley 7 and ropes (winding ropes 16, 16 ′ and opening / closing ropes 20, 20) for moving the grab bucket 8 up and down. ′), The drum rotation speed of the winch drum (winding drums 15, 15 ′ and open / close drums 19, 19 ′) is measured, and the controller 30 controls the current position of the grab bucket 8 based on the drum rotation speed. Is recognized (see step S6).

  The current position of the grab bucket 8 recognized in step S6 is compared with the deck 9b position recognized in step S5 by the control device 30 (see step S7).

  From the comparison in step S7, it is determined whether the vertical distance between the current position of the grab bucket 8 and the position of the deck 9b is equal to or less than a set interval (for example, about 5 m) (see step S8). When the interval is larger than the set interval, the process returns to step S7 and the comparison between the current position of the grab bucket 8 and the position of the deck 9b is repeated.

  When the vertical interval is equal to or less than the set interval, a roll-down stop request is output (see step S9).

  While the lowering operation of the grab bucket 8 is continued from step S2, it is determined whether or not a lowering stop request is output (see step S10), and the lowering stop is performed in step S9. When the request is output, the lowering stop signal 28a is output to the hoisting drums 15 and 15 'as the winch drums and the inverter 28 of the motors 27 of the opening and closing drums 19 and 19' through the step S10 (see step S11). ), The lowering operation of the grab bucket 8 is forcibly stopped.

  As a result, even if the operator who boarded the mobile cab 13 manually performs the lowering operation of the grab bucket 8 and the operation signal 31 a for lowering is input from the controller 31 to the control device 30, the grab bucket When the vertical distance between the current position 8 and the position of the deck 9b is equal to or less than a set interval (for example, about 5 m), the lowering operation of the grab bucket 8 is forcibly stopped. Colliding with the deck 9b is avoided. That is, the operator does not have to deliberately decelerate and stop the lowering operation of the grab bucket 8 just before the trolley 7 reaches the upper opening 9a of the bulk carrier 9 and unloads. Efficiency can be increased.

  In this way, it is possible to smoothly perform the unwinding operation of the grab bucket 8 while avoiding a collision with the deck 9b, and to improve the unloading efficiency.

  The deck position detector 25 is attached to the lower surface of the boom 6 and irradiates the laser toward the upper surface of the bulk carrier 9 while rotating around a shaft 25S extending in the horizontal direction perpendicular to the longitudinal direction of the boom 6. Thus, the scan sensor measures the distance corresponding to the rotation angle, converts the distance corresponding to the rotation angle measured by the scan sensor into two-dimensional coordinates, and the distance changes linearly in the two-dimensional coordinates. Since the portion is recognized as the position of the deck 9b other than the upper opening 9a, the position of the deck 9b can be detected with high accuracy and speed.

  Since the distance corresponding to the rotation angle by the scan sensor is measured every set time and the position of the deck 9b is updated, the height of the bulk carrier 9 floating on the sea surface depends on the difference of tidal and the amount of cargo. Even if it changes, it is possible to avoid collision of the grab bucket 8 with the deck 9b.

  The bucket current position detector 26 is a rotation sensor that measures the drum rotation speed of the winch drum that drives the rope for moving the trolley and moving the grab bucket 8 up and down, and is measured by the rotation sensor. Since the present position of the grab bucket 8 is recognized based on the drum rotation speed, it is effective in improving the reliability of the current position detection of the grab bucket 8.

  The driving support device for the grab bucket unloader of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the scope of the present invention.

5 Girder 6 Boom 7 Trolley 8 Grab bucket 9 Bulk material carrier 10 Hopper 15 Hoisting drum (winch drum)
15 'winding drum (winch drum)
16 Hoisting rope (rope)
16 'hoisting rope (rope)
19 Opening and closing drum (winch drum)
19 'Open / close drum (winch drum)
20 Opening and closing rope (rope)
20 'Open / close rope (rope)
25 Deck position detector (scan sensor)
25S Shaft 26 Bucket current position detector (rotation sensor)
27 Motor 28 Inverter 28a Lowering stop signal 30 Controller

Claims (3)

A trolley traversing along the land-side girder and the sea-side boom, a grab bucket suspended from the trolley by a rope, and a winch drum that drives the rope to traverse the trolley and raise / lower the grab bucket A grab bucket unloader driving support device that suspends the grab bucket by driving a rope by the winch drum and unloads the rose from the upper opening of the rose carrier to the hopper on the land side,
A deck position detector for detecting a deck position other than the upper opening of the bulk carrier,
A bucket current position detector for detecting a current position of the grab bucket;
During the lowering operation of the grab bucket, the current position of the grab bucket detected by the bucket current position detector is above the deck position other than the upper opening detected by the deck position detector, and the grab bucket A control device that outputs a lowering stop signal to the inverter of the winch drum motor when the vertical distance between the current position and the deck position is equal to or less than a set interval ;
The deck position detector is attached to the bottom surface of the boom and rotates around an axis extending in a horizontal direction perpendicular to the longitudinal direction of the boom while irradiating a laser toward the top surface of the bulk carrier, thereby rotating the rotation angle. Is a scan sensor that measures the distance corresponding to
The distance corresponding to the rotation angle measured by the scan sensor is converted into two-dimensional coordinates, and the portion where the distance changes linearly in the two-dimensional coordinates is recognized as a deck position other than the upper opening. A grab bucket unloader operation support device. The scan sensor performs the measurement of the distance corresponding to the rotation angle for every set time by the driving support apparatus of the grab bucket unloader configurations claims 1 wherein to update the deck position. The bucket current position detector is a rotation sensor that measures a drum rotation speed of a winch drum that drives a rope for traversing the trolley and raising / lowering / opening / closing the grab bucket,
The driving support device for a grab bucket unloader according to claim 1 or 2 , wherein a current position of the grab bucket is recognized based on a drum rotation speed measured by the rotation sensor.

Images