JP6607799B2 - Anti-collision device for continuous unloader - Google Patents

Description

  The present invention relates to a collision prevention device for a continuous unloader.

  In general, as shown in FIG. 7, a continuous unloader as a cargo handling and conveying machine is provided with a revolving frame 5 having a tiltable boom 4 on a traveling frame 3 that can travel on a rail 2 laid on a pier 1, At the tip of the boom 4, a bucket elevator 8 that scrapes the bulk material 7 such as coal or iron ore inside the hold 6 of the ship S and carries it out of the hold 6 is suspended. Inside the boom 4 is disposed a boom conveyor 9 that conveys the loose article 7 scraped by the bucket elevator 8 to the base end side of the boom 4. The traveling frame 3 is provided with an unloading conveyor 10 for unloading the bulk material 7 fed from the boom conveyor 9 via the chute 11 to the outside of the traveling frame 3.

  As shown in FIGS. 7 and 8, the bucket elevator 8 is configured by pivotally attaching a main body frame 12 extending in the vertical direction at the tip of the boom 4. At the lower end of the main body frame 12, a scraper frame 15, which has an inner frame frame 14 that is telescopically disposed so as to be nested with respect to the outer frame frame 13 with an open end face, is provided via a lifting frame 23. It is mounted almost horizontally. Sprockets 16 and 17 are provided at the proximal end of the outer frame 13 and the distal end of the inner frame 14 of the scraping part frame 15, and the sprockets 16 and 17 and the sprocket 18 provided on the upper part of the main body frame 12 are provided. An endless chain 20 to which a large number of buckets 19 for scraping off loose articles 7 are attached is hung around.

  The expansion and contraction of the inner frame 14 with respect to the outer frame 13 is performed by the expansion and contraction operation of the cylinder 21. Further, in order to prevent a change in tension of the chain 20 due to the expansion and contraction of the inner frame frame 14, the outer frame frame 13 is connected to an elevating frame 23 that can be moved up and down by the expansion and contraction operation of the cylinder 22 with respect to the main body frame 12. Has been. In FIG. 8, when the cylinder 21 extends and the inner frame 14 extends relative to the outer frame 13 as indicated by a solid line, the cylinder 22 expands in conjunction with the operation of the cylinder 21 and passes through the lifting frame 23. Thus, the outer frame 13 is raised so as to be drawn toward the main body frame 12 side. On the other hand, when the cylinder 21 contracts and the inner frame 14 contracts with respect to the outer frame 13 as shown by phantom lines in FIG. 23, the outer frame 13 is lowered away from the main body frame 12 side, so that the tension of the chain 20 is always kept constant.

  As shown in FIGS. 7 and 9, a balancing lever 24 is pivotally attached to the top of the swivel frame 5, and the main body frame 12 of the bucket elevator 8 is attached to the tip of the balancing lever 24 via the top frame 25. A parallelogram link mechanism is formed by the boom 4, the balancing lever 24, the revolving frame 5, and the top frame 25. A counterweight 26 is attached to the rear end portion of the balancing lever 24.

  The turning frame 5 is turned by a turning motor controlled by an inverter (not shown) constituting the turning drive device 27. The boom 4 and the balancing lever 24 forming the parallelogram link mechanism are raised and lowered by expansion and contraction of a hoisting cylinder 28a driven by a hydraulic device (not shown) constituting the hoisting drive device 28. .

  In the continuous unloader, the loose material 7 inside the hold 6 is scraped off by the bucket 19 of the bucket elevator 8 and loaded out of the hold 6, and the boom conveyor 9 moves from the front end side to the base end side of the boom 4. And is dropped onto the carry-out conveyor 10 via the chute 11 and is carried out of the traveling frame 3 by the carry-out conveyor 10.

  For example, Patent Document 1 shows a general technical level related to the continuous unloader.

JP 2014-84190 A

  By the way, in the continuous unloader as described above, a bulldozer (not shown) for carrying out the work inside the hold 6 is lifted from the pier 1 and carried into the hold 6 or vice versa. It is lifted and carried out to the pier 1.

  Conventionally, it has been common for the operator of a continuous unloader to carry out the loading and unloading operation of the bulldozer while receiving an instruction from a signal person on board the ship.

  However, as shown in FIG. 7, when another ship S is anchored on the opposite side of the pier 1, the counterweight 26 is a deck crane or bridge of the ship S or a deck crane (not shown) mounted on the ship S. ) And other obstacles. For this reason, it is necessary for the operator to avoid contact between the counterweight 26 and the obstacle. However, it is difficult to grasp the distance between the counterweight 26 and the obstacle by visual confirmation. I had to slow down from the front, leading to a loss of time. When another ship S is anchored on the opposite side of the pier 1, the operator is not limited to the bulldozer loading / unloading work, but also the contact between the counterweight 26 and the obstacle during normal cargo handling work. It was necessary to pay attention to this, and it was a factor that lowered the cargo handling efficiency.

  The present invention has been made in view of the above-described conventional problems, and is intended to provide a continuous unloader collision prevention device that can prevent contact between a counterweight and an obstacle and improve cargo handling efficiency. is there.

The present invention is a collision preventive device for a continuous unloader provided with a counterweight at the rear end of a balancing lever that is swung by a swivel drive device and that is swung by a undulation drive device,
A turning direction sensor for recognizing an obstacle in the turning direction of the counterweight;
A undulation direction sensor for recognizing an obstacle in the undulation direction of the counterweight;
A controller for outputting a turning deceleration command to the turning drive device based on the recognition result of the turning direction sensor, and a controller for outputting the undulating deceleration command to the undulation drive device based on the recognition result of the undulation direction sensor. The present invention relates to a collision preventing device for a characteristic continuous unloader.

  In the collision preventive device for the continuous unloader, the turning direction sensor is a sensor for measuring a horizontal distance between the counterweight and the obstacle, and the controller is configured to turn the horizontal distance measured by the turning direction sensor. You may have a function which outputs a turning deceleration command when it is below the deceleration start setting distance.

  The turning direction sensor is a sensor that detects the presence of an obstacle by scanning both sides of the counterweight in the width direction, and the controller issues a turning deceleration command when the presence of the obstacle is confirmed by the turning direction sensor. It may have a function of outputting.

  The undulation direction sensor is a sensor that measures the vertical distance between the counterweight and the obstacle, and the controller is configured such that the vertical distance measured by the undulation direction sensor is equal to or less than the undulation deceleration start set distance. In this case, a function of outputting an undulating deceleration command may be provided.

  According to the anti-collision device for a continuous unloader of the present invention, it is possible to obtain an excellent effect that the counterweight can be prevented from coming into contact with the obstacle and the cargo handling efficiency can be improved.

It is a control block diagram which shows the 1st Example of the collision prevention apparatus of the continuous unloader of this invention. It is a flowchart which shows the 1st Example of the collision prevention apparatus of the continuous unloader of this invention. It is a figure which shows arrangement | positioning of the turning direction sensor and the undulation direction sensor in 1st Example of the collision prevention apparatus of the continuous unloader of this invention, Comprising: (a) is a top view, (b) is a side view, (c) is balancing It is a side view of a state where the counterweight is tilted together with the lever. It is a control block diagram which shows the 2nd Example of the collision prevention apparatus of the continuous unloader of this invention. It is a flowchart which shows the 2nd Example of the collision prevention apparatus of the continuous unloader of this invention. It is a figure which shows arrangement | positioning of the turning direction sensor and the undulation direction sensor in 2nd Example of the collision prevention apparatus of the continuous unloader of this invention, Comprising: (a) is a top view, (b) is a side view, (c) is balancing. It is a side view in the state where the counterweight inclined together with the lever. It is a schematic block diagram which shows the conventional continuous unloader. FIG. 8 is a detailed view of a part VIII in FIG. 7. FIG. 8 is a plan view of FIG. 7.

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

  1 to 3 show a first embodiment of a collision preventive device for a continuous unloader according to the present invention. In the figure, the same reference numerals as those in FIGS. 7 to 9 denote the same parts.

  In the first embodiment, as shown in FIGS. 3A and 3B, a turning direction sensor 30 for recognizing an obstacle in the turning direction of the counterweight 26 is provided at both width ends of the upper surface of the counterweight 26. A hoisting direction sensor 31 for recognizing an obstacle in the hoisting direction of the counterweight 26 is provided at the upper part of both width end surfaces of the counterweight 26. Then, based on the recognition result of the turning direction sensor 30, the controller 32 (see FIG. 1) outputs a turning deceleration command 33 to the turning drive device 27, and based on the recognition result of the undulation direction sensor 31, the controller The undulation deceleration command 34 is output from the undulation drive device 28 to the undulation drive device 28.

  The controller 32 is a programmable logic controller (PLC), and is installed inside the electrical chamber 35 as shown in FIG.

  The turning drive device 27 is a turning motor 27a controlled by an inverter 27b. The hoisting drive device 28 is a hoisting cylinder 28a controlled by a hydraulic device 28b.

  In the first embodiment, as shown in FIG. 1, the turning direction sensor 30 is a sensor using a laser or the like that measures a horizontal distance W between the counterweight 26 and an obstacle, and the undulation direction sensor 31. Is a sensor using a laser or the like that measures the vertical distance H between the counterweight 26 and the obstacle. The controller 32 outputs a turning deceleration command 33 when the horizontal distance W measured by the turning direction sensor 30 is equal to or less than the turning deceleration start set distance Ws (W ≦ Ws), and the undulation direction sensor 31. When the vertical distance H measured in step S is equal to or less than the undulation deceleration start set distance Hs (H ≦ Hs), the undulation deceleration command 34 is output. The turning deceleration start set distance Ws can be set to 10 m, for example, and the undulating deceleration start set distance Hs can be set to 3 m, for example.

  On the other hand, the undulation direction sensor 31 is always arranged downward by a rotation mechanism 31a (see FIGS. 3B and 3C) having a steadying mechanism (not shown).

  Next, the operation of the first embodiment will be described.

  A bulldozer (not shown) for carrying out work inside the hold 6 is lifted from the pier 1 and carried into the hold 6, or conversely, a bulldozer is lifted from the inside of the hold 6 and carried out to the pier 1. When the counterweight 26 attached to the rear end portion of the balancing lever 24 starts to turn during normal cargo handling work (see step S101 in FIG. 2), the counterweight 26 and And the horizontal direction distance W with obstacles, such as the deck of the ship S shown by FIG. 9, a bridge, or the deck crane (not shown) mounted in the ship S, is detected (refer step S102 of FIG. 2).

  When the turning direction sensor 30 detects the horizontal distance W between the counterweight 26 and the obstacle, the controller 32 determines whether the horizontal distance W is equal to or less than the turning deceleration start set distance Ws (W ≦ Ws). Is determined (see step S103 in FIG. 2).

  If the horizontal distance W is not equal to or less than the turning deceleration start set distance Ws (W> Ws), the process returns to step S102 and the detection of the horizontal distance W is repeated. On the other hand, when the horizontal distance W is equal to or less than the turning deceleration start set distance Ws (W ≦ Ws), a turning deceleration command is sent from the controller 32 to the inverter 27b of the turning drive device 27 as shown in FIG. 33 is output (see step S104 in FIG. 2), the turning motor 27a is decelerated, and the counterweight 26 stops turning (see step S105 in FIG. 2).

  In parallel with the operation related to the turning described above, when the counterweight 26 attached to the rear end portion of the balancing lever 24 starts undulation (see step S106 in FIG. 2), the undulation direction sensor 31 causes the counterweight 26 to The vertical distance H from an obstacle such as a deck or bridge of the ship S shown in FIGS. 7 and 9 or a deck crane (not shown) mounted on the ship S is detected (see step S107 in FIG. 2). . At this time, even if the counterweight 26 is tilted and lowered as the balancing lever 24 is raised, the undulation direction sensor 31 is always arranged downward by the rotation mechanism 31a as shown in FIG. In addition, since vibration is suppressed by a steadying mechanism (not shown), the vertical distance H with respect to an obstacle existing below the counterweight 26 can always be accurately grasped.

  When the vertical direction distance H between the counterweight 26 and the obstacle is detected by the undulation direction sensor 31, whether or not the vertical direction distance H is equal to or less than the undulation deceleration start set distance Hs (H ≦ Hs) in the controller 32. Is determined (see step S108 in FIG. 2).

  If the vertical distance H is not less than the undulating deceleration start set distance Hs (H> Hs), the process returns to step S107 and the detection of the vertical distance H is repeated. On the other hand, when the vertical distance H is equal to or less than the undulation deceleration start set distance Hs (H ≦ Hs), the undulation deceleration is performed from the controller 32 to the hydraulic device 28b of the undulation drive device 28 as shown in FIG. The command 34 is output (see step S109 in FIG. 2), the undulation cylinder 28a is decelerated, and the counterweight 26 stops undulation (see step S110 in FIG. 2).

  Accordingly, in the first embodiment, as shown in FIG. 7, even if another ship S is anchored on the opposite side of the pier 1, the counterweight 26 is mounted on the deck or bridge of the ship S or the ship S. It is possible to prevent contact with an obstacle such as a deck crane (not shown).

  Conventionally, a bulldozer loading / unloading operation is generally performed while a continuous unloader operator visually confirms in response to an instruction from a signal person on board, and the distance between the counterweight 26 and an obstacle is visually confirmed. However, it was difficult to grasp, and it was necessary to decelerate the turning and undulation movements from the front of the obstacle, leading to a loss of time. On the other hand, in the case of the first embodiment, the operator is not bothered by avoiding contact between the counterweight 26 and the obstacle, and concentrates not only on the loading / unloading operation of the bulldozer but also on the normal cargo handling operation. This makes it possible to avoid a decrease in cargo handling efficiency.

  In this way, contact between the counterweight 26 and the obstacle can be prevented and cargo handling efficiency can be improved.

  4 to 6 show a second embodiment of the collision preventive device for a continuous unloader according to the present invention. In the figure, the parts denoted by the same reference numerals as those in FIGS. The configuration is the same as that of the first embodiment shown in FIGS.

  In the case of the second embodiment, the turning direction sensor 30 is arranged at a required position of the balancing lever 24 so as to face the counterweight 26 as shown in FIGS. It is a sensor using a laser or the like that detects the presence of an obstacle by scanning on both sides in the width direction, and the controller 32, when the presence of an obstacle is confirmed by the turning direction sensor 30, as shown in FIG. It has a function of outputting a turning deceleration command 33.

  Next, the operation of the second embodiment will be described.

  A bulldozer (not shown) for carrying out work inside the hold 6 is lifted from the pier 1 and carried into the hold 6, or conversely, a bulldozer is lifted from the inside of the hold 6 and carried out to the pier 1. When the counterweight 26 attached to the rear end portion of the balancing lever 24 starts to turn during normal cargo handling operation (see step S201 in FIG. 5), both sides of the counterweight 26 in the width direction are detected by the turning direction sensor 30. Is performed (see step S202 in FIG. 5).

  When the both sides of the counterweight 26 in the width direction are scanned by the turning direction sensor 30, the controller 32 is mounted on the deck or bridge of the ship S or the ship S shown in FIGS. It is determined whether an obstacle such as a deck crane (not shown) exists (see step S203 in FIG. 5).

  If there is no obstacle in the scan range, the process returns to step S202, and scanning on both sides of the counterweight 26 in the width direction is repeated. On the other hand, when there is an obstacle in the scan range, as shown in FIG. 4, a turning deceleration command 33 is output from the controller 32 to the inverter 27b of the turning drive device 27 (step of FIG. 5). In step S204, the turning motor 27a is decelerated, and the counterweight 26 stops turning (see step S205 in FIG. 5).

  In parallel with the operation related to the above-mentioned turning, when the counterweight 26 attached to the rear end portion of the balancing lever 24 starts undulation (see step S206 in FIG. 5), the undulation direction sensor 31 causes the counterweight 26 to The vertical distance H from an obstacle such as a deck or bridge of the ship S shown in FIGS. 7 and 9 or a deck crane (not shown) mounted on the ship S is detected (see step S207 in FIG. 5). . At this time, even if the counterweight 26 is tilted and lowered as the balancing lever 24 is raised, the undulation direction sensor 31 is always arranged downward by the rotation mechanism 31a as shown in FIG. 6 (c). In addition, since vibration is suppressed by a steadying mechanism (not shown), the vertical distance H with respect to an obstacle existing below the counterweight 26 can always be accurately grasped.

  When the vertical direction distance H between the counterweight 26 and the obstacle is detected by the undulation direction sensor 31, whether or not the vertical direction distance H is equal to or less than the undulation deceleration start set distance Hs (H ≦ Hs) in the controller 32. Is determined (see step S208 in FIG. 5).

  If the vertical distance H is not less than the undulation deceleration start set distance Hs (H> Hs), the process returns to step S207 and the detection of the vertical distance H is repeated. On the other hand, when the vertical distance H is equal to or less than the undulation deceleration start set distance Hs (H ≦ Hs), the undulation deceleration is performed from the controller 32 to the hydraulic device 28b of the undulation drive device 28 as shown in FIG. The command 34 is output (see step S209 in FIG. 5), the undulation cylinder 28a is decelerated, and the counterweight 26 stops undulation (see step S210 in FIG. 5).

  Thus, in the second embodiment, as in the first embodiment, even if another ship S is anchored on the opposite side of the pier 1 as shown in FIG. Alternatively, it is possible to prevent contact with an obstacle such as a deck crane (not shown) mounted on the ship S.

  In addition, the operator can concentrate on not only the loading / unloading operation of the bulldozer but also the normal loading / unloading work without being bothered by avoiding contact between the counterweight 26 and the obstacle. It can be avoided.

  In this way, in the second embodiment, as in the first embodiment, contact between the counterweight 26 and the obstacle can be prevented in advance, and cargo handling efficiency can be improved.

  In the first embodiment, the turning direction sensor 30 is a sensor that measures the horizontal distance W between the counterweight 26 and the obstacle, and the controller 32 is measured by the turning direction sensor 30. When the horizontal distance W is equal to or less than the turning deceleration start set distance Ws, the turning deceleration command 33 is output. With this configuration, the turning of the counterweight 26 can be stably decelerated and stopped according to the horizontal distance W between the counterweight 26 and the obstacle.

  In the second embodiment, the turning direction sensor 30 is a sensor that detects the presence of an obstacle by scanning both sides of the counter weight 26 in the width direction. It has a function of outputting a turn deceleration command 33 when the presence of an object is confirmed. With this configuration, the counterweight 26 can be stably decelerated and stopped according to the presence or absence of an obstacle by scanning on both sides of the counterweight 26 in the width direction. Can be reduced to one, which is preferable.

  The undulation direction sensor 31 is a sensor that measures the vertical distance H between the counterweight 26 and the obstacle, and the controller 32 sets the vertical direction distance H measured by the undulation direction sensor 31 so that the undulation deceleration start is set. It has a function of outputting an undulating deceleration command 34 when the distance Hs or less. With this configuration, the undulation of the counterweight 26 can be stably decelerated and stopped according to the vertical distance H between the counterweight 26 and the obstacle.

  The collision prevention device for the continuous unloader according to the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

24 Balancing lever 26 Counterweight 27 Turning drive device 28 Undulating drive device 30 Turning direction sensor 31 Undulating direction sensor 32 Controller 33 Turning deceleration command 34 Lifting deceleration command W Horizontal distance Ws Turning deceleration start set distance H Vertical distance Hs Undulating deceleration Starting set distance

Claims (4)

A collision prevention device for a continuous unloader that is provided with a counterweight at the rear end of a balancing lever that is swung by a swivel drive device and that is swung by a undulation drive device,
A turning direction sensor for recognizing an obstacle in the turning direction of the counterweight;
A undulation direction sensor for recognizing an obstacle in the undulation direction of the counterweight;
A controller for outputting a turning deceleration command to the turning drive device based on the recognition result of the turning direction sensor, and a controller for outputting the undulating deceleration command to the undulation drive device based on the recognition result of the undulation direction sensor. A collision preventive device for a continuous unloader.   The turning direction sensor is a sensor that measures a horizontal distance between a counterweight and an obstacle, and the controller is configured to detect when the horizontal distance measured by the turning direction sensor is equal to or less than a turning deceleration start set distance. The collision preventive device for a continuous unloader according to claim 1, having a function of outputting a turning deceleration command.   The turning direction sensor is a sensor that detects the presence of an obstacle by scanning both sides of the counterweight in the width direction, and the controller issues a turning deceleration command when the presence of the obstacle is confirmed by the turning direction sensor. The collision preventive device for a continuous unloader according to claim 1, which has a function of outputting.   The undulation direction sensor is a sensor that measures a vertical distance between a counterweight and an obstacle, and the controller is configured such that the vertical direction distance measured by the undulation direction sensor is equal to or less than a undulation deceleration start set distance. The collision prevention device for a continuous unloader according to any one of claims 1 to 3, which has a function of outputting an undulating deceleration command.

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