JP6830360B2 - Automatic evacuation device for port cargo handling machines - Google Patents

Description

The present invention relates to an automatic evacuation device for a port cargo handling machine capable of preventing interference between the cargo handling structure and a ship by retracting the cargo handling structure to the outside of the hold in the event of a disaster.

Port cargo handling machines are used, for example, for ship cargo handling operations at industrial ports. Port cargo handling machines can be roughly divided into track-traveling cargo handling machines and fixed cargo handling machines. Examples of the orbital traveling cargo handling machine include a container crane, a jib crane, and an unloader. Examples of the fixed cargo handling machine include a rotating arm. In particular, the unloader, which unloads loose cargo inside the hold, is an extremely important port cargo handling machine in Japan, which relies on imports for most of its raw materials. Unloaders can be broadly divided into intermittent unloaders and continuous unloaders. The intermittent unloader is an unloader that intermittently unloads loose cargo using a grab bucket, and can be classified into a bridge crane type unloader and a retractable crane type unloader according to the structural type. The continuous unloader can be classified into a mechanical unloader that continuously unloads loose cargo using a machine and a pneumatic unloader that continuously unloads loose cargo using air. The unloader can be further classified according to the unloading mechanism.

Japanese Unexamined Patent Publication No. 2014-084189 Japanese Unexamined Patent Publication No. 2014-084190

However, in any unloader, it is necessary to insert the cargo handling structure into the hold through the hold during ship cargo handling work, so the unloader swings when an earthquake occurs or the ship shakes when a tsunami occurs. If it moves, the cargo handling structure and the ship tend to interfere with each other. Not only the unloader, but also other port cargo handling machines that need to insert the cargo handling structure into the hold, the cargo handling structure and the ship are likely to interfere with each other.

In view of the above circumstances, the present invention is an automatic port cargo handling machine capable of effectively preventing interference between the cargo handling structure and the ship by automatically retracting the cargo handling structure to the outside of the hold in the event of a disaster. The purpose is to provide an evacuation device.

The present invention is an automatic evacuation device for a port cargo handling machine in which a cargo handling structure is inserted into a ship's warehouse through a warehouse to carry out ship cargo handling work, and is based on an operation of a driver before carrying out ship cargo handling work. , The evacuation origin position specifying part that specifies the evacuation origin position where the cargo handling structure can be safely retracted to the outside of the shipyard, the current position specifying part that specifies the current position of the cargo handling structure, and the evacuation origin. An automatic evacuation unit that automatically retracts the cargo handling structure to the outside of the hull based on the evacuation origin position specified by the position specifying unit and the current position specified by the current position specifying unit, and a ship handling operation are carried out. Provided is an automatic evacuation device for a port cargo handling machine provided with a retracting origin position correction unit that corrects the evacuation origin position specified by the evacuation origin position specifying unit based on the movement locus of the cargo handling structure at the time of operation. To do.

The retracting origin position specifying unit learns the specific position of the Kuraguchi by moving the cargo handling structure to the specific position of the Kuraguchi and storing the specific position of the Kuraguchi in response to the operation of the driver. It is desirable to specify the evacuation origin position based on the specific position of the Kuraguchi learned at the same time.

It is desirable that the specific position of the Kuraguchi means an upper position of the corner portion in the Kuraguchi.

The retracting origin position specifying unit learns the contour of the Kuraguchi by moving the cargo handling structure along the contour of the Kuraguchi and memorizing the contour of the Kuraguchi according to the operation of the driver. The evacuation origin position may be specified based on the contour of the Kuraguchi learned together with.

It is desirable that the evacuation origin position correction unit omits a locus with a low movement frequency from the movement locus of the cargo handling structure when the ship cargo handling work is being carried out.

The present invention can provide an automatic evacuation device for a port cargo handling machine capable of effectively preventing interference between a cargo handling structure and a ship by automatically retracting the cargo handling structure to the outside of the hold in the event of a disaster. You can.

It is a schematic side view of the bucket elevator type continuous unloader. It is a schematic block diagram of the automatic evacuation device of a port cargo handling machine.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

First, the port cargo handling machine will be briefly described.

In the present specification, a bucket elevator type continuous unloader will be described as an example of a port cargo handling machine, but in the present invention, in addition to the bucket elevator type continuous unloader, a cargo handling structure is inserted into the inside of the ship's warehouse through the warehouse mouth. It can be applied to any port cargo handling machine that carries out ship cargo handling work. In addition, in this specification, a structure configured to unload loose cargo inside the hold by being inserted into the hold through the hold mouth during ship cargo handling work is referred to as a cargo handling structure. I will nominate.

As shown in FIG. 1, the bucket elevator type continuous unloader 100, which is a port cargo handling machine, has a traveling frame 103 that is installed so as to be able to travel along a rail 102 laid on a quay 101 of a wharf in an industrial port, for example. , The swivel frame 104 rotatably supported on the upper part of the traveling frame 103, the balancing lever 105 levatably supported on the upper part of the swivel frame 104, and the swinging frame 104 connected to the side portion of the swivel frame 104. It includes a boom 106 and a bucket elevator 108 that is rotatably supported via a top frame 107 that is connected to the tip of the balancing lever 105 and the tip of the boom 106.

The rail 102 is basically laid parallel to the quay normal. The traveling frame 103 is bridged so as to straddle two rails 102 laid in parallel. An electric room and a hydraulic room are installed in the swivel frame 104. The balancing lever 105 is supported on the upper part of the swivel frame 104 via the hydraulic cylinder 109. The balancing lever 105 can be raised and lowered by expanding and contracting the hydraulic cylinder 109. By raising and lowering the balancing lever 105, the boom 106 connected to the balancing lever 105 via the top frame 107 can be raised and lowered together with the balancing lever 105. The balancing lever 105 and the boom 106 form a parallel link with the swivel frame 104 as a fixed link. The balancing lever 105 is balanced by a bucket elevator 108 supported at the front end and a counterweight 110 arranged at the rear end. By installing the counterweight 110, the force required when raising the balancing lever 105 can be reduced to the minimum.

The bucket elevator 108 scrapes the loose cargo 113 inside the hold 112 by the scraping section 111 exposed at the lower end of the bucket elevator 108, and the loose cargo 113 scraped by the scraping section 111. Is configured to be landed through the central and upper ends of the bucket elevator 108 covered by the bucket elevator casing 114. Therefore, the bucket elevator 108 corresponds to a structure configured to unload the loose cargo 113 inside the hold 112 by being inserted into the hold 112 through the hold 115 during the ship cargo handling work. Therefore, the bucket elevator 108 corresponds to the cargo handling structure in the bucket elevator type continuous unloader 100. The scraping unit 111 is configured to scrape the loose cargo 113 by driving the bucket chain 118 spanned between the front sprocket 116 and the rear sprocket 117 by the drive sprocket 119. The front sprocket 116 and the rear sprocket 117 are arranged at the lower end of the bucket elevator 108. The front sprocket 116 and the rear sprocket 117 are connected via a link mechanism 120. The scraping portion 111 can be expanded and contracted according to the shape of the hold 112 by adjoining or separating the front sprocket 116 and the rear sprocket 117 by the link mechanism 120. The drive sprocket 119 is arranged at the upper end of the bucket elevator 108. The bucket chain 118 is hung over the entire vertical direction of the bucket elevator 108 via the front sprocket 116, the rear sprocket 117, and the drive sprocket 119. Therefore, in the bucket elevator type continuous unloader 100, the loose cargo 113 can be continuously landed from the lower end to the upper end of the bucket elevator 108 by driving the bucket chain 118.

Next, the automatic evacuation device for the port cargo handling machine will be described in detail.

As shown in FIG. 2, the automatic evacuation device of the bucket elevator type continuous unloader 100 (hereinafter, simply referred to as an automatic evacuation device) in which the bucket elevator 108 is inserted into the hold 112 through the hold 115 to carry out ship cargo handling work. The 200 is an evacuation origin position specifying unit that specifies an evacuation origin position where the bucket elevator 108 can be safely retracted to the outside of the hold 112 based on the operation of the driver before carrying out the ship cargo handling work. The bucket elevator 108 is based on the current position specifying unit 202 that specifies the current position of the bucket elevator 108, the evacuation origin position specified by the evacuation origin position specifying unit 201, and the current position specified by the current position specifying unit 202. It is provided with an automatic evacuation unit 203 that automatically retracts to the outside of the hold 112.

The retract origin position specifying unit 201 learns the specific position of the Kuraguchi 115 by moving the bucket elevator 108 to the specific position of the Kuraguchi 115 and memorizing the specific position of the Kuraguchi 115 according to the operation of the driver. It is configured to specify the evacuation origin position based on the specific position of Kuraguchi 115 learned together with. Considering that most of the Kuraguchi 115 has a quadrangular appearance, the specific position of the Kuraguchi 115 means the upper position of the corner portion in the Kuraguchi 115. Specifically explaining the procedure for specifying the evacuation origin position by the evacuation origin position specifying unit 201, the evacuation origin position specifying unit 201 makes the bucket elevator 108 to the driver through the touch screen 204 at four corners of the Kuraguchi 115. Instruct to move to the upper position of any one of the parts. The driver operates the bucket elevator type continuous unloader 100 in response to the instruction through the touch screen 204 to move the bucket elevator 108 to an upper position of any one of the four corners of the Kuraguchi 115. The evacuation origin position specifying unit 201 stores the position of the bucket elevator 108 after moving the bucket elevator 108 to the upper position of any one of the four corners of the Kuraguchi 115 with respect to the driver through the touch screen 204. Further instruct to let. The driver moves the bucket elevator 108 to an upper position of any one of the four corners of the Kuraguchi 115 by operating the touch screen 204 in response to an instruction through the touch screen 204, and then the bucket elevator 108. Is stored in the evacuation origin position specifying unit 201. The position of the bucket elevator 108 can be specified, for example, by monitoring the traveling amount of the traveling frame 103, the turning amount of the turning frame 104, and the elevation amount of the balancing lever 105 and the boom 106, and the global positioning system. It can also be specified by using. By repeating the above procedure, the evacuation origin position specifying unit 201 can learn all the upper positions of the four corners of the Kuraguchi 115. Finally, the evacuation origin position specifying unit 201 can specify the evacuation origin position based on all the upper positions of the four corners of the learned Kuraguchi 115. Generally, it is considered that the center position of the Kuraguchi 115 can play a role as the evacuation origin position. Therefore, the evacuation origin position specifying unit 201 specifies the center position of the Kuraguchi 115 as the evacuation origin position. It is configured in.

The current position specifying unit 202 is configured to specify the current position of the bucket elevator 108 by monitoring, for example, the traveling amount of the traveling frame 103, the turning amount of the turning frame 104, and the depression / elevation amount of the balancing lever 105 and the boom 106. It may be configured to specify the current position of the bucket elevator 108 by using the global positioning system.

The automatic evacuation unit 203 can safely evacuate the bucket elevator 108 to the outside of the hull 112 based on the evacuation origin position specified by the evacuation origin position specifying unit 201 and the current position specified by the current position specifying unit 202. The evacuation route is specified, and the bucket elevator 108 is automatically retracted to the outside of the hull 112 along the specified evacuation route. The automatic evacuation unit 203 sets the shortest route that allows the bucket elevator 108 to be safely evacuated to the outside of the hold 112, among the routes that can safely evacuate the bucket elevator 108 to the outside of the hold 112. It can be specified as an evacuation route. As the evacuation route, the bucket elevator 108 is moved so as to coincide with the longitudinal axis of the bucket elevator 108 and the vertical axis passing through the evacuation origin position, and the bucket elevator 108 is vertically pulled out toward the outside of the hull 112. Can be done. Of course, the bucket elevator 108 may be finally moved to a predetermined evacuation position located on the quay 101. Further, the automatic evacuation unit 203 automatically receives the Earthquake Early Warning, the tsunami warning, and the tsunami warning, and automatically moves the bucket elevator 108 to the outside of the hull 112 based on the received Earthquake Early Warning, the tsunami warning, and the tsunami warning. It may be configured to evacuate to.

The automatic evacuation device 200 further includes a ship handling work prohibition unit 205 that prohibits carrying out ship cargo handling work until the evacuation origin position is specified by the evacuation origin position specifying unit 201. For example, the ship cargo handling work prohibition unit 205 warns the driver not to insert the bucket elevator 108 into the hold 112, or physically or mechanically hinders the operation of inserting the bucket elevator 108 into the hold 112. By doing so, it is possible to prohibit the implementation of ship cargo handling work. By further providing the ship cargo handling work prohibition unit 205, the evacuation origin position can be reliably specified by the evacuation origin position specifying unit 201 before the ship cargo handling work is performed. Therefore, the operation of automatically retracting the bucket elevator 108 to the outside of the hold 112 in the event of a disaster can be reliably tried by the automatic evacuation unit 203, so that the interference between the bucket elevator 108 and the vessel 121 is suppressed to the maximum. You can do things.

The automatic evacuation device 200 retreats specified by the evacuation origin position specifying unit 201 based on the movement locus of the bucket elevator 108 (hereinafter, simply referred to as a cargo handling locus) when the ship cargo handling work is being carried out. A retracted origin position correction unit 206 for correcting the origin position is further provided. Since the outer shell of the cargo handling locus matches the contour of the Kuraguchi 115 as the ship handling work is carried out for a long time, the contour of the Kuraguchi 115 is accurately specified by detecting the outer shell of the cargo handling locus. You can do things. Therefore, for example, even if the evacuation origin position specified by the evacuation origin position specifying unit 201 includes an error due to operation variation for each driver, the evacuation origin position can be corrected correctly. The outer shell of the cargo handling locus can be detected, for example, by processing an image in which the cargo handling locus is drawn. Further, by collecting the cargo handling locus as three-dimensional locus data, the shape of the hold 112 can be grasped based on the cargo handling locus. Therefore, the evacuation route can be specified while reflecting the shape of the hold 112 by using the cargo handling locus. Therefore, even if an obstacle exists inside the hold 112, the bucket elevator 108 can be retracted to the outside of the hold 112 while avoiding the obstacle. The retract origin position correction unit 206 is configured to optimize the cargo handling locus by a frequency factor and omit the locus with a low movement frequency. Since it can be said that the locus with a low movement frequency is specific among the cargo handling loci, the evacuation origin position can be correctly corrected by optimizing the cargo handling locus with a frequency factor and omitting the locus with a low movement frequency.

The evacuation origin position specifying unit 201, the current position specifying unit 202, the automatic evacuation unit 203, the ship handling work prohibition unit 205, and the evacuation origin position correction unit 206 can be realized by, for example, a programmable logic controller 207.

In the automatic evacuation device 200, although the evacuation origin position specifying unit 201 learns all the upper positions of the four corners of the Kuraguchi 115, the evacuation origin position specifying unit 201 does not necessarily learn the upper positions of the Kuraguchi 115. It is not necessary to learn all the upper positions of the four corners. Assuming that the Kuraguchi 115 has a square appearance, the center position of the Kuraguchi 115 can be determined by learning only the upper positions of the two corners located diagonally to the Kuraguchi 115. It can also be specified. It should be noted that the central position of the Kuraguchi 115 is similarly specified not only when the Kuraguchi 115 has a square appearance but also when the Kuraguchi 115 has another polygonal appearance. You can do things. Not limited to the central position of the Kuraguchi 115, another position where the bucket elevator 108 can be safely retracted to the outside of the hold 112 can be specified as the evacuation origin position. In this specification, for convenience of explanation, the position where the bucket elevator 108 can be safely retracted to the outside of the hull 112 is expressed as the evacuation origin position, but the evacuation origin position refers to the bucket elevator 108. The evacuation origin area, which means an area that can be safely evacuated to the outside of the shipyard 112, is included. Generally, it is considered that the central region of the Kuraguchi 115 can serve as the evacuation origin region. Therefore, the evacuation origin position specifying unit 201 specifies the central region of the Kuraguchi 115 as the evacuation origin region. You can also do it. Of course, not only the central region of the Kuraguchi 115, but also another region where the bucket elevator 108 can be safely retracted to the outside of the hold 112 can be specified as the evacuation origin region. In the automatic evacuation device 200, although the instruction or operation is performed through the touch screen 204, for example, the instruction or operation may be performed by voice or by a button. In the automatic evacuation device 200, the evacuation origin position specifying unit 201 moves the bucket elevator 108 to a specific position of the Kuraguchi 115 and stores the specific position of the Kuraguchi 115 according to the operation of the driver. Although it is assumed that the evacuation origin position is specified by learning the specific position of the Kuraguchi 115 and based on the learned specific position of the Kuraguchi 115, the evacuation origin position specifying unit 201 is operated by the driver. By moving the bucket elevator 108 along the contour of the Kuraguchi 115 and memorizing the contour of the Kuraguchi 115 accordingly, the contour of the Kuraguchi 115 is learned and the evacuation origin position is based on the learned contour of the Kuraguchi 115. It may be configured to specify. By specifying the evacuation origin position based on the contour of the Kuraguchi 115, the evacuation origin position can be specified even if the Kuraguchi 115 has a circular shape.

As described above, the present invention is an automatic port cargo handling machine capable of effectively preventing interference between the cargo handling structure and the ship by automatically retracting the cargo handling structure to the outside of the hold in the event of a disaster. An evacuation device can be provided.

100 Bucket Elevator Type Continuous Unloader 101 Quay 102 Rail 103 Travel Frame 104 Sprocket 105 Balancing Lever 106 Boom 107 Top Frame 108 Bucket Elevator 109 Hydraulic Cylinder 110 Counter Weight 111 Scraping Unit 112 Ship Storage 113 Loose Cargo 114 Bucket Elevator Casing 115 Kuraguchi 116 Front sprocket 117 Rear sprocket 118 Bucket chain 119 Drive sprocket 120 Link mechanism 121 Ship 200 Automatic evacuation device 201 Elevator origin position identification part 202 Current position identification part 203 Automatic evacuation part 204 Touch screen 205 Ship cargo handling work prohibition part 206 Elevator origin position correction Part 207 Programmable logic controller

Claims (5)

It is an automatic evacuation device for port cargo handling machines that inserts a cargo handling structure into the hold through the storehouse to carry out ship cargo handling work.
Based on the driver's operation before carrying out the ship handling work, the evacuation origin position specifying unit that specifies the evacuation origin position that can safely retract the cargo handling structure to the outside of the hold, and the evacuation origin position specifying unit.
The current position specifying part that specifies the current position of the cargo handling structure, and
An automatic evacuation unit that automatically retracts the cargo handling structure to the outside of the shipyard based on the evacuation origin position specified by the evacuation origin position specifying unit and the current position specified by the current position specifying unit.
An evacuation origin position correction unit that corrects the evacuation origin position specified by the evacuation origin position identification unit based on the movement locus of the cargo handling structure during ship cargo handling work.
An automatic evacuation device for port cargo handling machines, which is characterized by being equipped with. The retracting origin position specifying unit learns the specific position of the Kuraguchi by moving the cargo handling structure to the specific position of the Kuraguchi and storing the specific position of the Kuraguchi in response to the operation of the driver. The automatic evacuation device for a port cargo handling machine according to claim 1, wherein the evacuation origin position is specified based on the specific position of the Kuraguchi learned at the same time. The automatic evacuation device for a port cargo handling machine according to claim 2, wherein the specific position of the Kuraguchi means an upper position of a corner portion at the Kuraguchi. The retracting origin position specifying unit learns the contour of the Kuraguchi by moving the cargo handling structure along the contour of the Kuraguchi and memorizing the contour of the Kuraguchi according to the operation of the driver. The automatic evacuation device for a port cargo handling machine according to claim 1, wherein the evacuation origin position is specified based on the contour of the Kuraguchi learned together with the above. The evacuation origin position correction unit is the port cargo handling machine according to any one of claims 1 to 4, which omits a locus with a low movement frequency from the movement locus of the cargo handling structure when the ship cargo handling work is being carried out. Automatic evacuation device.

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